Autonomous traveling method, autonomous traveling system, and program

Abstract

To provide a technology capable of efficiently performing work using a work vehicle that performs autonomous traveling.SOLUTION: An exemplary autonomous traveling method is an autonomous traveling method for a work vehicle, the method comprising: upon receiving predetermined operation including a direction instruction by an operator, causing the work vehicle to automatically perform turning travel in the direction specified by the direction instruction.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to an automatic driving method, an automatic driving system, and a program.

Background Art

[0002] Conventionally, an autonomous driving system for autonomously driving a work vehicle in a field is known (see, for example, Patent Document 1). Patent Document 1 discloses that, on the condition that there has been a forward instruction by an operator, without causing the work vehicle to perform work, at least steering is autonomously performed to turn the work vehicle toward a previously specified straight path.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technique disclosed in Patent Document 1, the next path is automatically determined in response to a forward instruction, and the turning direction is determined. In such a configuration, it is not known in which direction the work vehicle that moves automatically will turn next, and there is a risk that the operator will feel uneasy. As a result of the uneasiness, unnecessary stops or the like may be performed, leading to a decrease in work efficiency.

[0005] In view of the above points, an object of the present invention is to provide a technique that can efficiently perform work using a work vehicle that performs automatic driving.

Means for Solving the Problems

[0006] An exemplary automatic driving method of the present invention is an automatic driving method for a work vehicle. When receiving a predetermined operation including a direction instruction by an operator, it executes causing the work vehicle to automatically perform a turning operation in the direction specified by the direction instruction.

[0007] An exemplary automatic driving system of the present invention includes a work vehicle, an operating device for setting settings related to the automatic driving of the work vehicle, and a control device for controlling the automatic driving of the work vehicle according to an instruction from the operating device. When the control device receives a predetermined operation including a direction instruction in the operating device, it causes the work vehicle to automatically perform a turning operation in the direction specified by the direction instruction.

[0008] An exemplary program of the present invention is a program for causing a computer to execute an automatic driving method for a work vehicle. When the computer receives a predetermined operation including a direction instruction by an operator, it functions as means for causing the work vehicle to automatically perform a turning operation in the direction specified by the direction instruction.

Advantages of the Invention

[0009] According to an exemplary aspect of the present invention, work can be efficiently performed using a work vehicle that performs automatic driving.

Brief Description of the Drawings

[0010]

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Embodiments for Carrying Out the Invention

[0011] Embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated when there is no particular need for explanation.

[0012] <1. Overview of the Automatic Driving System> FIG. 1 is a diagram showing a schematic configuration of an automatic driving system 100 according to an embodiment of the present invention. As shown in FIG. 1, the automatic driving system 100 includes a work vehicle 1 and an operating device 2.

[0013] In this specification, automatic driving means that at least steering is autonomously performed by controlling a device related to driving by a control device provided in the work vehicle 1. In addition to steering, automatic driving may be configured such that at least one of, for example, adjustment of the vehicle speed and operation by a work implement is autonomously performed. In the exemplary automatic driving of the present embodiment, steering is autonomously performed, and adjustment of the vehicle speed and operation by a work implement are not autonomously performed in principle.

[0014] [1-1. Work vehicle] The work vehicle 1 is used to perform operations such as agricultural work and construction work. As shown in FIG. 1, the work vehicle 1 includes a traveling body 11 that travels on the ground and a work implement 12 that is connected to the traveling body 11.

[0015] Here, for the convenience of the following description, the directions are defined as follows. The direction in which the traveling body 11 and the work implement 12 are aligned is defined as the front-rear direction, and it is assumed that the work implement 12 is on the rear side when viewed from the traveling body 11. The left side when looking from the rear to the front is defined as the left side, and the right side is defined as the right side to define the left-right direction. Further, the gravitational direction perpendicular to the front-rear direction and the left-right direction is defined as the up-down direction, the upstream side of the gravitational direction is defined as the upper side, and the downstream side is defined as the lower side. In the drawings, if necessary, the front is indicated by the symbol "F", the rear by "B", the right by "R", the left by "L", the upper by "U", and the lower by "D".

[0016] In addition, in the present embodiment, the work implement 12 is arranged behind the traveling body 11, but the present invention is also applicable to a work vehicle in which the work implement is arranged in front of the traveling body.

[0017] The traveling body 11 includes a body main body portion 111 and a traveling portion 112 arranged below the body main body portion 111.

[0018] The body main body portion 111 includes an outer cover 111a, a traveling drive device 111b arranged on the inner front side covered by the outer cover 111a, and a work implement drive device 111c arranged on the inner rear side covered by the outer cover 111a.

[0019] The traveling drive device 111b includes a drive source and a power transmission mechanism that transmits the power from the drive source to the traveling portion 112. In the present embodiment, the drive source included in the traveling drive device 111b is an electric motor. However, the drive source included in the traveling drive device 111b may be other than an electric motor, for example, an engine.

[0020] The work implement drive device 111c includes a drive source and a PTO (Power Take Off) power transmission unit that can transmit the power from the drive source to the outside of the traveling body 11. In the present embodiment, the drive source included in the work implement drive device 111c is an electric motor. Note that the electric motor included in the work implement drive device 111c and the electric motor included in the traveling drive device 111b are separate motors. Also, the drive source included in the work implement drive device 111c may be other than an electric motor, for example, an engine. For example, the drive source may be shared by the traveling drive device 111b and the work implement drive device 111c.

[0021] Inside the outer cover 111a, a battery that supplies power to the electric motor, power electronics devices, etc. are also arranged. Outside the outer cover 111a, as an example, a light 111d, a positioning antenna 111e, a warning light 111f, etc. are arranged.

[0022] Note that in the present embodiment, the traveling body 11 does not have an operator's seat, that is, the work vehicle 1 performs work traveling unmanned. However, the present invention is also applicable to a work vehicle having an operator's seat on the traveling body 11. That is, the traveling body 11 may have an operator's seat and instruments (such as a steering wheel and a lever) for an operator sitting on the operator's seat to operate the work vehicle.

[0023] The running gear 112 supports the airframe main body 111 so that it can run. Specifically, the running gear 112 includes a pair of left and right crawlers 112a. Each of the left and right crawlers 112a includes a track frame 112b extending in the front-rear direction. Each track frame 112b is attached to the lower surface of the airframe main body 111. At the front end of the track frame 112b, a drive sprocket 112c is arranged as a drive wheel. The drive sprocket 112c transmits the power from the electric motor via the power transmission mechanism provided in the running drive device 111b. At the rear end of the track frame 112b, a driven sprocket 112d is arranged as a driven wheel. The driven sprocket 112d is rotatably supported by the track frame 112b. In the track frame 112b, a plurality of idler wheels 112e are rotatably supported between the drive sprocket 112c and the driven sprocket 112d. A crawler belt 112f is wound around the drive sprocket 112c, the driven sprocket 112d, and the plurality of idler wheels 112e to form the crawler 112a.

[0024] In this embodiment, each of the left and right crawlers 112a is driven by a separate electric motor provided in the running drive device 111b. For example, when the pair of left and right crawlers 112a are simultaneously driven in the same direction, the running gear 112 moves straight forward or backward. Whether it is forward or backward is determined by the rotation direction of the electric motor. Also, for example, when the pair of left and right crawlers 112a are independently driven, the running gear 112 makes a left turn or a right turn.

[0025] Note that in this embodiment, the crawler 112a has a configuration in which one drive wheel (drive sprocket 112c) and one driven wheel (driven sprocket 112d) are arranged in the front-rear direction and the crawler belt 112f is wound around them, but other configurations may also be used. For example, the crawler may be of a type in which the crawler belt is wound around one drive wheel and two driven wheels in a triangular shape. Also, in this embodiment, the running gear 112 is of the crawler type, but the running gear may be of a type other than the crawler type, for example, a wheel type.

[0026] The working machine 12 is attached to the traveling body 11 via a hitch portion 13 so as to be liftable. Note that the hitch portion 13 includes the above-described working machine drive device 111c. The working machine 12 is attached to the hitch portion 13 so as to be replaceable. That is, the working machine 12 can be replaced with various types. In FIG. 1, the working machine 12 is a tiller. The working machine 12 may be, for example, a plow, a fertilizer applicator, a pesticide spraying device, a harvesting device, a mowing device, a snow removal device, a landfill device, etc., in addition to the tiller. In the present embodiment, the working machine 12 is provided so as to be liftable, but the working machine 12 may not be liftable.

[0027] The configuration of the work vehicle 1 included in the automatic driving system 100 is not limited to the configuration described above, and any configuration having a traveling body and a working machine may be used. As described above, the working machine included in the work vehicle may be arranged, for example, in front instead of behind the traveling body. The work vehicle 1 may be, for example, a tractor, a rice transplanter, a combine, a harvesting machine for harvesting various crops, a snow removal machine, various civil engineering and construction working machines, etc.

[0028] [1-2. Operating device] The operating device 2 is a remote operating device that enables an operator located at a position away from the work vehicle 1 to operate the work vehicle 1. The operating device 2 is provided so as to enable settings related to the manual driving of the work vehicle 1. In addition, the operating device 2 is provided so as to enable settings related to the automatic driving of the work vehicle 1. In the present embodiment, the operating device 2 is a remote operating device provided separately from the work vehicle 1, but this is an example. The operating device may be configured to be provided on the work vehicle itself. When the operating device is configured to be provided on the work vehicle, for example, the shape, arrangement, and type of the operating member described below may be appropriately changed.

[0029] FIG. 2 is a plan view showing a schematic configuration of the operating device 2 according to an embodiment of the present invention. As shown in FIG. 2, the operating device 2 includes a housing 21, a power switch 22, an antenna 23, an operation lever 24, an operation switch 25, an operation knob 26, and a display unit 27.

[0030] The housing 21 constitutes the main body portion of the operating device 2. At appropriate positions on the housing 21, the above-described power switch 22, antenna 23, operation lever 24, operation switch 25, operation knob 26, and display unit 27 are respectively arranged. Note that the arrangement shown in FIG. 2 is merely an example and may be changed as appropriate.

[0031] The power switch 22 is provided at the center of the front surface of the housing 21 and is provided so as to be able to switch between the on state and the off state of the power supply of the operating device 2. The power switch 22 is, for example, a toggle switch. Note that the power supply of the operating device 2 is, for example, a battery or a dry cell disposed within the housing 21.

[0032] The antenna 23 is provided so as to protrude from the side surface of the housing 21 (the upper side surface in the example shown in FIG. 2) and enables wireless communication with the work vehicle 1. In other words, the work vehicle 1 is provided with an antenna 15a (see FIG. 3 described later) for performing wireless communication with the operating device 2. When the power supply of the operating device 2 is turned on by the power switch 22, the operating device 2 can perform wireless communication with the work vehicle 1. When the power supply of the operating device 2 is turned off by the power switch 22, the operating device 2 cannot communicate with the work vehicle 1. In the present embodiment, when communication with the operating device 2 becomes impossible, the work vehicle 1 that is traveling automatically stops traveling. That is, the power switch 22 has a function as an emergency stop switch for the work vehicle 1. Note that the emergency stop switch may be provided separately from the power switch 22.

[0033] The operation lever 24 enables the running operation of the work vehicle 1 and the operation of the work implement 12. In the present embodiment, the operation lever 24 includes a first operation lever 24a and a second operation lever 24b that are arranged side by side so as to sandwich the power switch 22. The first operation lever 24a (the left lever in the example shown in FIG. 2) can be tilted in two directions (F1 - B1 direction and L1 - R1 direction) orthogonal to each other indicated by the broken-line arrows in FIG. 2. Also, it can be tilted to one side in the F1 - B1 direction while being tilted to one side in the L1 - R1 direction. Note that the second operation lever 24b (the right lever in the example shown in FIG. 2) can also be tilted in the same directions as the first operation lever 24a. Further, the functions of the first operation lever 24a and the second operation lever 24b may be interchanged with each other.

[0034] In the present embodiment, the first operation lever 24a and the second operation lever 24b exhibit different functions depending on whether the work vehicle 1 is in the manual running mode or the automatic running mode.

