Method for automatic traveling, method for generating automatic traveling route, automatic traveling system, and program

Abstract

To provide a technology that can efficiently perform a work using a work vehicle that performs automatic travelling.SOLUTION: An explicit method for automatic travelling is a method for automatic travelling of a work vehicle and executes: generating a plurality of work routes arranged in parallel with one another; making the work vehicle perform automatic travelling on one work route selected from the plurality of work routes; and making the work vehicle perform automatic travelling of moving to the next work route without reversing the front and rear of the work vehicle at switching timing of the work route.SELECTED DRAWING: Figure 7A

Description

Technical Field

[0001] The present invention relates to an automatic driving method, an automatic driving route generation 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 designated 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, when moving to the next work route, a turn involving inversion of the front and rear of the work vehicle is required. When the work implement provided in the work vehicle can be used both in forward and reverse, the turning travel as in Patent Document 1 may not necessarily be efficient in terms of work.

[0005] In view of the above points, an object of the present invention is to provide a technique capable of efficiently performing 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, including generating a plurality of work routes arranged side by side, causing the work vehicle to automatically drive along one work route selected from the plurality of work routes, and causing the work vehicle to automatically move to the next work route without reversing the front and rear of the work vehicle at the switching timing of the work routes.

[0007] An exemplary automatic driving route generation method of the present invention is an automatic driving route generation method for a work vehicle, including generating a plurality of work routes including work sections where automatic driving is performed while performing work using a work implement, and generating a movement route for automatically moving between the work routes without reversing the front and rear of the work vehicle.

[0008] An exemplary automatic driving system of the present invention includes a work vehicle and a control device for controlling the automatic driving of the work vehicle. The control device generates a plurality of work routes arranged side by side, causes the work vehicle to automatically drive along one work route selected from the plurality of work routes, and causes the work vehicle to automatically move to the next work route without reversing the front and rear of the work vehicle at the switching timing of the work routes.

[0009] An exemplary program of the present invention is a program for causing a computer to execute an automatic driving method for a work vehicle. The computer is caused to generate a plurality of work routes arranged side by side, cause the work vehicle to automatically drive along one work route selected from the plurality of work routes, and cause the work vehicle to automatically move to the next work route without reversing the front and rear of the work vehicle at the switching timing of the work routes.

Advantages of the Invention

[0010] 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

[0011]

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Embodiments for Carrying Out the Invention

[0012] 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.

[0013] <1. 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 operation device 2.

[0014] The operation device 2 is a remote operation device that enables an operator located at a position away from the work vehicle 1 to operate the work vehicle 1. The operation device 2 is provided to enable settings related to the manual driving of the work vehicle 1. Further, the operation device 2 is provided to enable settings related to the automatic driving of the work vehicle 1.

[0015] In the present embodiment, the operation device 2 is a remote operation device provided separately from the work vehicle 1, but this is an example. The operation device may be configured to be provided on the work vehicle itself.

[0016] In addition, in this specification, "autonomous driving" means that at least the steering is autonomously performed by controlling the devices related to driving by the control device provided in the work vehicle 1. The autonomous driving may be configured such that at least one of, for example, the adjustment of the vehicle speed and the operation by the work implement is autonomously performed in addition to the steering. For example, in autonomous driving, it may automatically decelerate or stop in response to the detection of an obstacle, or may automatically avoid the detected obstacle in response to the detection of an obstacle. Further, for example, the work implement may be automatically raised at the timing when the work vehicle 1 starts to automatically turn, and may be automatically lowered at the timing when the automatic turning ends.

[0017] (1-1. Overview of the work vehicle) The work vehicle 1 is used, for example, for performing 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.

[0018] 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 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 in the gravitational direction is defined as the upper side, and the downstream side as the lower side. In the drawings, as 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".

[0019] In the present embodiment, the work implement 12 is disposed behind the traveling body 11, but the present invention is also applicable to a work vehicle in which the work implement is disposed in front of the traveling body.

[0020] The traveling body 11 includes a body main body portion 111 and a traveling portion 112 disposed below the body main body portion 111.

[0021] The body main body 111 includes an outer cover 111a, a traveling drive device 111b disposed on the inner front side covered by the outer cover 111a, and a work implement drive device 111c disposed on the inner rear side covered by the outer cover 111a.

[0022] 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 unit 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.

[0023] The work implement drive device 111c includes a drive source and a PTO (Power Take Off) power transmission unit that enables the power from the drive source to be transmitted to the outside of the traveling machine 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.

[0024] Inside the outer cover 111a, there are also arranged a battery that supplies power to the electric motor, power electronics devices, and the like. On the outside of the outer cover 111a, as an example, a light 111d, a positioning antenna 111e, an alarm lamp 111f, and the like are arranged.