[0035] For example, in the manual running mode, when the first operation lever 24a is tilted in the F1 direction, the work vehicle 1 can be moved forward. In the manual running mode, when the first operation lever 24a is tilted in the B1 direction, the work vehicle 1 can be moved backward. In the manual running mode, when the first operation lever 24a is tilted in the L1 direction, the work vehicle 1 can be turned to the left. In the manual running mode, when the first operation lever 24a is tilted in the R1 direction, the work vehicle 1 can be turned to the right. Further, in the manual running mode, by operating the second operation lever 24b, the work implement 12 can be raised or lowered.

[0036] In the automatic driving mode, the first operation lever 24a and the second operation lever 24b exhibit functions for making settings related to automatic driving. Details regarding this point will be described later. Hereinafter, for the sake of convenience in explanation, tilting the first operation lever 24a in the F1 direction will be expressed as tilting in the forward direction F1. Also, tilting the first operation lever 24a in the B1 direction will be expressed as tilting in the reverse direction B1. Further, tilting the first operation lever 24a in the L1 direction will be expressed as tilting in the left turning direction L1. Also, tilting the first operation lever 24a in the R1 direction will be expressed as tilting in the right turning direction R1.

[0037] The operation switch 25 enables various settings regarding the work vehicle 1. In the present embodiment, the operation switch 25 includes three operation switches 25a to 25c arranged on the front surface and side surface of the housing 21. The first operation switch 25a (arranged on the upper side of the side surface in the example shown in FIG. 2) is composed of a momentary switch and enables a plurality of types of settings related to automatic driving. Details regarding this will be described later. The second operation switch 25b is composed of a three-position toggle switch and enables settings related to automatic turning. Details regarding this will be described later. The third operation switch 25c (arranged on the upper left front surface in the example shown in FIG. 2) is composed of a toggle switch and is provided so as to be able to switch between a state where power transmission to the work implement 12 using the above-described PTO power transmission unit is possible and a state where it is not possible.

[0038] Note that the types of the operation switches 25a to 25c described above are merely examples. The types of the operation switches 25a to 25c may be changed as appropriate.

[0039] The operation knob 26 is arranged on the front surface of the housing 21 (upper side of the front surface in the example shown in FIG. 2) and enables adjustment of the maximum speed (upper limit value of the speed) of the work vehicle 1. Specifically, two operation knobs 26 are provided. One of the two operation knobs 26 enables adjustment of the maximum speed during straight running of the work vehicle 1. The other of the two operation knobs 26 enables adjustment of the maximum speed during turning running of the work vehicle 1.

[0040] The display unit 27 is disposed on the front surface of the housing 21 (the lower front side in the example shown in FIG. 2), and displays various types of information to notify the operator. The various types of information include, for example, the display of the traveling route during automatic driving and the positional relationship between the work vehicle 1. The display unit 27 is configured by, for example, a liquid crystal display device, an organic EL display device, or the like.

[0041] <2. Configuration related to automatic driving of work vehicle> Next, the details of the configuration related to the automatic driving of the work vehicle 1 of the present embodiment will be described. FIG. 3 is a block diagram showing a schematic configuration of the work vehicle 1 according to an embodiment of the present invention. In FIG. 3, the components necessary for explaining the features of the present embodiment (mainly the configuration related to automatic driving) are shown, and the description of general components is omitted.

[0042] As shown in FIG. 3, the work vehicle 1 includes a control device 10. In other words, the automatic driving system 100 includes the control device 10. For example, the control device 10 controls the automatic driving of the work vehicle 1 in response to an instruction from the operation device 2.

[0043] The control device 10 is, for example, a computer device including an arithmetic unit, an input / output unit, and a storage unit 101. The arithmetic unit is configured by, for example, a processor or a microprocessor. The storage unit 101 is a main storage device such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 101 may further include an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). Various programs and data are stored in the storage unit 101. The arithmetic unit reads various programs from the storage unit 101 and executes arithmetic processing according to the programs to exhibit various functions. The programs stored in the storage unit 101 may be provided by, for example, a computer-readable non-volatile recording medium. As another example, the program may be provided from a program providing server via a communication line such as the Internet.

[0044] The control device 10 can operate as a reception unit 102, a route generation unit 103, a travel mode control unit 104, a travel control unit 105, and a work implement control unit 106 through the cooperation of the above-described hardware and software. The control device 10 may be composed of one piece of hardware, or may be composed of a plurality of pieces of hardware capable of communicating with each other. A part of the functions of the control device 10 may be included in the operation device 2.

[0045] Note that each functional unit 102 to 106 included in the control device 10 may be realized by software, that is, by causing an arithmetic device to execute arithmetic processing according to a program as described above, but may also be realized by other methods. At least one of the functional units 102 to 106 may be realized using, for example, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or the like. That is, at least one of the functional units 102 to 106 may be realized by hardware using a dedicated IC or the like. Also, at least one of the functional units 102 to 106 may be realized by using a combination of software and hardware. Also, the functional units 102 to 106 are conceptual components. The functions executed by one component may be distributed among a plurality of components. Also, the functions of a plurality of components may be integrated into one component.

[0046] A positioning communication unit 14, a communication processing unit 15, and a sensor 16 are connected to the control device 10. That is, the work vehicle 1 includes a positioning communication unit 14, a communication processing unit 15, and a sensor 16.

[0047] The positioning communication unit 14 includes a positioning antenna 111e (see FIG. 1), and uses the positioning signal received by the positioning antenna 111e from positioning satellites to acquire the position of the work vehicle 1 as information such as latitude and longitude, for example. The positioning communication unit 14 outputs the position information of the work vehicle 1 to the control device 10. The positioning communication unit 14 performs positioning using a known RTK-GNSS (Real Time Kinematic GNSS) method after receiving a positioning signal from a reference station (not shown) by an appropriate method, for example. Note that the positioning communication unit 14 may perform positioning using other methods such as the DGNSS (Differential GNSS) method, for example.

[0048] The communication processing unit 15 communicates with the operating device 2 via the communication antenna 15a. Note that the communication antenna 15a is an antenna for performing wireless communication with the operating device 2. For wireless communication, for example, a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) may be used.

[0049] The sensor 16 detects information related to the work vehicle 1 and outputs the detected information to the control device 10. In the present embodiment, the sensor 16 includes a plurality of types of sensors. Each of the plurality of types of sensors is connected to the control device 10 so as to be able to input a signal. The plurality of types of sensors include, for example, an inertial measurement unit (IMU), an obstacle sensor, a vehicle speed sensor, and a lifting position sensor.

[0050] Note that the inertial measurement unit includes a three-axis angular velocity sensor and a three-directional acceleration sensor, and is a device capable of measuring the attitude of the work vehicle 1. The obstacle sensor is a sensor that detects obstacles existing around the work vehicle 1, and may be, for example, an ultrasonic sensor, a camera, a radar, or a LiDAR (Light Detection And Ranging). The vehicle speed sensor is a sensor that detects the speed of the work vehicle 1. The lifting position sensor is a sensor that detects the lifting position of the work implement 12 provided so as to be liftable.

[0051] The reception unit 102 included in the control device 10 receives an instruction using the operation device 2 by the operator. The instruction using the operation device 2 includes an instruction related to autonomous driving. Note that the instruction received by the reception unit 102 may also include an instruction related to manual driving, such as a driving instruction during manual driving.

[0052] The route generation unit 103 generates a travel route for causing the work vehicle 1 to perform autonomous driving. In the present embodiment, the travel route is configured to include, as an example, a plurality of routes arranged side by side. Specifically, each of the plurality of routes is a straight route. The plurality of straight routes are arranged parallel to each other side by side. A travel route including a plurality of straight routes (specifically, an autonomous driving work route) is generated, for example, as follows.

[0053] When generating the travel route, first, a reference line L is set. FIG. 4 is a diagram for explaining an example of a method for setting the reference line L. Note that the method for setting the reference line L may be other than the method shown in FIG. 4.

[0054] When setting the reference line L, first, the work vehicle 1 is manually moved to an appropriate position (point A in the figure) of the work target location (a farm field in the present embodiment), and point A registration using the operation device 2 is performed. In the present embodiment, the movement of the work vehicle 1 by manual driving is performed using the first operation lever 24a (see FIG. 2) of the operation device 2. Also, the registration of point A using the operation device 2 is performed using the first operation switch 25a (see FIG. 2). By operating the first operation switch 25a, the reception unit 102 receives the registration of point A. Then, the route generation unit 103 registers the position of the work vehicle 1 obtained by the positioning communication unit 14 at the time when the setting of the registration of point A is performed, as the position of point A.

[0055] When point A registration is performed, the operator drives the work vehicle 1 straight ahead by manual driving using the operation device 2 (specifically, the first operation lever 24a) and moves it to the target position (point B in the figure). Then, when the work vehicle 1 reaches the target position, point B registration is performed using the operation device 2. Point B registration using the operation device 2 is performed using the first operation switch 25a. Specifically, on the premise that point A registration has already been performed, when the first operation switch 25a is operated in the same way as at the time of point A registration, the reception unit 102 accepts point B registration. Then, the route generation unit 103 registers the position of the work vehicle 1 obtained by the positioning communication unit 14 at the time when the setting of point B registration is performed, as the position of point B.

[0056] When the position registration of point A and point B is performed, a straight line passing through point A and point B is set as the reference line L. In this embodiment, the same switch (the first operation switch 25a) is used for the registration of point A and point B, but this is merely an example, and the switch for point A registration and the switch for point B registration may be provided separately on the operation device 2. Also, the reference line may be, for example, parallel to the front-rear direction (own vehicle orientation) of the work vehicle 1 at the time of point A registration and a straight line passing through point A. Further, the reference line may be, for example, a straight line passing through point A and parallel to the set orientation. In the case of the above two methods of setting the reference line shown as a modification, point B registration is not required.

[0057] When the reference line L is set, the route generation unit 103 arranges a plurality of lines parallel to the reference line L at a predetermined interval (see the dashed-dotted line in Fig. 4) and generates a travel route (travel route for automatic driving work) including a plurality of straight-line routes. In this embodiment, the automatic driving work route is a straight-line route, but it may also be a curved route.

[0058] The traveling mode control unit 104 performs switching control between the manual traveling mode and the automatic traveling mode. In this embodiment, in the manual traveling mode, the operator operates the traveling of the work vehicle 1 and the operation of the working machine 12 using the operation device 2. Further, in the automatic traveling mode, the steering of the work vehicle 1 is automatically performed, and the operator operates the adjustment of the vehicle speed of the work vehicle 1 and the operation of the working machine 12 using the operation device 2.

[0059] The traveling mode control unit 104, for example, switches the traveling mode when the reception unit 102 receives a traveling mode switching instruction using the first operation switch 25a by the operator. Specifically, when the work vehicle 1 is in the manual traveling mode and the reception unit 102 receives a traveling mode switching instruction, the traveling mode control unit 104 switches from the manual traveling mode to the automatic traveling mode. Further, when the work vehicle 1 is in the automatic traveling mode and the reception unit 102 receives a traveling mode switching instruction, the traveling mode control unit 104 switches from the automatic traveling mode to the manual traveling mode.

[0060] In this embodiment, the traveling mode switching instruction is an operation of pressing the first operation switch 25a once. As described above, the first operation switch 25a is also used for the registration instructions of points A and B. At this time, a double press of continuously pressing the first operation switch 25a twice is used so that it can be distinguished from the traveling mode switching instruction. That is, the registration of point A is executed by double pressing the first operation switch 25a before point A is registered, and the registration of point B is executed by double pressing the first operation switch 25a after point A is registered. However, these instruction operations are merely examples. For example, a configuration may be adopted in which the traveling mode switching instruction is given by double pressing the first operation switch 25a, and the registration instructions for points A and B are given by pressing it once. Further, the switch for switching the traveling mode may be a switch different from the switch for the registration instructions of points A and B.

[0061] The travel control unit 105 controls the travel system of the work vehicle 1 according to the travel mode. When the travel mode is the manual travel mode, the travel control unit 105 controls the travel system of the work vehicle 1 according to an instruction from the operation device 2. When the travel mode is the automatic travel mode, the travel control unit 105 performs automatic control on at least a part of the travel system of the work vehicle 1. In the present embodiment, the travel control unit 105 performs automatic control of steering (automatic steering) so that the work vehicle 1 travels along a predetermined route, for example. During automatic control of steering, for example, the position and orientation of the work vehicle 1 are obtained based on information obtained from the positioning communication unit 14 and the inertial measurement device included in the sensor 16. Then, an operation related to automatic steering is executed according to the positional relationship between the obtained position and the like of the work vehicle 1 and a predetermined travel route for automatic travel (the travel route generated by the route generation unit 103), and steering control according to the operation result is performed.

[0062] The work implement control unit 106 controls the work system of the work vehicle 1 according to an instruction from the operation device 2. The control of the work system of the work vehicle 1 includes, for example, lift control of the work implement 12 and switching control of the power transmission state to the work implement 12 using the PTO power transmission unit. Note that the work implement control unit 106 may be configured to switch the control of the work system of the work vehicle 1 according to the travel mode. That is, in the automatic travel mode, the work implement control unit 106 may be configured to automatically control the operation of the work implement 12. An exemplary configuration regarding this will be described in the description part of the following modification example.

[0063] <3. Automatic Travel Method> Next, a method for automatically traveling the work vehicle 1 executed by the automatic travel system 100 of the present embodiment will be described. In the present embodiment, the method for automatically traveling the work vehicle 1 is realized by causing a computer (control device 10) to execute arithmetic processing according to a program.

[0064] FIG. 5 is a flowchart illustrating the flow of the automatic travel method according to the embodiment of the present invention. In the present embodiment, the process shown in FIG. 5 is executed when the work vehicle 1 and the operation device 2 are in a state where they can communicate with each other.

[0065] In step S1, the control device 10 (specifically, the route generation unit 103) sets a travel route for causing the work vehicle 1 to perform automatic driving. That is, the automatic driving method of the present embodiment executes setting a travel route for causing the work vehicle 1 to perform automatic driving. The travel route for causing the work vehicle 1 to perform automatic driving is generated when there are the A-point registration instruction and the B-point registration instruction using the operation device 2 as described above, and the generated travel route is set as the travel route for automatic driving. By setting the travel route, the process proceeds to the next step S2.

[0066] In step S2, the control device 10 (specifically, the reception unit 102) monitors whether or not there is an instruction for automatic driving from the operator. In the present embodiment, as described above, the instruction for automatic driving is given by the operator pressing the first operation switch 25a of the operation device 2 once. The reception unit 102 determines that there is an instruction for automatic driving by receiving the operation. When there is an instruction for automatic driving (Yes in step S2), the process proceeds to the next step S3. When there is no instruction for automatic driving (No in step S2), the process of step S2 is repeated.

[0067] In step S3, the control device 10 (specifically, the travel mode control unit 104) switches the travel mode to the automatic driving mode. Thereby, the automatic driving mode is started. When the automatic driving mode is started, the process proceeds to the next step S4. In the present embodiment, at the start time of the automatic driving mode, the work vehicle 1 is located at one end of one of the plurality of straight paths included in the travel route for automatic driving. The one end is, for example, one end of a straight path adjacent to the reference line L (see FIG. 4). The work vehicle 1 is moved to the one end by manual driving using the operation device 2. The movement is, for example, a turning movement that reverses the front and rear of the work vehicle 1 from point B. However, this is an example, and at the start time of the automatic driving mode, the work vehicle 1 may be at point B which is one end of the reference line L. When the work vehicle 1 is at point B, an automatic turning movement is performed before the automatic straight driving described below.

[0068] In step S4, the control device 10 (specifically, the travel control unit 105) performs automatic steering control (automatic straight-ahead control) so that the work vehicle 1 travels along a straight path set as the path for automatic travel. During the automatic straight-ahead control, the work vehicle 1 performs automatic straight-ahead travel when the first operation lever 24a of the operation device 2 is tilted in the forward direction F1 (see FIG. 2) by the operator. The travel speed of the work vehicle 1 is adjusted according to the amount of tilting of the first operation lever 24a in the forward direction F1. In addition, during the automatic straight-ahead control, it is possible to finely adjust (shift) the position of the straight path that has already been set as the path for automatic travel using the second operation lever 24b. Note that the work implement 12 is operated by manual operation using the operation device 2 as necessary during the automatic straight-ahead control. Also, it is preferable that the work implement 12 is lowered to a workable position by manual operation using the operation device 2 at the start point of the automatic straight-ahead control. Thereby, automatic travel work using the work implement 12 can be performed by automatic straight-ahead travel. When the automatic straight-ahead control is started, the process proceeds to the next step S5.

[0069] In step S5, the control device 10 (specifically, the reception unit 102) monitors whether or not there is an instruction for turning from the operator. The reception unit 102 determines that there is an instruction for turning when it receives a predetermined operation including a direction instruction from the operation device 2. In the present embodiment, the predetermined operation including a direction instruction includes tilting the first operation lever 24a in the turning directions L1, R1 (see FIG. 2). Tilting the first operation lever 24a in the turning directions L1, R1 corresponds to a direction instruction. When the first operation lever 24a is tilted in the left turning direction L1, it means that an instruction for turning to the left has been given. When the first operation lever 24a is tilted in the right turning direction R1, it means that an instruction for turning to the right has been given.

[0070] The predetermined operation including the direction instruction in the present embodiment is, specifically, an operation of tilting the first operation lever 24a in the turning directions L1 and R1 and pressing the first operation switch 25a (for example, pressing once). Note that the operation of the first operation switch 25a may not be included in the predetermined operation, and the predetermined operation may be only an operation of tilting the first operation lever 24a in the turning directions L1 and R1. However, if the predetermined operation includes other operations in addition to the operation for direction instruction as in the present embodiment, malfunction can be reduced. Also, when the turning direction instruction (instruction element) is included in the operation of pressing the first operation switch 25a, the predetermined operation may be only an operation of pressing the first operation switch 25a. That is, it is not always necessary that the operation itself of the predetermined operation including the direction instruction includes a direction element. When it is determined that there is an instruction for turning (Yes in step S5), the process proceeds to step S7. When it is determined that there is no instruction for turning (No in step S5), the process proceeds to step S6.

[0071] In step S6, the control device 10 (for example, the reception unit 102, etc.) determines whether or not it is in a state of ending the automatic driving. For example, when there is an instruction to switch to manual driving using the first operation switch 25a, it is determined that it is in a state of ending the automatic driving. Also, when the communication between the work vehicle 1 and the operation device 2 is interrupted, it is determined that it is in a state of ending the automatic driving. When it is determined that it is in a state of ending the automatic driving (Yes in step S6), the flow shown in FIG. 5 ends. Note that instead of ending the flow, it may be configured to return to step S2. When it is determined that it is not in a state of ending the automatic driving (No in step S6), the process returns to step S5.

[0072] In step S7, the control device 10 (specifically, the travel control unit 105) causes the work vehicle 1 to perform automatic turning travel (automatic turning). That is, when the control device 10 receives a predetermined operation including a direction instruction in the operation device 2, it causes the work vehicle 1 to perform automatic turning travel in the direction specified by the direction instruction. The automatic travel method of the work vehicle 1 according to the present embodiment executes causing the work vehicle 1 to perform automatic turning travel in the direction specified by the direction instruction when receiving a predetermined operation including a direction instruction by the operator. A program for causing a computer to execute the automatic travel method functions as means for causing the computer to cause the work vehicle 1 to perform automatic turning travel in the direction specified by the direction instruction when receiving a predetermined operation including a direction instruction by the operator.

[0073] Note that the automatic turning travel refers to a state in which at least steering is autonomously performed and turning travel is performed by controlling the devices related to travel by the control device 10. The speed at the time of turning and the control of the work implement 12 may or may not be autonomously performed. The automatic turning travel in the present embodiment is a state in which only steering is autonomously performed and turning travel is performed. During the automatic turning travel, the automatic turning travel is performed by tilting the first operation lever 24a of the operation device 2 in the forward and backward direction F1 - B1. For example, when the first operation lever 24a is tilted in the forward direction F1, the work vehicle 1 performs automatic turning travel while moving forward. Note that at the time when the automatic turning travel is started, it is preferable that the work implement 12 is in a non - working state by manual operation. The non - working state includes, for example, a state in which the work implement 12 is raised to a height position where it cannot perform work, or a state in which power is not transmitted to the work implement 12. Also, as described above, in the automatic turning travel, a configuration may be adopted in which not only steering but also all other controls related to turning are autonomously performed. In this case, it may be configured such that the operator does not perform any manual operation using the operation device 2 from the start to the end of the automatic turning travel.

[0074] In this embodiment, since the automatic turning travel is performed on the condition of an operator's instruction regarding the turning direction, it is possible to reduce the possibility that the operator feels uneasy about the turning direction during automatic turning. As a result, it is possible to suppress the occurrence of operations that reduce work efficiency such as unnecessary stops. That is, according to this embodiment, work can be efficiently performed using the work vehicle 1 that performs automatic travel.

[0075] Specifically, when the work vehicle 1 receives a predetermined operation (including a direction instruction) while automatically traveling along a travel route, the work vehicle 1 is made to perform an automatic turning travel. More specifically, when the work vehicle 1 receives a predetermined operation while automatically steering along a straight route, the work vehicle 1 is made to perform an automatic turning travel. The operator can move the work vehicle 1 to the next process (next straight route) with a simple operation. That is, the work load on the operator can be reduced. Also, with such a configuration, it can be expected that the work finish will be neat.

[0076] Note that the automatic turning travel may be configured to perform turning travel along a turning route generated according to the set state of the operation device 2 or the like. However, not limited thereto, the automatic turning travel may be configured to perform turning with a preset turning radius. The turning radius may be configured to be selectable by the operator. For example, the operator may select a setting of the turning radius (e.g., "large", "medium", "small", etc.), and the automatic turning travel may be performed with the turning radius corresponding to the selected setting. Note that in this embodiment, the automatic turning travel is performed along the generated turning route.

[0077] Further, during the turning travel, it may be executed to receive a return instruction from the operator and cause the work vehicle 1 to perform a return travel to automatically return to the start position of the turning travel. The return instruction may be, for example, an operation of tilting the first operation lever 24a of the operation device 2 in the reverse direction B1. And the return travel may be configured to return while moving backward along the turning path that has been traveled from the start point of the return travel to the start position of the turning travel. With such a configuration, even if the operation direction is mistaken at the time of the turning instruction, it can be easily redone. As a result, even a person who is not used to operating the work vehicle 1 can operate the work vehicle 1 that performs automatic travel without stress. Note that the return instruction may be an operation of tilting the first operation lever 24a to the turning direction side opposite to the direction in which the work vehicle 1 is turning at that time. In this configuration, for example, when the work vehicle 1 is turning left, an operation of tilting the first operation lever 24a in the right turning direction R1 is performed.

[0078] As described above, in the present embodiment, the operation device 2 includes a second operation switch 25b (see FIG. 2) that enables settings related to automatic turning. Specifically, the second operation switch 25b is a switch for designating the destination in the turning travel. As described above, the second operation switch 25b can be switched to any one of three positions. Depending on which of the three positions is selected, the destination in the automatic turning travel changes.

[0079] FIGS. 6A, 6B, and 6C are diagrams for explaining the function of the second operation switch 25b.

[0080] In FIG. 6A, the second operation switch 25b is in the first position P1. When the second operation switch 25b is in the first position P1, the control device 10 recognizes that the destination in the automatic turning travel is set to the linear path SP2 adjacent to the current traveling linear path SP1. In response to the recognition, the control device 10 generates and sets a turning path and causes the work vehicle 1 to perform an automatic turning travel.

[0081] In FIG. 6B, the second operation switch 25b is in the second position P2. When the second operation switch 25b is in the second position P2, the control device 10 recognizes that the destination in the automatic turning travel is set to the second adjacent linear path SP3 with respect to the currently traveling linear path SP1. In response to this recognition, the control device 10 generates and sets a turning path, and causes the work vehicle 1 to perform automatic turning travel.

[0082] In FIG. 6C, the second operation switch 25b is in the third position P3. When the second operation switch 25b is in the third position P3, the control device 10 recognizes that the destination in the automatic turning travel is set to the third adjacent linear path SP4 with respect to the currently traveling linear path SP1. In response to this recognition, the control device 10 generates and sets a turning path, and causes the work vehicle 1 to perform automatic turning travel.