[0025] In the present embodiment, the traveling machine body 11 is not provided with an operator's driver's seat, that is, the work vehicle 1 performs work traveling unmanned. However, the present invention is also applicable to a work vehicle provided with a driver's seat on the traveling machine body 11. That is, the traveling machine body 11 may have a driver's seat and instruments (such as a steering wheel and a lever) for an operator sitting on the driver's seat to operate the work vehicle.

[0026] The running gear 112 supports the aircraft 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 aircraft 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.

[0027] 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 driven simultaneously in the same direction, the running gear 112 moves straight forward or backward. Whether it moves 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 driven independently, the running gear 112 makes a left turn or a right turn.

[0028] 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.

[0029] The work implement 12 is attached to the traveling body 11 via the hitch portion 13 so as to be vertically movable. Note that the hitch portion 13 includes the above-described work implement drive device 111c. The work implement 12 is attached to the hitch portion 13 so as to be replaceable. That is, the work implement 12 can be replaced with various types. In FIG. 1, the work implement 12 is a flail mower that enables mowing grass and finely pulverizing green manure crops and the like. The work implement 12 may have a configuration that allows the work vehicle 1 to be moved forward and backward without reversing it. The work implement 12 may be, for example, a pesticide spraying device, a fertilizer application device, a lawn mower, etc. in addition to the flail mower. In the present embodiment, the work implement 12 is provided so as to be vertically movable, but the work implement 12 may not be vertically movable.

[0030] 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 work implement may be used. As described above, the work implement 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, an agricultural working machine such as a tractor, a civil engineering working machine, a construction working machine, etc.

[0031] [1-2. Configuration related to automatic driving of work vehicle] Next, the configuration related to the automatic driving of the work vehicle 1 of the present embodiment will be described. FIG. 2 is a block diagram showing a schematic configuration of the work vehicle 1 according to the embodiment of the present invention. In FIG. 2, the components necessary for explaining the features (mainly the configuration related to automatic driving) of the present embodiment are shown, and the description of general components is omitted.

[0032] As shown in FIG. 2, the work vehicle 1 includes a 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. That is, the automatic driving system 100 includes a control device 10 that controls the automatic driving of the work vehicle 1.

[0033] The control device 10 is a computer device configured to include, for example, an arithmetic unit, an input / output unit, and a storage unit 101. The arithmetic unit is configured of, 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, data, etc. are stored in the storage unit 101. The arithmetic unit reads out various programs from the storage unit 101 and executes arithmetic processing according to the programs, thereby exhibiting various functions. The programs stored in the storage unit 101 may be provided, for example, by 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.

[0034] By the cooperation of the above-described hardware and software, the control device 10 can operate as a reception unit 102, a route generation unit 103, a traveling mode control unit 104, a traveling control unit 105, a work implement control unit 106, and a notification control unit 107. The control device 10 may be configured of one piece of hardware or may be configured of a plurality of pieces of hardware capable of communicating with each other. Some functions of the control device 10 may be included in the operation device 2.

[0035] Note that each functional unit 102 to 107 included in the control device 10 may be realized by software, that is, by causing an arithmetic unit 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 107 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 107 may be realized by hardware using a dedicated IC or the like. Also, at least one of the functional units 102 to 107 may be realized by using a combination of software and hardware. Also, the functional units 102 to 107 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.

[0036] A positioning communication unit 14, a communication processing unit 15, a sensor 16, and a notification unit 17 are connected to the control device 10. That is, the work vehicle 1 includes a positioning communication unit 14, a communication processing unit 15, a sensor 16, and a notification unit 17.

[0037] 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 a positioning satellite to acquire the position of the work vehicle 1 as, for example, latitude and longitude information. 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. Note that the positioning communication unit 14 may perform positioning using other methods such as the DGNSS (Differential GNSS) method.

[0038] 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. In other words, the operating device 2 includes an antenna (not shown) for wireless communication with the communication processing unit 15 (work vehicle 1). For wireless communication, for example, a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) may be used.

[0039] 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.

[0040] 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 working machine 12 provided so as to be able to be lifted.

[0041] The notification unit 17 performs a notification operation to alert the operator in response to a command from the control device 10. The notification operation is, for example, sound output, light emission, or screen display that prompts alert. The notification unit 17 is configured to include at least any one of, for example, a sound output device, a light emission device, and a display device. The above-mentioned warning lamp 111f (see FIG. 1) may be included in the light emission device that constitutes the notification unit 17. The sound output device may be, for example, a speaker for voice output or a buzzer that outputs a buzzer sound. The display device may be, for example, a liquid crystal display or an organic EL (Electroluminescence) display. In this embodiment, for the operation of the work vehicle 1 for remote operation using the operation device 2, the display device is preferably provided on the operation device 2. In this case, the notification unit 17 is provided on the operation device 2 instead of the work vehicle 1.