[0083] From the above description of the second operation switch 25b, it can be said that the second operation switch 25b is a switch for setting the number of skips during turning travel with respect to a plurality of arranged paths (linear paths in this example). Under such an interpretation, when the second operation switch 25b is in the first position P1, it can be said that the number of skips is set to zero. Also, when the second operation switch 25b is set to the second position P2, it can be said that the number of skips is set to "1". Further, when the second operation switch 25b is set to the third position P3, it can be said that the number of skips is set to "2".

[0084] In this embodiment, the automatic turning travel is performed based on the number of skips set for a plurality of paths. Based on the setting of the number of skips, a turning path is generated and set, and the automatic turning travel is performed along the set turning path. The operator can quickly specify the number of skips by switching the operation switch at hand. For this reason, it is possible to easily cope with work at various work target locations (a farm field in this embodiment).

[0085] Note that the relationships between the selection positions (P1 to P3) of the second operation switch 25b and the skip count shown in FIGS. 6A, 6B, and 6C are merely illustrative, and these relationships may be changed as appropriate. Also, the number of set skip counts is not limited to three, and may be two or four or more. In response to the change in the number of settings, the configuration of the second operation switch 25b may be changed, or a switch different from the second operation switch 25b may be added. The position where a switch is added is not limited to the operation device 2, and it may be added to the work vehicle 1 side. Also, the switch may be a software switch provided on the display screen.

[0086] Incidentally, the automatic turning travel is preferably performed in a turning pattern selected based on the set skip count. In other words, it is preferable that the turning pattern of the automatic turning travel is provided so that not only one type of pattern but also a plurality of types of patterns can be selected. The turning pattern is preferably determined in consideration of not only the skip count but also the interval between a plurality of routes and the width of the working machine 12, etc. In the present embodiment, the turning pattern is automatically determined based on the skip count and the working width of the working machine 12. With such a configuration, an efficient turning pattern can be automatically selected to improve the working efficiency.

[0087] FIG. 7A is a diagram for explaining the turning pattern. Note that FIG. 7A assumes the case where the skip count is zero. When the skip count is zero, the interval D between a plurality of straight paths SP is narrow, and when the work vehicle 1 makes an arc-shaped turn as shown in the left diagram of FIG. 7A, the turning destination may deviate from the straight path SP. For this reason, as the turning pattern, for example, a fishtail turn as shown in the right diagram of FIG. 7A is preferably provided so as to be selectable. However, the fishtail turn as the turning pattern is merely illustrative, and for example, when there is no problem with the field being rough, a spin turn (ultra-precise turning) may be used as the turning pattern.

[0088] In the fishtail turn shown in Fig. 7A, the work vehicle 1 moves as follows. The work vehicle 1 turns left and advances to point KP1 and then stops once. After stopping once, it reverses to point KP2, turns left from point KP2, advances, and enters the next straight path SP. When the fishtail turn is performed by automatic steering, the first operation lever 24a is tilted in the forward direction F1 during forward movement and tilted in the reverse direction B1 during reverse movement. Since it is automatic steering, the operator does not need to give an instruction on the turning direction.

[0089] Fig. 7B is another view for explaining the turning pattern. Note that Fig. 7B assumes the case where the skip number is "2". When the skip number increases, if an arc-shaped turn as shown on the left side of Fig. 7B is performed, the width required for turning becomes wider in the direction parallel to the straight path SP (front-rear direction). As a result, the workable range becomes narrower, and there is a risk of a decrease in work efficiency. For this reason, as the turning pattern, it is preferably provided so that a turn including a straight running portion extending in the direction (left-right direction) perpendicular to the straight path SP as shown in the right side of Fig. 7B can be selected. In this turn, the work vehicle 1 turns left and advances to point KP3, and goes straight from point KP3 to point KP4. Then, it turns left and advances from point KP4 and enters the next straight path SP.

[0090] Returning to Fig. 5, when the process of step S7 (the state where automatic turning travel is performed) is completed, the process proceeds to the next step S8.

[0091] In step S8, the control device 10 (specifically, the travel control unit 105) monitors whether the automatic turning travel has been completed. In the present embodiment, the completion of the automatic travel is a state in which the travel along the set turning route has been completed and it has become possible to enter the next straight route. The determination of this state may be made, for example, using information obtained from the positioning communication unit 14 or the inertial measurement device. When it is determined that the automatic turning travel has been completed (Yes in step S8), the process returns to step S4 and the automatic straight-ahead control is started, and the processes after step S4 described above are repeated. When it is not determined that the automatic turning travel has been completed (No in step S8), the process of step S8 is repeated.

[0092] <4. Variation> [4-1. First Variation] FIG. 8 is a flowchart illustrating the flow of the automatic travel method according to the first variation. The flowchart shown in FIG. 8 is generally the same as the flowchart shown in FIG. 5. In the first variation shown in FIG. 8, the process of step S9 is added between the process of step S5 and the process of step S7 shown in FIG. 5, and further, the process of step S10 is added after the process of step S8 shown in FIG. 5. Hereinafter, the description will be focused on this difference.

[0093] The process of step S9 is performed after there is a turning instruction (a predetermined operation including a direction instruction) from the operator (refer to the process of step S5 described above).

[0094] In step S9, the control device 10 (specifically, the work implement control unit 106) automatically changes the work implement 12 that was being used during the travel along the straight path (traveling under the automatic straight-ahead control) to the non-operating state. That is, in the automatic travel method of the work vehicle 1 according to the modified example, after receiving a predetermined operation, the work implement 12 of the work vehicle 1 is automatically switched to the non-operating state. In this modified example, setting the work implement 12 to the non-operating state includes raising the work implement 12 to a height position where it cannot perform work and making it impossible to transmit power to the work implement 12 using the PTO power transmission unit. By adopting such a configuration for automatic switching, the burden on the operator can be reduced. Note that the operating state and the non-operating state vary depending on the type of the work implement 12. For this reason, the control content performed when switching from the operating state to the non-operating state may be appropriately changed according to the configuration of this modified example. For example, in the case of a work implement that does not require elevation, it is not necessary to raise the work implement to set it to the non-operating state. When the process of step S9 is completed, the process proceeds to step S7, and the automatic turning travel is started.

[0095] Note that in this modified example, "after receiving the turning instruction (predetermined operation)" means the period from when the turning instruction (predetermined operation) is received until the automatic turning travel is started. However, the switching of the work implement 12 to the non-operating state may be executed in conjunction with the start of the automatic turning travel. For this reason, "after receiving a predetermined operation" in the present invention does not mean only immediately after receiving the predetermined operation, but rather broadly includes, for example, the start timing of the subsequent automatic turning travel.

[0096] The process of step S10 is performed after it is determined that the automatic turning travel has been completed (see the process of step S8 described above).

[0097] In step S10, the control device 10 (the work implement control unit 106) automatically changes the work implement 12 that was previously in the non-operating state to the operating state. That is, in the automatic traveling method according to the modified example, after the end of the turning travel, the work implement 12 is automatically switched to the operating state. In this modified example, setting the work implement 12 to the operating state includes lowering the work implement 12 to a height position where it can operate and enabling power transmission to the work implement 12 using the PTO power transmission unit. By adopting such a configuration for automatic switching, the burden on the operator can be reduced. When the processing of step S10 is completed, the processing returns to step S4, and the work using the automatic straight-ahead control is executed.

[0098] Note that in this modified example, "after the end of the turning travel" is the period from when it is determined that the turning travel has ended until the start of the automatic straight-ahead travel on the next straight path. However, the switching of the work implement 12 from the non-operating state to the operating state may be executed in conjunction with the start of the automatic straight-ahead travel. For this reason, "after the end of the turning travel" in the present invention is not limited to just immediately after recognizing the end of the turning travel, but rather broadly includes, for example, the start timing of the subsequent automatic straight-ahead travel.

[0099] Also, although not described in detail in FIG. 8, even when the processing proceeds from step S3 to step S4, it is preferable that the work implement 12 is automatically changed from the non-operating state to the operating state before the start of the automatic straight-ahead travel or in conjunction with the start of the self-propelled straight-ahead travel.

[0100] [4-2. Second Modified Example] In the embodiment described above, the predetermined operation (predetermined operation including direction indication) performed for the instruction of automatic turning is configured to be performed using the operation members (as an example, the operation lever 24a and the switch 25a (see FIG. 2)) provided on the operation device 2 which is a remote operation device. However, this is merely an example. The predetermined operation may be performed using the operation members provided on the work vehicle (vehicle body), not limited to the above-described operation device 2. Examples of the operation members provided on the vehicle body include a steering wheel, a steering lever, a path offset switch, an automatic driving on / off switch, and a wiper lever. At least one of these operation members may be used to perform the predetermined operation. When such a configuration is adopted, the work vehicle is provided with a driving unit for the operator to drive.

[0101] For example, the predetermined operation for the instruction of automatic turning may be configured to be performed using a combination of the automatic driving on / off switch and the path offset switch provided on the vehicle body. The automatic driving on / off switch is a switch for instructing the start and stop of automatic driving. The path offset switch is a switch for finely adjusting (shifting) the position of the automatic driving path already set as the path for automatic driving, and has a left operation part (such as a button) for shifting to the left and a right operation part (such as a button) for shifting to the right. Hereinafter, the case where the switch (operation part) is pressed for a predetermined time or more (for example, 2 seconds or more) is referred to as "long press", and the case where the switch is pressed for less than a predetermined time (for example, less than 2 seconds) is referred to as "short press", and specific examples of the predetermined operation including direction indication will be described.

[0102] For example, by long pressing either the left or right operation part of the path offset switch, an instruction for the turning direction of performing automatic turning is given. When the left operation part is long pressed, a left turn is instructed as the direction of automatic turning. When the right operation part is long pressed, a right turn is instructed as the direction of automatic turning. In the case of a short press of the left and right operation parts, the left and right offsets of the path are performed as usual.

[0103] When the automatic drive on / off switch is briefly pressed during a long press of either the left or right operation unit, automatic turning in the direction indicated by the operation unit being long pressed is started. When the automatic drive on / off switch is briefly pressed during a long press of the left operation unit, automatic turning to the left is started. When the automatic drive on / off switch is briefly pressed during a long press of the right operation unit, automatic turning to the right is started. Note that when the long press of the path offset switch (left and right operation units) is stopped without pressing the automatic on / off switch (when the operator releases their hand from the path offset switch), automatic turning is not started.

[0104] In the configuration example using the automatic drive on / off switch and the path offset switch for a predetermined operation including direction indication described above, the following functions may be added. When the automatic drive on / off switch is long pressed during a long press of either the left or right operation unit of the path offset switch, it may be set to a standby state for automatic turning. In this example, when the automatic drive on / off switch is long pressed during a long press of the left operation unit, it becomes a standby state for automatic turning to the left. Also, when the automatic drive on / off switch is long pressed during a long press of the right operation unit, it becomes a standby state for automatic turning to the right.

[0105] And when the work vehicle reaches the end point of the current automatic driving route in the standby state for automatic turning described above, automatic turning driving may be automatically started. Note that at the start point of the automatic turning driving, the path offset switch and the automatic drive on / off switch may or may not be pressed. Also, the end point of the current automatic driving route is, for example, when the automatic driving route is a straight route, the point where a straight line passing through the start point of the previous (one before) automatic driving route and perpendicular to the automatic driving route intersects the current automatic driving route. However, the end point of the automatic driving route is not limited to this and may be a position specified by the operator in advance. Specifically, the end point of the automatic driving route may be a position specified by the operator tapping on the automatic driving route displayed on the display screen.

[0106] Note that in the above description, a configuration is adopted in which an automatic driving on / off switch and a route offset switch are used for a predetermined operation including a direction instruction. As another example, a configuration may be adopted in which only a route offset switch is used for a predetermined operation including a direction instruction. In this case, when either of the left and right operation parts of the route offset switch is long-pressed, a turning operation corresponding to the operated operation part may be automatically started. That is, when the left operation part is long-pressed, the work vehicle may start an automatic turning operation toward the left side, and when the right operation part is long-pressed, the work vehicle may start an automatic turning operation toward the right side.

[0107] As another specific example, a configuration may be adopted in which a turn signal indicator is used for a predetermined operation including a direction instruction. In this example, when the turn signal indicator is operated during automatic driving (automatic straight running), an automatic turning operation may be started in the direction indicated by the operation (for example, the left direction corresponds when an instruction to blink the left turn signal is given). At this time, the turn signal may blink or may not blink. Note that in this example, when the turn signal indicator is operated in the manual driving state, only the turn signal blinks.

[0108] [4-3. Third Modification Example] As described above, the work vehicle 1 may be provided so as to be capable of executing a U-turn shown on the left side of FIG. 7A, a fishtail turn shown on the right side of FIG. 7A, or a flat turn in which a part of the U-turn shown on the right side of FIG. 7B is changed, as a turning pattern of the automatic turning operation. Then, the operator may be able to select which of these turns is adopted as the turning pattern of the automatic turning operation by using a setting part provided in the work vehicle 1 or the operation device 2.

[0109] Furthermore, in addition to selecting maneuvers such as a U-turn, the operator may further be able to select whether to adopt the optional mode shown in FIG. 9. FIG. 9 is a diagram for explaining an optional mode that can be added to the turning pattern of the automatic turning travel. In FIG. 9, it is assumed that a U-turn is selected. However, as the turning method, a method other than a U-turn, such as a fishtail turn, may be selected. In FIG. 9, the left side shows the case where the optional mode is not selected, and the right side shows the case where the optional mode is selected.

[0110] When the optional mode is selected, the work vehicle 1 performs automatic straight running while performing work on the straight path SP until it reaches near the field end FE. The field end FE is, for example, a field edge. Note that the stop of the automatic straight running at the field end FE may be automatically performed in accordance with the detection of the end FE, or may be manually performed by the operator.

[0111] When the optional mode is selected, with the work vehicle 1 stopped near the field end FE, the operator gives a turning instruction using the first operation lever 24a and the first operation switch 25a. In response to this, a turning path is generated by the control device 10, and automatic turning travel along the turning path is started. In the optional mode, the reverse path BP is included in the turning path. This is different from the case where the optional mode in the left diagram of FIG. 9 is not adopted. The reverse path BP is generated based on the reverse start position and the size of the work implement 12 provided in the work vehicle 1.

[0112] When the optional mode is selected, when the automatic turning travel starts, the operator tilts the first operation lever 24a in the reverse direction B1 to reverse. The work vehicle 1 automatically stops at the end point of the reverse path BP. After the stop, the operator tilts the first operation lever 24a in the forward direction F1 to perform a forward operation. By this forward operation, the work vehicle 1 performs automatic turning travel in the U-turn method.

[0113] When the optional mode is selected, the configuration is such that first reverse straight running is performed at the start of automatic turning running, and then forward turning running is performed. When the optional mode is selected, as can be seen by comparing the left and right figures in Fig. 9, the working running by automatic straight running can be performed up to the very edge FE of the field. That is, when the optional mode is selected, the width of the headland area provided for the turning of the work vehicle 1 can be reduced. In the example shown in Fig. 9, the width of the headland area is narrowed by the distance X.

[0114] [4-4. Fourth Modification Example] The automatically performed turning running may include, in addition to the turning (reverse turn) running with the forward and backward reversal of the work vehicle 1 described above, turning (shift turn) running without the forward and backward reversal of the work vehicle. Note that hereinafter, the reverse turn by automatic running may be expressed as an automatic reverse turn. Also, the shift turn by automatic running may be expressed as an automatic shift turn. The automatic shift turn will be described in detail below.

[0115] When the work vehicle 1 is capable of executing an automatic reverse turn and an automatic shift turn, the operator may be able to select which of these turns to use during automatic turning by using a setting unit provided in the work vehicle 1 or the operating device 2.

[0116] Fig. 10 is a schematic diagram showing a configuration example of a setting unit that enables selection of whether to use an automatic reverse turn or an automatic shift turn. The setting unit shown in Fig. 10 is configured by a touch panel 200 as an example. Fig. 10 illustrates, in detail, a setting screen 201 displayed on the touch panel 200.

[0117] In the example shown in FIG. 10, as the automatic turning mode used when switching from the currently traveling work path (a detailed example is a straight path) to the next work path, a fishtail turn mode and a shift turn mode can be selected. Note that in the example shown in FIG. 10, the fishtail turn mode is a specific example of the mode for performing the above-described reverse turn. Also, the shift turn mode is a specific example of the mode for performing the above-described shift turn.

[0118] For example, by touching a specific area of the setting screen 201, it may be configured to be able to select whether to use the fishtail turn mode or the shift turn mode. In the example shown in FIG. 10, the area surrounded by the first frame 202 with "Fishtail Turn" described in the frame area is a software switch for selecting the fishtail turn mode. Also, the area surrounded by the second frame 203 with "Shift Turn" described in the frame area is a software switch for selecting the shift turn mode.

[0119] Note that in the example shown in FIG. 10, on the setting screen 201, a first circular area 204 is provided on the left side of the first frame 202, and a second circular area 205 is provided on the left side of the second frame 203. These circular areas 204 and 205 are provided to indicate which mode has been selected. In the example shown in FIG. 10, when the inside of the circular areas 204 and 205 is filled, it indicates that the mode described in the frames 202 and 203 existing on the right side of the circular area has been selected. In the example shown in FIG. 10, since the second circular area 205 is filled, the shift turn mode is selected as the automatic turning mode.

[0120] When the fishtail turn mode is selected as the automatic turning mode, it may be possible to select a turning method other than the fishtail turn (for example, the above-described U-turn or flat turn, etc.). Also, in the example shown in FIG. 10, as the reverse turn, it is configured to include the fishtail turn, but it may also be configured not to include the fishtail turn in the reverse turn.

[0121] Even when a shift turn is selected as the automatic turning mode, a more detailed method regarding the automatic shift turn may be selectable. Hereinafter, the automatic shift turn will be described in detail.

[0122] (Automatic shift turn) The automatic shift turn is an automatic driving (automatic movement) that moves to the next work path without reversing the front and rear of the work vehicle 1 at the switching timing of the work path (the travel path generated for automatic traveling work). The automatic shift turn (automatic movement) can be executed by utilizing the function of the control device 10. Note that the work implement 12 provided in the work vehicle 1 is preferably configured to be usable both when the work vehicle 1 is moving forward and when it is moving backward. For example, it may be a flail mower that enables fine pulverization of grass cutting, green manure crops, etc. The work implement 12 may be, in addition to the flail mower, a pesticide spraying device, a fertilizer application device, a lawn mower, etc., as long as it is configured to be usable by moving the work vehicle 1 forward and backward. By using the automatic shift turn, the work vehicle 1 can efficiently perform work because it can perform reciprocating work by switching between forward and backward movement without reversing the direction of the work vehicle 1.

[0123] Note that the automatic shift turn may be performed after the automatic straight driving stops, or may be performed while the automatic straight driving is being performed. It is preferable that the operator can set which of these to use.

[0124] Also, the switching timing of the work path is caused, for example, by the operator performing a predetermined operation. According to this, an automatic shift turn for switching the work path can be made at a timing preferred by the operator. However, the switching timing of the work path may be automatically caused when the work vehicle traveling automatically on the work path reaches a predetermined position. The predetermined position may be, for example, the end of a work section provided in the travel path, etc., and may be arbitrarily set by the operator.

[0125] FIG. 11A is a schematic diagram showing a specific example of automatic driving (automatic shift turn) that moves to the following work path WP. In the example shown in FIG. 11A, first, the work vehicle 1 is moving forward by automatic driving (specifically, automatic straight-ahead driving) along the first work path WP1. At the point PO1, an automatic shift turn is started in response to a route switching instruction using the operator's operating device 2. Note that the point PO1 is, for example, the end of the work section or near the end.

[0126] Also, when there is a route switching instruction from the operator, it is preferable for the work vehicle 1 to emit a notification sound indicating that it has received the notification. The notification sound may be, for example, a buzzer sound or a voice using a speaker. By emitting the notification sound, a person around the work vehicle 1 such as an operator can clearly recognize that the work vehicle 1 has started moving for switching the work path WP. That is, safety can be improved. Further, in the work vehicle 1 adopting a configuration that emits a notification sound, the volume may be automatically increased when a specific condition is satisfied. Also, in such a configuration, as the number of satisfied conditions increases, the volume may be increased step by step. Note that examples of the specific condition include when the drive source (for example, an engine) of the work vehicle 1 is turned on, when the drive source of the work vehicle 1 is an engine and the engine is at high idle, or when the PTO is turned on.

[0127] In the example shown in FIG. 11A, when making an automatic shift turn from point PO1, the work vehicle 1 makes a right turn and then a left turn while moving forward in this order based on preset turning conditions. When the work vehicle 1 reaches point PO2 on the second work route WP2, the automatic shift turn is completed. In the example shown in FIG. 11A, the right turn is a 90-degree turn to the right, which is just an example. The turning conditions for the right turn and the left turn may be different from the example shown in FIG. 11A. The main point is that when reaching the next work route WP, the work vehicle 1 should move so that the front-rear direction does not reverse (be the same as before switching the work route WP). Also, the turning conditions such as the turning amount may be configured so that the operator can set them, or may be configured so that the control device 10 automatically sets them. In the example shown in FIG. 11A, when there is an instruction to switch the route from the operator, it is configured to automatically shift and turn to the right-side route. Regarding this, for example, it may be configured such that which side (left or right) of the route to move to is preset, or it may be configured such that when the operator gives an instruction to switch the route, the operator indicates which side (left or right) to move to.

[0128] In the example shown in FIG. 11A, after completing the automatic shift turn from the first work route WP1 to the second work route WP2, the work vehicle 1 automatically travels backward (specifically, automatically goes straight backward) along the second work route WP2. Then, an automatic shift turn is started at point PO3 where there is an instruction to switch the route from the operator. During the automatic shift turn, the work vehicle 1 makes a left turn and then a right turn while moving backward in this order based on preset turning conditions. When the work vehicle 1 moves to point PO4 on the third work route WP3, the automatic shift turn is completed. By repeating the above-described automatic straight travel and automatic shift turn, the automatic travel operation on a plurality of work routes WP is advanced. When the automatic shift turn is completed (for example, when reaching point PO2 or point PO4 in FIG. 11A), as in this example, automatic travel along the work route WP may be started immediately, or it may be configured to stop temporarily when the automatic shift turn is completed. In such a configuration, when there is an operation instruction from the operator after the temporary stop, automatic travel along the work route WP may be started.

[0129] Incidentally, in the example shown in FIG. 11A, the automatic shift turn is achieved by performing a turning travel while moving forward (hereinafter referred to as forward turning travel) when the work vehicle 1 is performing a forward work, and is achieved by performing a turning travel while moving backward (hereinafter referred to as backward turning travel) when the work vehicle 1 is performing a backward work. However, such a configuration is merely an example. As shown in FIG. 11B, the automatic shift turn may be configured to be achieved by backward turning travel when the work vehicle 1 is performing a forward work, and to be achieved by forward turning travel when the work vehicle 1 is performing a backward work. Note that FIG. 11B is a schematic diagram showing another specific example of the automatic travel (automatic shift turn) for moving to the next work route.

[0130] In the case of the example shown in FIG. 11B, first, the work vehicle 1 travels forward in an automatic travel (specifically, automatic straight travel) along the first work route WP1. At the point PO1A, an automatic shift turn is started in response to a route switching instruction using the operator's operating device 2. The point PO1A is, for example, the end of the work section or near the end. When the point PO1A is near the end of the work section, in order to reduce the unexecuted area of the work, it is preferably in front (the back side in the traveling direction) of the vicinity of the end of the work section WS in the case of FIG. 11A.