[0042] The reception unit 102 provided in the control device 10 receives an instruction from the operator using the operation device 2. The instruction using the operation device 2 includes an instruction related to automatic driving. 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.

[0043] The route generation unit 103 generates a travel route for causing the work vehicle 1 to perform automatic driving. Specifically, the travel route generated by the route generation unit 103 includes a plurality of work routes WP (see FIG. 3 described later). Each of the plurality of work routes WP includes a work section in which automatic driving is performed while performing work using the work implement 12. In this embodiment, the plurality of work routes WP are straight routes. The plurality of work routes WP are arranged side by side. That is, the route generation unit 103 (control device 10) generates a plurality of work routes WP arranged side by side. Specifically, the plurality of work routes WP are arranged parallel to each other. The plurality of work routes WP are generated, for example, as follows.

[0044] When generating a plurality of work paths WP, first, a reference line L is set. FIG. 3 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. 3.

[0045] When setting the reference line L, first, the work vehicle 1 is manually driven and moved to an appropriate position (point A in the figure) of the work target location (a farm field in this embodiment), and point A registration is performed using the operation device 2. In this embodiment, the movement of the work vehicle 1 by manual driving is also performed using the operation device 2. The reception unit 102 receives the point A registration by a predetermined operation of the operation device 2 by the operator. Then, the path generation unit 103 registers the position of the work vehicle 1 obtained by the positioning and communication unit 14 at the time when a predetermined operation for point A registration is performed by the operator, as the position of point A.

[0046] When point A registration is performed, the operator drives the work vehicle 1 straight ahead by manual driving using the operation device 2 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. The reception unit 102 receives the point B registration by a predetermined operation of the operation device 2 by the operator. Then, the path generation unit 103 registers the position of the work vehicle 1 obtained by the positioning and communication unit 14 at the time when a predetermined operation for point B registration is performed by the operator, as the position of point B.

[0047] 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. When the reference line L is set, the path generation unit 103 arranges a plurality of lines parallel to the reference line L at a predetermined interval (see the dashed line in FIG. 3) to generate a plurality of work paths WP. Each work path WP includes a work section WS in which automatic driving is performed while performing work using the work machine 12. In the example shown in FIG. 3, in each work path WP, the section sandwiched between two black circles is the work section WS where it is necessary to perform work using the work machine 12. In the work section WS, automatic driving is performed while performing work using the work machine 12. In the example shown in FIG. 3, the black circles are the intersections of the virtual line orthogonal to the reference line L and passing through point A or point B and the work path WP. However, the method of determining the work section WS is not limited to this. The work sections WS of each work path WP may be different. For example, the work section WS of each work path WP may be configured to be sequentially updated according to the result of the automatic driving work in the work path WP where the automatic driving work was performed one before.

[0048] Returning to FIG. 2, the travel mode control unit 104 performs switching control between the manual travel mode and the automatic travel mode. In this embodiment, in the manual travel mode, the operator operates the travel of the work vehicle 1 and the operation of the work machine 12 using the operation device 2. In the automatic travel mode, the steering of the work vehicle 1 is automatically performed, and the operator operates the operation device 2 to adjust the vehicle speed of the work vehicle 1 and the operation of the work machine 12.

[0049] The travel mode control unit 104 performs a switching of the travel mode, for example, when the reception unit 102 receives a travel mode switching instruction using the operation device 2 by the operator. Specifically, when the work vehicle 1 is in the manual travel mode and the reception unit 102 receives a travel mode switching instruction, the travel mode control unit 104 switches from the manual travel mode to the automatic travel mode. Also, when the work vehicle 1 is in the automatic travel mode and the reception unit 102 receives a travel mode switching instruction, the travel mode control unit 104 switches from the automatic travel mode to the manual travel mode.

[0050] 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 the 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 route for automatic travel (for example, the work route WP), and steering control according to the operation result is performed.

[0051] 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, the lifting control of the work implement 12 and the 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, when in the automatic travel mode, the work implement control unit 106 may be configured to automatically control the operation of the work implement 12.

[0052] When a predetermined condition is satisfied, the notification control unit 107 controls the notification unit 17 to cause the notification unit 17 to perform a notification operation. The predetermined condition is satisfied, for example, when it is necessary to alert an operator or the like who operates the work vehicle 1. Examples of the case where it is necessary to alert include when an obstacle is detected by an obstacle sensor in the traveling direction of the work vehicle 1.