[0131] At the time of the automatic shift turn from the point PO1A, the work vehicle 1 performs a left turn and a right turn in this order while moving backward (performs a backward turning travel) based on a preset turning condition. When the work vehicle 1 reaches the point PO2A on the second work route WP2, the automatic shift turn is completed and backward movement is started in automatic straight travel. Thereafter, an automatic shift turn is started at the point PO3A where a route switching instruction is received from the operator. At the time of the automatic shift turn, the work vehicle 1 performs a right turn and a left turn in this order while moving forward (performs a forward turning travel) based on a preset turning condition. When the work vehicle 1 moves to the point PO4A on the third work route WP3, the automatic shift turn is completed. By repeating the above-described automatic straight travel and automatic shift turn, the automatic travel work on a plurality of work routes WP can be advanced.

[0132] In Fig. 11A, when the forward operation (automatic straight running forward) is being performed, a forward turning operation is carried out, and when the reverse operation (automatic straight running backward) is being performed, a reverse turning operation is carried out. This method is referred to as the forward turning method. On the other hand, in Fig. 11B, when the forward operation is being performed, a reverse turning operation is carried out, and when the reverse operation is being performed, a forward turning operation is carried out. This method is referred to as the reverse turning method. A setting unit may be provided that enables the operator to set whether to use the forward turning method or the reverse turning method. The setting unit may be provided on the work vehicle 1 or on the operating device 2.

[0133] Note that, different from the methods shown in Figs. 11A and 11B, in either case where the work vehicle 1 is moving forward or backward with respect to the work path WP, it may be configured to automatically shift turn to the next path by forward turning, or may be configured to automatically shift turn to the next path by reverse turning. Also, when giving an instruction to switch the path, it may be configured such that the operator gives an instruction as to whether to perform forward turning operation or reverse turning operation.

[0134] Also, as the automatic turning mode, when the shift turn mode shown in Fig. 10 is selected, the operator may be provided with the option to select whether to use the above forward turning method or the reverse turning method. The forward turning method is a configuration suitable for turning outside the work area, and the reverse turning method is a configuration suitable for cases where it is necessary to turn within the work area for reasons such as inability to secure a headland area.

[0135] In addition, the automatic shift turn is applicable even when the work implement 12 can only be used in either forward or reverse. That is, it is also applicable when the work vehicle 1 is used for one-way work (for example, rotary work using a tiller). In this case, instead of performing the automatic shift turn at both ends of the work area, i.e., one end and the other end opposite to the one end, it may be configured to perform the automatic shift turn at only one of the one end and the other end of the work area. For example, when the work start point is one end of the work area, it may be configured to repeat the process of performing work travel by automatic straight travel from the one end toward the other end, performing a path change by automatic shift turn, and then performing non-work travel by automatic straight travel from the other end toward the one end. When selecting the shift turn mode as the automatic turning mode, such a work method for one-way work may be provided so that the operator can select it.

[0136] [4-5. Fifth Modification Example] When there is a direction instruction for automatic turning using the operation device 2 from the operator, the work vehicle 1 may be configured to notify the reception of the notification by light emission. FIG. 12 is a diagram for explaining the notification operation using light emission.

[0137] In the example shown in FIG. 12, the work vehicle 1 includes a turning lamp 17. The turning lamp 17 is a light (light device) that indicates the turning direction of the work vehicle 1 and is provided on the left and right of the traveling body 11. Specifically, turning lamps 17 are provided at the front and rear of the traveling body 11. More specifically, left-turning lamps 17L are provided at the front and rear of the left side of the traveling body 11, and right-turning lamps 17R are provided at the front and rear of the right side of the traveling body 11. The turning lamp 17 operates, for example, under the control of the control device 10 (see FIG. 3, etc.).

[0138] In FIG. 12, the left diagram of the white arrow shows the state where the work vehicle 1 that was automatically traveling straight forward has reached the planned turning position (for example, the end of the work area) and automatically stopped. Also, in FIG. 12, the right diagram of the white arrow shows the state of the work vehicle 1 after receiving a direction instruction using the first operation lever 24a of the operation device 2. Specifically, the direction instruction using the first operation lever 24a is a left-turn instruction to tilt the first operation lever 24a in the turning direction L1.

[0139] As shown in FIG. 12, when there is an instruction for the turning direction using the first operation lever 24a, the turning lamp 17 in the planned turning direction lights up. In the example shown in FIG. 12, since the instruction using the first operation lever 24a is a left turn, the left-turn lamp 17L provided on the left side of the traveling body 11 is lit. Thereby, the operator and the people around the work vehicle 1 can immediately grasp in which direction the work vehicle 1 is about to turn.

[0140] Note that after the turning lamp 17 lights up, when the operator presses the first operation switch 25a (see FIG. 2 etc.) with the first operation lever 24a tilted in the turning direction L1, a turning path is generated. Then, the operator can move the work vehicle 1 to the next path by performing a forward operation to tilt the first operation lever 24a in the forward direction F1 and making the work vehicle 1 perform an automatic turning operation such as a U-turn.

[0141] Also, the turning lamp 17 that is lit when an instruction to turn in a turning direction is given using the first operation lever 24a may be simply lit or may blink. When the turning lamp 17 is configured to blink, the blinking period may be changed according to the position of the second operation switch 25b (see FIG. 2) that designates the destination (number of skips) in turning travel. For example, when the number of skips is "0" (in the case of adjacent turning shown in FIG. 6A), a pattern may be repeated in which it is lit for 500 ms and then not lit for 500 ms. When the number of skips is "1" (in the case of skipping one step turning shown in FIG. 6B), a pattern may be repeated in which it is lit for 300 ms and then not lit for 1200 ms. When the number of skips is "2" (in the case of skipping two steps turning shown in FIG. 6C), it may be configured to be lit for 300 ms and then not lit for 200 ms, and further, a pattern may be repeated in which it is lit for 300 ms and then not lit for 1200 ms.

[0142] [4-6. Sixth Modification Example] FIG. 13 is a diagram showing a schematic configuration of the work vehicle 1 according to the sixth modification example. The work vehicle 1 according to the sixth modification example includes a turning lamp 17, similarly to the fifth modification example. Further, the work vehicle 1 includes a sound output unit 18 that outputs a sound informing the state of the work vehicle 1. Specifically, the sound output unit 18 includes a speaker that outputs sound toward the outside of the vehicle. The turning lamp 17 and the sound output unit 18 operate, for example, under the control of the control device 10 (see FIG. 3 etc.). Note that the sound output unit 18 may be provided at an appropriate position of the traveling body 11. Also, in this modification example, the sound output unit 18 is provided in the work vehicle 1, but may be provided in the operation device 2.

[0143] FIG. 14 is a diagram illustrating a setting screen for setting sounds in the work vehicle 1. In this example, the setting related to sound is, specifically, a setting related to the sound for guiding automatic driving. In FIG. 14, the setting screen is a touch panel, and the operator can set the sound by touch operation. In this modification example, the touch panel is provided in the work vehicle 1, but may be provided in the operation device 2.

[0144] In the example shown in FIG. 14, the operator can set the sound output setting to any one of "off" (off mode), "buzzer only" (buzzer mode), and "voice + buzzer" (voice mode). When the off mode is selected, no sound is output from the sound output unit 18. That is, no guidance by sound is performed. When the buzzer mode is selected, only the buzzer sound is output from the sound output unit 18. That is, guidance using only the buzzer sound is performed. When the voice mode is selected, the voice and the buzzer sound are output from the sound output unit 18. That is, guidance using the voice and the buzzer sound is performed.

[0145] The work vehicle 1 is a multi-purpose work vehicle that can perform various operations by replacing the work implement 12. That is, the work vehicle 1 is assumed to be used in various scenarios. For this reason, if the sound setting can be changed as in this example, it is convenient because the sound guidance can be turned off in a situation where the sound guidance is disturbing, such as late-night work. Also, if the sound setting can be changed, it can be set to provide sufficient information by voice guidance to users (operators, etc.) who are not used to using the work vehicle 1, and not to provide excessive voice guidance to users who are used to using the work vehicle 1. For this reason, the usability of the user can be improved.

[0146] When the buzzer mode is selected on the setting screen shown in FIG. 14, the sound output unit 18 outputs a buzzer sound according to the state of the work vehicle 1. The output buzzer sound has different sound patterns (sounding patterns) according to the state of the work vehicle 1. For this reason, the operator can recognize the state of the work vehicle 1 from the difference in the sounding patterns. Also, even in a situation where the surrounding sound is noisy during work, the buzzer sound is easier to hear than the voice. For this reason, by using the buzzer sound, it is possible to make it easier for the operator to recognize the state of the work vehicle 1.

[0147] FIG. 15A and FIG. 15B are diagrams showing examples of notifying the state of the work vehicle 1 in the buzzer mode. FIG. 15A shows a buzzing pattern when notifying that the work assist is started in the work vehicle 1, and FIG. 15B shows a buzzing pattern when notifying that the work assist is ended in the work vehicle 1. Note that the work assist refers to a state in which the work in the work vehicle 1 is supported by performing automatic traveling such as automatic steering. The start and end of the work assist can be detected, for example, by monitoring the operation of the first operation switch 25a.

[0148] In the example shown in FIG. 15A, at the start of the work assist, a buzzer sound of a certain time length sounds three times at regular time intervals. In the example shown in FIG. 15A, both the certain time length and the certain time interval are 500 ms, but these may be changed as appropriate. Also, in the example shown in FIG. 15B, at the end of the work assist, a buzzer sound of a certain time length sounds only once. In the example shown in FIG. 15B, the certain time length is 900 ms, but this may also be changed as appropriate.

[0149] Note that in this example, as a preferred form, the turning lamp 17 is adopted to emit light in conjunction with the buzzer sound. That is, the automatic driving system 100 is mounted on the work vehicle 1 and includes a light that emits light in conjunction with the sound output unit 18. The light that emits light in conjunction with the sound output unit 18 is not limited to the turning lamp 17 and may be a light provided on the work vehicle 1 separately from the turning lamp 17.

[0150] When the operator tilts the first operation lever 24a in the direction in which he / she wants to perform automatic turning, the work vehicle 1 enters a turning standby state waiting for an instruction to start automatic turning using the operator's first operation switch 25a. In this example, when the turning standby state is entered, the sound output unit 18 outputs a buzzer sound notifying that the work vehicle 1 is in the turning standby state, and the turning lamp 17 on the turning side blinks to notify the direction of the planned turn.

[0151] More specifically, the buzzing pattern of the buzzer that indicates the turning standby state differs depending on the preset destination (number of skips) in the turning travel. And the turning lamp 17 blinks in a pattern corresponding to the buzzing pattern. That is, the light emission (blinking) pattern of the turning lamp 17 differs depending on the difference in the turning path (turning method). For this reason, the operator can determine the path that the work vehicle 1 reaches by automatic turning based on the buzzing pattern of the buzzer and the blinking pattern of the turning lamp 17. Since not only the buzzer sound but also the blinking pattern of the turning lamp 17 is used, the operator performing the remote operation can more accurately grasp the planned operation of the work vehicle 1 during automatic turning.

[0152] For example, when the number of skips is "zero", the buzzer sound may be a repetition of "pip", and the turning lamp 17 may be configured to light up in a pattern corresponding to the repetition of "pip". Also, when the number of skips is "1", the buzzer sound may be a repetition of "pip pip", and the turning lamp 17 may be configured to light up in a pattern corresponding to the repetition of "pip pip". Also, when the number of skips is "2", the buzzer sound may be a repetition of "pip pip pip", and the turning lamp 17 may be configured to light up in a pattern corresponding to the repetition of "pip pip pip".

[0153] When the voice mode is selected on the setting screen shown in FIG. 14, the sound output unit 18 outputs voice and a buzzer sound according to the state of the work vehicle 1. The voice output is voice corresponding to the state of the work vehicle 1 and differs depending on the state of the work vehicle 1. The buzzer sound may be the same as in the buzzer mode, but in this example, it is a simple sound (e.g., "pip", etc.). The buzzer sound may be changed according to the state of the work vehicle 1, but in this modification, it is constant regardless of the state of the work vehicle 1.

[0154] In addition, in this modified example, even when the voice mode is set, the turning lamp 17 lights up in conjunction with the sound output from the voice output unit 18. The turning lamp 17 emits light in a light emission pattern corresponding to the state of the work vehicle 1 so as to be able to notify the state of the work vehicle 1. Even when adopting a configuration in which the buzzer sound is not changed according to the working state as in this modified example, the turning lamp 17 emits light in a light emission pattern corresponding to the state of the work vehicle 1.