[0053] [1-3. Functions of the operation device] FIG. 4 is a block diagram showing a schematic configuration of functions provided in the operating device 2 according to an embodiment of the present invention. As shown in FIG. 4, the operating device 2 includes a traveling operation unit 21, a work implement operation unit 22, a work path creation operation unit 23, a traveling mode switching operation unit 24, a work path switching operation unit 25, a switching destination setting operation unit 26, and a turning condition setting operation unit 27. Each of the operation units 21 to 27 is provided to enable an operator to perform an operation.

[0054] Note that each of the operation units 21 to 27 is composed of operation tools such as switches, buttons, levers, knobs, and steering wheels, for example. The operation tools may be composed of hardware or software. Also, separate operation tools may be provided for each of the operation units 21 to 27, or a configuration may be adopted in which a plurality of operation units share the same operation tool. Further, each of the operation units 21 to 27 may be composed of only one operation tool or a plurality of operation tools.

[0055] The traveling operation unit 21 is an operation unit that performs operations related to the traveling of the work vehicle 1. The traveling operation unit 21 is composed of, for example, at least one operation lever or an operation steering wheel. Specifically, in the manual traveling mode, the traveling operation unit 21 is provided so as to be able to operate the forward and backward movement directions, steering, and speed of the work vehicle 1. In the present embodiment, in the automatic traveling mode, the traveling operation unit 21 is provided so as to be able to operate the forward and backward movement directions and speed of the work vehicle 1. However, when the automatic traveling is configured to be autonomous for operations other than steering, the traveling operation unit 21 may not be usable in the automatic traveling mode.

[0056] The work implement operation unit 22 is an operation unit that performs operations related to the operation of the work implement 12. The work implement operation unit 22 is composed of, for example, an operation lever or an operation switch. The work implement operation unit 22 is provided so as to be able to operate, for example, the raising and lowering of the work implement 12. Also, the work implement operation unit 22 is provided so as to be able to switch between a state where power transmission to the work implement 12 using the PTO power transmission unit is possible and a state where it is not possible.

[0057] The work path creation operation unit 23 is an operation unit used when generating the above-described work path WP (see FIG. 3). The work path creation operation unit 23 is composed of, for example, operation switches and operation buttons. Specifically, the work path creation operation unit 23 is an operation unit used when registering the above-described points A and B (see FIG. 3).

[0058] The traveling mode switching operation unit 24 is an operation unit for switching the traveling mode, and is composed of, for example, operation switches and operation buttons. By operating the traveling mode switching operation unit 24 in the manual traveling mode, the vehicle can be switched to the automatic traveling mode. By operating the traveling mode switching operation unit 24 in the automatic traveling mode, the vehicle can be switched to the manual traveling mode.

[0059] The work path switching operation unit 25 is an operation unit that enables the work vehicle 1 to automatically switch the work path WP. The work path switching operation unit 25 is composed of, for example, operation switches, operation levers, etc. Details of how to use the work path switching operation unit 25 will be described later.

[0060] The switching destination setting operation unit 26 is an operation unit for setting the switching destination of the work path WP when automatically switching the above-described work path WP. The switching destination setting operation unit 26 is composed of, for example, an operation switch. Specifically, the switching destination setting operation unit 26 can be composed of a toggle switch or the like that can be switched to a plurality of positions.

[0061] FIG. 5 is a diagram for explaining the function of the switching destination setting operation unit 26 provided in the operation device 2. In FIG. 5, the work vehicle 1 is automatically traveling along the first work path WP1.

[0062] When the switching destination is set to "next" (skip count is zero) by the switching destination setting operation unit 26, the work vehicle 1 that automatically switches the work path WP moves to the second work path WP2 adjacent to the first work path WP1 (see the solid arrow in Fig. 5). This movement has a skip count of zero because the number of work paths WP to be skipped is zero when switching the work path WP.

[0063] When the switching destination is set to "skip one" (skip count is "1") by the switching destination setting operation unit 26, the work vehicle 1 that automatically switches the work path WP skips the second work path WP2 adjacent to the first work path WP1 and moves to the third work path WP3 (see the dashed arrow in Fig. 5). This movement has a skip count of "1" because the number of work paths WP to be skipped is one when switching the work path WP.

[0064] When the switching destination is set to "skip two" (skip count is "2") by the switching destination setting operation unit 26, the work vehicle 1 that automatically switches the work path WP skips two work paths WP, namely the second work path WP2 adjacent to the first work path WP1 and the third work path WP3 adjacent to it, and moves to the fourth work path WP4 (see the dash-dotted arrow in Fig. 5). This movement has a skip count of "2" because the number of work paths WP to be skipped is two when switching the work path WP.

[0065] By providing the switching destination setting operation unit 26 that can set the switching destination (skip count) when switching the work path WP, it becomes possible to perform automatic traveling work flexibly according to, for example, the state of the field. Note that the number of skip count settings is not limited to three as shown in Fig. 5, and may be two or four or more. Also, the switching destination may be configured to be set by distance instead of by skip count.

[0066] Returning to FIG. 4, the turning condition setting operation unit 27 is an operation unit that sets the turning condition of the work vehicle 1 when automatically switching the above-described work path WP. The turning condition is, for example, the turning amount (turning radius). By being able to set the turning condition, it is possible to automatically switch the work path WP with an appropriate turning setting according to the field. For example, when the field is muddy, it is difficult to make a sharp turn, so a setting can be made to perform a gentle turn with a large turning radius. Also, it is preferable that the setting of the turning condition can be divided into a plurality of stages such as "gentle", "normal", and "sharp". With such a configuration, it is easy to imagine the state of turning, and it is possible to make it easier for the operator to set the conditions. The turning condition setting operation unit 27 is composed of, for example, an operation switch. Specifically, the turning condition setting operation unit 27 can be composed of a toggle switch or the like that can be switched to a plurality of positions.

[0067] <2. Automatic Traveling Method> Next, a method for automatically traveling the work vehicle 1 executed by the automatic traveling 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.

[0068] FIG. 6 is a flowchart illustrating the flow of the automatic traveling method according to an embodiment of the present invention. In the present embodiment, the process shown in FIG. 6 is executed when the work vehicle 1 and the operation device 2 are in a state where they can communicate with each other. Also, in the example shown in FIG. 6, it is assumed that the switching destination is set to "adjacent" (skip number zero) by the switching destination setting operation unit 26.

[0069] In step S1, the control device 10 (specifically, the path generation unit 103) generates a plurality of work paths WP (see FIG. 3) for causing the work vehicle 1 to perform automatic driving. As described above, the plurality of work paths WP are arranged side by side with each other. That is, the automatic driving method of the present embodiment executes generating a plurality of work paths WP arranged side by side with each other. A program for causing a computer to execute the automatic driving method functions the computer as means for generating a plurality of work paths WP arranged side by side with each other. The work path WP is generated when there are an A-point registration instruction and a B-point registration instruction using the operation device 2 as described above, and the generated plurality of work paths WP are set as a travel path for performing an automatic driving operation. By setting the travel path, the process proceeds to the next step S2.

[0070] 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 operating the travel mode switching operation unit 24 (see FIG. 4) of the operation device 2. 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.

[0071] In step S3, the control device 10 (specifically, the travel mode control unit 104) switches the travel mode to the automatic travel mode. Thereby, the automatic travel mode is started. When the automatic travel mode is started, the process proceeds to the next step S4. In the present embodiment, at the start point of the automatic travel mode, the work vehicle 1 is positioned on one work path WP among the plurality of work paths WP with the traveling direction (forward and backward direction) being the same as the extending direction of the work path WP. Preferably, the work vehicle 1 is positioned at the section end of the work section WS included in the work path WP. Up to this position, the work vehicle 1 is moved by manual travel using the operation device 2. The movement may include, for example, a turning movement involving the reversal of the front and rear of the work vehicle 1, or a movement without the reversal of the front and rear of the work vehicle 1. However, this is an example, and at the start point of the automatic travel 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 movement for switching the work path WP is performed before the automatic straight travel described below.

[0072] In step S4, the control device 10 (specifically, the travel control unit 105) performs automatic control of steering (automatic straight travel control) so that the work vehicle 1 travels along the work path WP. Thereby, the work vehicle 1 performs automatic straight travel along one work path WP selected from among the plurality of work paths WP. That is, the control device 10 causes the work vehicle 1 to perform automatic travel on one work path WP selected from among the plurality of work paths WP. The automatic travel method of the present embodiment executes causing the work vehicle 1 to perform automatic travel on one work path selected from among the plurality of work paths WP. 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 travel on one work path WP selected from among the plurality of work paths WP.

[0073] During automatic straight-ahead control, the work vehicle 1 performs automatic straight-ahead driving by the operator adjusting the direction (forward or backward) and speed in which the work vehicle 1 travels using the travel operation unit 21 (see FIG. 4). Note that the work implement 12 is manually operated using the operation device 2 as necessary during automatic straight-ahead control. Further, 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 of automatic straight-ahead control. Thereby, automatic traveling work using the work implement 12 can be performed by automatic straight-ahead driving. When automatic straight-ahead control is started, the process proceeds to the next step S5.