[0155] By notifying the state of the work vehicle 1 by voice, even if the operator is a beginner, the operator can easily recognize the state of the work vehicle 1. Further, by adopting a configuration in which the state of the work vehicle 1 is notified by voice, a beginner operator can learn the meaning of the light emission pattern of the turning lamp 17 that notifies the state of the work vehicle 1. On the other hand, an operator who is familiar with handling the work vehicle 1 can recognize the state of the work vehicle 1 from the light emission pattern even without voice, so that the work vehicle 1 can be remotely operated in a comfortable environment in a building where the work vehicle 1 can be seen. Further, in a configuration in which the buzzer sound and the voice are used in combination, even without listening to the voice, it is possible to immediately confirm the response of the work vehicle 1 to the instruction given by the operator by remote operation by the buzzer sound. With such a configuration, the operator does not have to check the voice guidance in all cases, and the possibility that the operator feels bothered by the voice guidance can be reduced.

[0156] FIGS. 16A and 16B are diagrams showing examples of notifying the state of the work vehicle 1 in the voice mode. FIG. 16A shows a case of notifying that work assistance is started in the work vehicle 1, and FIG. 16B shows a case of notifying that work assistance is ended in the work vehicle 1.

[0157] In the example shown in FIG. 16A, at the start of the work assist, a buzzer sound with a short duration (e.g., 100 ms) sounds, and then a voice saying "Work assist has started" is emitted. Also, in the example shown in FIG. 16B, at the end of the work assist, a buzzer sound with a short duration (e.g., 100 ms) sounds, and then a voice saying "Work assist has ended" is emitted. Since the buzzer sound sounds before the voice is uttered, the operator can quickly recognize that the work vehicle 1 has received his / her operation. In this example, the buzzer sound is the same at the start and end of the work assist, but these may be configured differently from each other so that the state of the work vehicle 1 can be recognized by the difference in the buzzer sound.

[0158] Here, a specific example will be described with reference to FIG. 17, assuming a case where a fishtail turn is selected as the automatic turning mode and a voice mode is selected as the sound setting during automatic driving. Note that FIG. 17 is a diagram for explaining the relationship between the state and operation of the work vehicle 1 during a fishtail turn and the operator's operation. In FIG. 17, the turning operation (fishtail turn) progresses in alphabetical order.

[0159] As shown in FIG. 17(a), the work vehicle 1 performing work running by automatic straight-ahead control (automatic steering control) along the straight path SP automatically stops when it detects the work end point. Note that when the work vehicle 1 is moving forward by automatic straight-ahead control, the operator is performing a forward operation of tilting the first operation lever 24a in the forward direction F1. Also, in the example shown in FIG. 17, the work end point is assumed to be the intersection of the currently traveled straight path SP and one end of the work area WA where work is performed using the work implement 12. Also, even after the work vehicle 1 has automatically stopped, the operator can align the position of the work vehicle 1 by automatic steering by tilting the first operation lever 24a in the forward direction F1 or the backward direction B1.

[0160] When the work vehicle 1 stops, the work implement 12 is automatically changed from the working state to the non-working state. Note that the switching of the work implement 12 to the non-working state may also be performed manually. After the work vehicle 1 stops, when the operator uses the first operation lever 24a to indicate the turning direction of the automatic turning, the work vehicle 1 enters the turning standby state (the state shown in Fig. 17(b)). In the turning standby state, the buzzer sound and voice are output by the voice output unit 18. For example, after the buzzer sound "Pit" sounds, a notification by voice such as "Proceed to the next route" is made. Also, in the turning standby state, the turning lamp 17 emits light in a light emission pattern that indicates what kind of turning the work vehicle 1 is scheduled to perform next and is waiting. In the example shown in Fig. 17, since the turning instruction to the left direction (the operation of tilting the first operation lever 24a to the turning direction L1) is performed, the left turning lamp 17L of the work vehicle 1 is emitting light. Also, specifically, the turning lamp 17L is blinking in a light emission pattern that indicates that it is waiting in anticipation of an adjacent turn.

[0161] When a start instruction for automatic turning is given using the first operation switch 25a, a forward turning path for performing a fishtail turn is generated. When the operator performs a forward operation using the first operation lever 24a, the work vehicle 1 performs a turning travel with automatic steering along the generated forward turning path. In the example shown in Fig. 17, the turning travel is a left turning travel. While performing the left turning travel, the turning lamp 17L on the turning side is blinking. When the work vehicle 1 reaches the end point of the forward turning path by the turning travel, the work vehicle 1 automatically stops (see (c) in Fig. 17). Due to this automatic stop, the forward operation using the first operation lever 24a becomes invalid.

[0162] When the work vehicle 1 that has performed forward turning travel stops, the sound output unit 18 outputs a buzzer sound and voice. For example, after the buzzer sound goes "Pit", a notification by voice such as "Please reverse" is made. Also, when the work vehicle 1 that has performed forward turning travel stops, a reverse path is generated. When the operator performs a reverse operation by tilting the first operation lever 24a in the reverse direction B1, the work vehicle 1 performs reverse travel with automatic steering along the generated reverse path (see (d) in Fig. 17). In this example, the reverse path is a straight path. Note that when the work vehicle 1 is reversing, the left and right turning lamps 17 blink simultaneously and a buzzer sound notifying of reverse sounds. When reaching the end point of the reverse path by reverse travel, the work vehicle 1 automatically stops. By this automatic stop, the reverse operation using the first operation lever 24a becomes invalid.

[0163] When the work vehicle 1 that has performed reverse travel stops, the sound output unit 18 outputs a buzzer sound and voice. For example, after the buzzer sound goes "Pit", a notification by voice such as "Please move forward" is made. Also, when the work vehicle 1 that has performed reverse travel stops, a forward turning path is generated. When the operator performs a forward operation using the first operation lever 24a, the work vehicle 1 performs turning travel with automatic steering along the generated forward turning path. In the example shown in Fig. 17, the turning travel is left turning travel (see (e) in Fig. 17). While performing the left turning travel, the turning lamp 17L on the turning side is blinking.

[0164] When reaching the end point of the forward turning path by turning travel, the work vehicle 1 reaches the state of having reached the next straight path SP and continues forward travel with automatic steering along the next straight path. Note that when reaching the end point of the forward turning path by turning travel, the sound output unit 18 outputs a buzzer sound and voice. For example, after the buzzer sound goes "Pit", a notification by voice such as "Have reached the next path" is made.

[0165] When the work vehicle 1 detects the work start point, it automatically stops (see (f) of FIG. 17). In the example shown in FIG. 17, the work start point is assumed to be the intersection of the next straight path SP along which the work vehicle 1 has moved and one end of the work area WA. Even after the work vehicle 1 has automatically stopped, the operator can align the position of the work vehicle 1 by automatically steering by tilting the first operation lever 24a in the forward direction F1 or the backward direction B1.

[0166] The work vehicle 1 that has stopped at the work start point of the next straight path SP automatically changes the work implement 12 from the non-working state to the working state. After that, by a forward operation by the operator, the work vehicle 1 performs work running along the straight path SP under automatic straight-ahead control (automatic steering control). Note that the switching of the work implement 12 to the working state may be performed manually.

[0167] In addition to what has been described above, the work vehicle 1 provides voice guidance related to automatic driving. For example, when the first operation switch 25a is pressed twice during automatic straight-ahead control, a configuration may be adopted in which, of the work start point and the end point, the one closer to the current work vehicle 1 is updated to the vehicle position at the time when the first operation switch 25a is pressed twice. When such a configuration is adopted, it may be announced by voice in a form such as "The position of the start point has been updated." or "The position of the end point has been updated." Further examples of the voice guidance performed by the work vehicle 1 are shown in FIGS. 18A to 18C. In FIGS. 18A to 18C, "No." is an identification number arbitrarily assigned for the purpose of recognizing that the types of voice guidance are different. In FIGS. 18A to 18C, for each identification number, specific voice expressions and the occurrence conditions of the voice expressions are shown.

[0168] Note that each expression shown in FIGS. 18A to 18C is, in principle, equivalent to the expression used in the above description. Even if there is an expression not mentioned in the above description, most of them can be understood or inferred from the above description. For example, the "automatic switch" in the identification number "4" (No. 4) etc. is equivalent to the first operation switch 25a described above. Also, for example, the "radio control" in the identification number "21" is equivalent to the operation device 2 configured as the remote operation device described above. Also, for example, the "process" in the identification number "31" etc. is equivalent to the path on which the work running is performed. Also, the "path shift" in the identification number "39" etc. is equivalent to the process of translating all of the travel routes generated by the route generation unit 103 in a direction parallel to the direction orthogonal to the travel route. Also, the "left stick" in the identification number "41" etc. is equivalent to the operation of tilting the first operation lever 24a to the left.

[0169] Also, the setting of the sound including the voice guidance in the work vehicle 1 may be performed separately for each state (or function) of the work vehicle 1. By doing so, it is possible to enable notification by sound according to the proficiency level of the operator. For example, it is assumed that a highly proficient operator may not necessarily need the guidance by the sound related to work assistance, but may need the guidance related to the battery such as the remaining battery level. Considering such a point, for example, it may be possible to separately set the necessity / non-necessity of sound for work assistance and battery related.

[0170] [4-7. Seventh Modification Example] The automatic driving system 100 in the seventh modification example is mounted on the work vehicle 1 and includes a display device 19 (see FIG. 19 described later) provided to be input-operable. The display device 19 is preferably a touch panel that can be touch-operated, but may also be a display device whose input part exists outside the screen. The display device 19 is provided to enable various settings related to the automatic driving system 100, for example. The various settings may include the setting of the automatic turning mode described above and the setting related to sound. That is, the display device 19 may constitute the above-described touch panel 200 (see FIG. 10).

[0171] FIG. 19 is a diagram showing an example of a screen displayed on a display screen 191 of a display device 19 included in the autonomous driving system 100. A home screen displayed when the display device 19 is activated is displayed on the display screen 191 shown in FIG. 19. A plurality of software buttons SB are displayed on the home screen. The operator selects a software button SB for displaying a screen that the operator desires from among the plurality of software buttons SB on the home screen and performs a touch operation. By the touch operation, the screen content displayed on the display screen 191 is switched. The operator performs a touch operation on the software button SB displayed on the screen at least once to display a desired screen.

[0172] Such a display device 19 is not used and becomes a meaningless electrical component, provided that the work vehicle 1 is performing work driving. In consideration of this point, in this modification example, the display device 19 switches to a screen display for displaying the state of the work vehicle 1 when it is in a non-operating state. The switching of the screen display is performed automatically. Thereby, the display device 19 can be effectively utilized. Note that the switching of the display screen means switching from a normal display screen (a screen display for performing various settings) as shown in FIG. 19 to a screen specialized for displaying the state of the work vehicle 1.

[0173] Whether the display device 19 is in a non-operating state or not may be determined, for example, by whether a preset time (for example, 5 minutes, etc.) has elapsed since the operator last operated the display device 19. Specifically, if the preset time has elapsed since the operator's last operation, the display device 19 is determined to be in a non-operating state. On the other hand, if the preset time has not elapsed since the operator's last operation, the display device 19 is determined not to be in a non-operating state. These determinations may be made by a control device included in the display device 19 or by a higher-level control device 10 that controls the display device 19. The time preset for determining the non-operating state may be configured to be changeable by the operator as appropriate.

[0174] In addition, the display device 19 is provided at an appropriate position on the outer surface of the work vehicle 1 so that the content displayed on the screen can be easily recognized even when remote operation using the operation device 2 is performed. Further, the display device 19 preferably has a waterproof function, and furthermore, it is preferable that the screen size is set large so as to be easily visible from a distance.

[0175] Also, when in the non-operation state, the state information of the work vehicle 1 displayed on the screen is preferably single information such as the remaining battery level, considering visibility. In this way, even without making the size of the display device 19 particularly large, the information can be easily visually recognized from a distance. Here, the distance referred to is, for example, a position about 3 m away from the work vehicle 1.