[0074] In step S5, the control device 10 (specifically, the reception unit 102) monitors whether an operator has given an instruction to switch the route. That is, in the present embodiment, the switching of the work route WP is performed by a predetermined operation of the operator. The reception unit 102 determines that an instruction to switch the route has been given when it receives an operation using the work route switching operation unit 25 of the operator. When it is determined that an instruction to switch the route has been given (Yes in step S5), the process proceeds to step S7. When it is determined that there is no instruction to switch the route (No in step S5), the process proceeds to step S6.

[0075] In step S6, the control device 10 (for example, the reception unit 102 or the like) determines whether the state is one in which automatic driving is to be terminated. For example, when there is an instruction to switch to manual driving using the travel mode switching operation unit 24 (see FIG. 4), it is determined that the state is one in which automatic driving is to be terminated. Further, when the communication between the work vehicle 1 and the operation device 2 is interrupted, it is determined that the state is one in which automatic driving is to be terminated. When it is determined that the state is one in which automatic driving is to be terminated (Yes in step S6), the flow shown in FIG. 6 ends. Note that instead of ending the flow, it may be configured to return to step S2. When it is determined that the state is not one in which automatic driving is to be terminated (No in step S6), the process is returned to step S5.

[0076] In step S7, the control device 10 (specifically, the travel control unit 105) causes the work vehicle 1 to perform an automatic movement to move to the next work route WP by automatic driving. In this automatic movement, the front and rear of the work vehicle 1 are not reversed. Before and after the automatic movement for switching the work route WP, the direction of the work vehicle 1 is the same.

[0077] That is, in step S7, the control device 10 causes the work vehicle 1 to perform an automatic driving to move to the next work route WP without reversing the front and rear of the work vehicle 1 at the switching timing of the work route WP. That is, the automatic driving method of the present embodiment executes causing the work vehicle to perform an automatic driving to move to the next work route without reversing the front and rear of the work vehicle 1 at the switching timing of the work route WP. A program for causing a computer to execute the automatic driving method functions as means for causing the computer to cause the work vehicle 1 to perform an automatic driving to move to the next work route WP without reversing the front and rear of the work vehicle 1 at the switching timing of the work route WP. According to such a configuration, since it is not necessary to manually move between the work routes WP, work can be performed efficiently. Further, according to such a configuration, since reciprocating work can be performed by switching forward and backward movement without reversing the direction of the work vehicle 1, work can be performed efficiently.

[0078] Note that the automatic movement may be performed after the automatic straight running stops, or may also be performed while the automatic straight running is being performed. It may be possible for the operator to set which of these is to be done.

[0079] In the present embodiment, the switching timing is caused by the operator performing a predetermined operation. According to this, it is possible to cause the automatic movement for switching the work route WP to be performed at the timing preferred by the operator. Note that the switching timing may occur immediately by the predetermined operation of the operator, or may occur with a delay from the predetermined operation. Examples of occurring with a delay from the predetermined operation include, for example, the case where the automatic movement is started after the work vehicle 1 stops in response to the predetermined operation.

[0080] In addition, in the present embodiment, during automatic movement, although steering is autonomously performed for traveling, speed and control of the work implement 12 may also be autonomously performed. In the present embodiment, when automatic movement is started, it is preferable that the work implement 12 is in a non-operating state by manual operation. The non-operating 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.

[0081] In addition, in the present embodiment, the next work path WP for moving during automatic driving is selected based on the operator's setting. Specifically, the next work path WP is the switching destination set by the operator using the switching destination setting unit 26. In the present embodiment, it is the work path WP adjacent to the currently automatically straight-traveling work path WP. The switching destination may be specifically set by the number of skips described above. Since the operator can freely set which work path WP to use as the next one before starting work or the like, for example, it becomes possible to perform appropriate automatic movement according to the field conditions and the like. Note that instead of setting the switching destination, a configuration may be adopted in which the traveling path (automatic movement path) at the time of switching the work path WP is set.

[0082] In addition, in the present embodiment, the steering control in the automatic driving (automatic movement) for moving to the next work path WP is performed based on the turning conditions set by the operator. Specifically, the steering control is performed based on the turning conditions set by the operator using the turning condition setting unit 27. As described above, the turning conditions may specifically be the turning amount (turning radius). Note that the turning conditions may be set, for example, for each of the above-described number of skips. Since the operator can freely set the turning conditions when automatically moving to the next work path WP before starting work or the like, for example, it becomes possible to perform appropriate automatic movement according to the field conditions and the like.

[0083] Note that whether to move (turn) in either the left or right direction during automatic movement may be determined according to the operator's instruction, or may be automatically determined by the control device 10.

[0084] In addition, the steering control in the automatic driving (automatic movement) to move to the next work path WP may be performed based on the turning conditions stored in advance as follows. In this example, the automatic driving method executes storing the turning conditions during the movement by manual driving between the work paths WP. Specifically, the control device 10 causes the storage unit 101 to store the turning conditions during manual driving. The turning amount (turning radius), which is an example of the turning conditions, can be obtained, for example, based on the operation amount of the traveling operation unit 21 of the operation device 2, the traveling locus of the work vehicle 1 obtained from the information obtained from the positioning communication unit 14, the information obtained from the rotation sensor included in the sensor 16, and the like. By making it possible to use the information during manual driving in this way, the labor of setting the turning conditions can be saved.

[0085] Note that since the turning conditions differ depending on the number of skipped work paths WP during automatic movement, it is preferable to store the turning conditions to be stored in the storage unit 101 in association with the number of skipped paths. Further, it may be configured to store the timing of starting automatic movement during manual driving (for example, the position from the edge of the field, etc.) and automatically start switching the work path WP based on this.

[0086] When the process of step S7 (the state where automatic driving to move to the next work path WP is performed) is completed, the process proceeds to the next step S8.

[0087] In step S8, the control device 10 (specifically, the travel control unit 105) monitors whether the automatic movement has been completed. In the present embodiment, the automatic movement is completed when the work vehicle 1 is in a state of being positioned on the next work route WP with the traveling direction (forward / backward direction) being the same as the direction in which the work route WP extends. Whether the work vehicle 1 is in such a state can be determined, for example, based on information obtained from the positioning communication unit 14 or the inertial measurement device. When it is determined that the automatic movement has been completed (Yes in step S8), the process returns to step S4 and the automatic straight-ahead control is automatically started again, and the processes after step S4 described above are repeated. Note that the work implement 12 is manually shifted to a workable state at an appropriate timing. When it is not determined that the automatic movement has been completed (No in step S8), the process of step S8 is repeated.

[0088] FIG. 7A is a schematic diagram showing a specific example of automatic travel (automatic movement) to move to the next work route WP. The work vehicle 1 shown in FIG. 7A performs automatic movement according to the flow shown in FIG. 6 described above. In the example shown in FIG. 7A, first, the work vehicle 1 travels forward along the first work route WP1 by automatic travel (specifically, automatic straight-ahead travel). At point P1, the automatic movement is started in response to a route switching instruction using the operator's operation device 2.

[0089] Note that the point P1 is, for example, near the end of the work section WS (see FIG. 3) in the work route WP. It is preferable that an indicator indicating that the work vehicle 1 is approaching a recommended point for route switching (for example, the end of the work section WS) be given to the operator. Thereby, the operator can easily recognize that the work vehicle 1 is approaching the recommended point for route switching, and the automatic movement can be started at an appropriate timing. The indicator may be, for example, a linear light (line light) using a light (such as an LED light) provided on the work vehicle 1. Further, the indicator may be configured to be displayed on the screen of the operation device 2 operated by the operator together with the work route WP and the current position of the work vehicle 1.

[0090] 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 emitted by the above-described notification unit 17. 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 the operator can clearly recognize that the work vehicle 1 has started moving for switching the work route WP. That is, safety can be improved.

[0091] In the example shown in FIG. 7A, when automatically moving from point P1, the work vehicle 1 performs a right turn and a left turn in this order while moving forward based on preset turning conditions. When the work vehicle 1 reaches point P2 on the second work route WP2, the automatic movement is completed. In the example shown in FIG. 7A, the right turn is a 90-degree right-hand turning maneuver, but this is merely an example. The turning conditions for the right turn and the left turn may be different from the example shown in FIG. 7A. 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 (so that it is the same as before switching the work route WP). Also, the turning conditions such as the turning amount may be configured to be set by the operator or automatically set by the control device 10. In the example shown in FIG. 7A, when there is a route switching instruction from the operator, it is configured to automatically move to the right-side route. In this regard, for example, it may be configured such that it is preset which side, left or right, to move to, or it may be configured such that the operator indicates which side, left or right, to move to when giving a route switching instruction.

[0092] In the example shown in FIG. 7A, when the automatic movement from the first working path WP1 to the second working path WP2 is completed, the work vehicle 1 reverses along the second working path WP2 by automatic driving (specifically, automatic straight-ahead driving). Then, automatic movement is started at point P3 where a path switching instruction is received from the operator. During this automatic movement, the work vehicle 1 performs left and right turns in this order while reversing based on preset turning conditions. When the work vehicle 1 moves to point P4 on the third working path WP3, the automatic movement is completed. By repeating the above-described automatic straight-ahead driving and automatic movement, the automatic driving operation on a plurality of working paths WP is advanced. Note that when the automatic movement is completed (for example, when reaching point P2 or point P4 in FIG. 7A), as in this embodiment, automatic driving along the working path WP may be started immediately, or a configuration may be adopted in which the vehicle stops temporarily when the automatic movement is completed. In such a configuration, when there is an operation start by the operator after the temporary stop, the vehicle may be configured to start automatic driving along the working path WP.