[0176] The state information of the work vehicle 1 to be displayed on the display device 19 may be configured to be settable by the operator (user) in advance. Also, the state information of the work vehicle 1 to be displayed on the display device 19 may be configured to be changed by detecting a specific situation. Hereinafter, specific examples will be given to describe the screen display of the display device 19 in the non-operation state.

[0177] FIG. 20A is a diagram showing a first screen example of the display device 19 in the non-operation state. FIG. 20B is a diagram showing a second screen example of the display device 19 in the non-operation state. The first screen example and the second screen example are representative screen examples displayed when the display device 19 is determined to be in the non-operation state. In the first screen example, the remaining amount of the battery provided in the work vehicle 1 is displayed on the screen of the display device 19. In the second screen example, the estimated time (estimated remaining working time) for which the work vehicle 1 can perform work using the battery provided therein at that time is displayed on the screen of the display device 19. The display device 19 acquires the remaining battery level and the estimated remaining working time from, for example, the control device 10 provided in the work vehicle 1.

[0178] When in the non-operating state, the display screen of the display device 19 may be, for example, only one type of display screen such as the battery remaining amount display screen shown in FIG. 20A or the display screen for displaying the predicted remaining working time shown in FIG. 20B. However, in this modified example, when the display device 19 is in the non-operating state and a specific situation is detected, the display screen of the display device 19 is configured to switch. The specific situation is detected, for example, by the control device 10 (see FIG. 3).

[0179] FIG. 21A is a diagram showing a third screen example of the display device 19 when in the non-operating state. FIG. 21B is a diagram showing a fourth screen example of the display device 19 when in the non-operating state. FIG. 21C is a diagram showing a fifth screen example of the display device 19 when in the non-operating state. FIG. 21D is a diagram showing a sixth screen example of the display device 19 when in the non-operating state. FIG. 21E is a diagram showing a seventh screen example of the display device 19 when in the non-operating state. The third to seventh screen examples are screen examples when the above-described specific situation is detected.

[0180] The third screen example shown in FIG. 21A is a screen example when a specific situation is detected based on the sensor 16 provided in the work vehicle 1. Specifically, the third screen example is a screen example when it is detected using the sensor 16 that the PTO is in the ON state, and the working load rate, which is the load rate of the work using the work implement 12, is displayed as an indication showing the state of the work vehicle 1. For example, when the battery remaining amount is being displayed, which is the basic screen in the non-working state, when it is detected that the PTO has become ON, a screen display showing the working load rate as shown in FIG. 21A is performed. Assuming that the display device 19 is in the non-operating state, when the PTO becomes OFF, it returns to the battery remaining amount display. Note that the display device 19 obtains the working load rate, for example, from the control device 10 provided in the work vehicle 1. The working load rate can be calculated from the load torque of the electric motor provided in the work vehicle 1 or the like.

[0181] The fourth screen example shown in FIG. 21B and the fifth screen example shown in FIG. 21C are screen examples when a specific situation is detected based on an operation using the operation device 2. Specifically, the fourth screen example and the fifth screen example are screen examples when a setting change using the operation device 2 is detected, and more specifically, they are screen examples when it is detected that the setting of the maximum vehicle speed has been changed using the operation device 2. In this example, as the setting of the maximum vehicle speed, it is possible to set the maximum value of vehicle speed A and the maximum value of vehicle speed B. Of the vehicle speed when the working machine 12 is in the working state and the vehicle speed when the working machine 12 is in the non-working state, one is vehicle speed A and the other is vehicle speed B. However, such classification of vehicle speed A and vehicle speed B is merely an example, and the vehicle speeds that vehicle speed A and vehicle speed B represent may be provided to be changeable as appropriate.

[0182] In the fourth screen example shown in FIG. 21B, only the maximum value information of vehicle speed A is displayed as the display indicating the state of the work vehicle 1. The display corresponds to the change in the setting of the maximum value of vehicle speed A, and the operator can recognize that the change in the setting of the maximum value of vehicle speed A using the operation device 2 has been accepted by the work vehicle 1 when the display is made.

[0183] In the fifth screen example shown in FIG. 21C, only the maximum value information of vehicle speed B is displayed as the display indicating the state of the work vehicle 1. The display corresponds to the change in the setting of the maximum value of vehicle speed B, and the operator can recognize that the change in the setting of the maximum value of vehicle speed B using the operation device 2 has been accepted by the work vehicle 1 when the display is made.

[0184] It is sufficient to display on the screen to notify the operator of the setting change by the operating device 2 for a short period of time (e.g., 1 minute) after the operator makes a setting change using the operating device 2. For this purpose, on the premise that the display device 19 is in a non-operating state, for example, when a certain period of time has elapsed since the start of the screen display notifying the setting change by the operating device 2, it may be configured to return to the battery level display. Also, it is possible that the maximum value of the vehicle speed A and the maximum value of the vehicle speed B are simultaneously changed. In such a case, a screen display that specifically notifies the setting change of the vehicle speed A (a display like FIG. 21B) and a screen display that specifically notifies the setting change of the vehicle speed B (a display like FIG. 21C) may be configured to be displayed while switching at regular time intervals (e.g., 10 seconds) for a certain period (e.g., 1 minute).

[0185] The sixth screen example shown in FIG. 21D and the seventh screen example shown in FIG. 21E are also screen examples when a specific situation is detected based on an operation using the operating device 2, similar to the fifth screen example and the sixth screen example. However, the sixth screen example and the seventh screen example are screen examples when an operation related to automatic turning travel is detected, not when an operation related to a setting change is detected.

[0186] The sixth screen example shown in FIG. 21D is a screen example when an instruction for the turning direction using the first operation lever 24a is detected. Here, as information indicating the state of the work vehicle 1, the turning operation information during standby is displayed. As the turning operation information during standby, the turning direction and the type of turning are displayed. "Left turn" indicates that the direction of the turn to be performed by the start instruction of the turn is leftward. Also, "one-skip turn" indicates that the type of turn to be performed by the start instruction of the turn is the turn with the above skip number "1". By performing such a display, the operator can easily confirm the instruction content of the automatic turn using the operating device 2 by using the screen display.

[0187] Note that a screen display (a screen as shown in FIG. 21D) that enables confirmation of the operation content by the operation device 2 is sufficient if it is displayed for a short time (for example, 1 minute or the like) after the operation. For this purpose, on the premise that the display device 19 is in a non-operating state, for example, when a certain time has elapsed since the start of the screen display notifying the operation content by the operation device 2, it may be configured to return to the remaining battery level display. Also, as another example, it may be configured to return to the remaining battery level display after a turning start instruction.

[0188] The seventh screen example shown in FIG. 21E is a screen example when the occurrence of the next necessary operation is detected during the automatic turning operation by the fishtail turn using the first operation lever 24a. Here, as information indicating the state of the work vehicle 1, the information that the work vehicle 1 is next requesting is displayed. Specifically, an instruction requesting a forward operation is displayed. By such a display, the operator can easily confirm the next operation content to be performed using the operation device 2 by using the screen display.

[0189] Note that the screen display requesting the next operation (a screen as shown in FIG. 21E) becomes unnecessary when the next operation is performed. For this purpose, on the premise that the display device 19 is in a non-operating state, for example, at the stage when the next operation using the operation device 2 is executed, it may be configured to return to the remaining battery level display. Also, as another example, it may be configured to return to the remaining battery level display after a certain time has elapsed since the start of the display.

[0190] <5. Precautions, etc.> Various technical features disclosed in this specification can be variously modified without departing from the gist of the technical creation. Also, a plurality of embodiments and modification examples shown in this specification may be combined and implemented within the possible range.

[0191] <6. Supplementary Note> The exemplary automatic driving method of the present invention is an automatic driving method for a work vehicle, which may be configured to, when receiving a predetermined operation including a direction instruction by an operator, cause the work vehicle to automatically perform a turning operation in the direction specified by the direction instruction (first configuration).

[0192] The automatic driving method of the first configuration may be configured to set a driving route for causing the work vehicle to perform automatic driving, and when receiving the predetermined operation while the work vehicle is performing the automatic driving along the driving route, cause the work vehicle to perform the turning operation (second configuration).

[0193] The automatic driving method of the first or second configuration may be configured to receive a return instruction from the operator during the turning operation and cause the work vehicle to automatically perform a return operation to return to the starting position of the turning operation (third configuration).

[0194] The automatic driving method of any one of the first to third configurations may be configured to set a driving route for causing the work vehicle to perform automatic driving, the driving route including a plurality of routes arranged side by side, and the turning operation being performed based on the number of skips set for the plurality of routes (fourth configuration).

[0195] In the automatic driving method of the fourth configuration, the turning operation may be performed in a turning pattern selected based on the number of skips (fifth configuration).

[0196] The automatic driving method of any one of the first to fifth configurations may be configured to automatically switch a work implement of the work vehicle to a non-operating state after receiving the predetermined operation (sixth configuration).

[0197] The automatic driving method of the sixth configuration may be configured to automatically switch the work implement to an operating state after the end of the turning operation (seventh configuration).

[0198] Further, an exemplary automatic driving system of the present invention includes a work vehicle, an operating device provided to enable settings related to the automatic driving of the work vehicle, and a control device that controls the automatic driving of the work vehicle according to an instruction from the operating device. The control device may be configured (eighth configuration) to cause the work vehicle to automatically perform a turning operation in the direction specified by the direction instruction when receiving a predetermined operation including a direction instruction in the operating device.

[0199] The automatic driving system of the eighth configuration may further include a sound output unit that outputs a sound indicating the state of the work vehicle, and a light that is mounted on the work vehicle and emits light in conjunction with the sound output unit (ninth configuration).

[0200] The automatic driving system of the eighth or ninth configuration may further include a display device that is mounted on the work vehicle and is provided to enable input operations. When in a non-operating state, the display device may be configured to switch to a screen display that displays the state of the work vehicle (tenth configuration).

Explanation of Reference Numerals

[0201] 1 ··· Work vehicle 2 ··· Operating device 10 ··· Control device 12 ··· Working machine 17 ··· Turning lamp (light) 18 ··· Sound output unit 19 ··· Display device 100 ··· Automatic driving system

Claims

1. A method for automatically driving a work vehicle, comprising: An automatic driving method that, when a predetermined operation including a direction instruction from an operator is received, causes the work vehicle to automatically make a turn in a direction specified by the direction instruction.

2. Setting a travel route for the work vehicle to automatically travel; The automatic driving method according to claim 1 , further comprising the step of: making the work vehicle perform the turning travel when the predetermined operation is received while the work vehicle is performing the automatic driving along the travel route.

3. The automatic traveling method according to claim 1 , further comprising receiving a return instruction from the operator during the turning travel, and having the work vehicle automatically perform a return travel to return to a starting position of the turning travel.

4. Setting a travel route along which the work vehicle automatically travels; The travel route includes a plurality of routes arranged side by side, The automated driving method according to claim 1 , wherein the turning is performed based on a skip number set for the plurality of routes.

5. The automatic driving method according to claim 4 , wherein the turning is performed in a turning pattern selected based on the skip number.

6. The automatic driving method according to claim 1 , further comprising the step of automatically switching a work machine of the work vehicle to a non-working state after the predetermined operation is accepted.

7. The automatic traveling method according to claim 6, further comprising the step of automatically switching the working machine to a working state after the turning traveling is completed.

8. A work vehicle, An operation device that enables settings related to the automatic traveling of the work vehicle; a control device that controls the automatic traveling of the work vehicle in response to an instruction from the operation device; Equipped with The control device, when receiving a predetermined operation including a direction instruction on the operating device, causes the work vehicle to automatically turn in the direction specified by the direction instruction, is an automatic driving system.

9. a sound output unit that outputs a sound that notifies the user of a state of the work vehicle; A light mounted on the work vehicle and emitting light in conjunction with the sound output unit; The automated driving system according to claim 8, further comprising:

10. A display device is further provided that is mounted on the work vehicle and is operable to input data. The automated driving system according to claim 8 , wherein the display device switches to a screen display that displays a state of the work vehicle when the display device is in a non-operated state.

11. A program for causing a computer to execute an automatic driving method for a work vehicle, The computer, A program that functions as a means for automatically making the work vehicle turn in a direction specified by an operator when the program receives a predetermined operation including a direction instruction from the operator.

Images