[0093] Incidentally, in the example shown in FIG. 7A, the automatic movement is achieved by performing turning while moving forward (hereinafter referred to as forward turning) when the work vehicle 1 is performing a forward operation, and by performing turning while reversing (hereinafter referred to as reverse turning) when the work vehicle 1 is performing a reverse operation. However, such a configuration is merely an example. As shown in FIG. 7B, the automatic movement may be achieved by reverse turning when the work vehicle 1 is performing a forward operation, and by forward turning when the work vehicle 1 is performing a reverse operation. Note that FIG. 7B is a schematic diagram showing another specific example of the automatic driving (automatic movement) for moving to the next working path.

[0094] In the case of the example shown in FIG. 7B, first, the work vehicle 1 moves forward along the first work path WP1 (specifically, moves straight forward automatically). At point P1A, it starts automatic movement in response to a path switching instruction using the operator's operating device 2. Point P1A is, for example, the end of the work section WS (see FIG. 3) in the work path WP, or near the end. When point P1A is near the end of the work section WS, 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. 7A.

[0095] During the automatic movement from point P1A, the work vehicle 1 performs left and right turns in this order while moving backward (performs a reverse turning travel) based on preset turning conditions. When the work vehicle 1 reaches point P2A on the second work path WP2, the automatic movement is completed, and it starts moving backward by automatic straight running. Then, it starts automatic movement at point P3A where a path switching instruction is received from the operator. During this automatic movement, the work vehicle 1 performs right and left turns in this order while moving forward (performs a forward turning travel) based on preset turning conditions. When the work vehicle 1 moves to point P4A on the third work path WP3, the automatic movement is completed. By repeating the above-described automatic straight running and automatic movement, the automatic traveling work on a plurality of work paths WP is advanced.

[0096] In FIG. 7A, it is a method of performing forward turning travel when performing forward work (automatic straight running forward), and performing reverse turning travel when performing backward work (automatic straight running backward), and this method is defined as the forward turning method. On the other hand, in FIG. 7B, it is a method of performing reverse turning travel when performing forward work, and performing forward turning travel when performing backward work, and this method is defined 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.

[0097] Note that, unlike the methods shown in FIGS. 7A and 7B, when the work vehicle 1 is moving forward or backward with respect to the work path WP, it may be configured to automatically move to the next path by a forward turn or to automatically move to the next path by a backward turn. Further, when giving an instruction to switch the path, it may be configured such that the operator gives an instruction as to whether to perform a forward turning travel or a backward turning travel.

[0098] Further, when the field outer shape (ridge position) is registered in advance, based on the position of the work vehicle 1 and the ridge position at the time when a path switching instruction is given, it may be automatically determined whether to switch to the next work path by a forward turning travel or to switch to the next work path by a backward turning travel. In such a configuration, for example, when it is determined that the work vehicle 1 will jump out of the field when attempting to switch the path by a forward turning travel, it is determined to switch the path by a backward turning travel. On the other hand, when it is determined that the work vehicle 1 does not jump out of the field, it is determined to switch the path by a forward turning travel. Further, instead of the ridge position, based on the position of the work vehicle 1 with respect to the end on the side where the work vehicle 1 approaches in the work section WS (see FIG. 3) (the position at the time of the path switching instruction), it may be automatically determined whether to switch the path by a forward turning travel or to switch the path by a backward turning travel.

[0099] <4. Modification Example> Hereinafter, a modification example of the above-described embodiment will be described.

[0100] [4-1. First Modification Example] In the embodiment described above, if the number of skips is the same, the turning conditions (turning radius, etc.) in the automatic movement are constant regardless of the switching timing of the work path WP. That is, in the embodiment shown above, the method of steering control in the automatic travel (automatic movement) to move to the next work path WP is the same regardless of the switching timing. In contrast, in this modification example, the method of steering control in the automatic travel to move to the next work path WP changes according to the position of the work vehicle 1 at the switching timing. This will be described with a specific example.

[0101] FIG. 8A is a diagram showing a first specific example for explaining a first modification. In FIG. 8A, the work vehicles 1A and 1B are present within the work section WS (see FIG. 3) included in the work route WP. The work vehicles 1A and 1B are moving forward toward one end of the work section WS. Hereinafter, the end of the work section WS on the side where the work vehicle 1 approaches is simply referred to as the work section one end WSE. The work vehicles 1A and 1B are about to start automatic movement in response to a switching instruction of the work route WP at the position shown in FIG. 8A. That is, the positions of the work vehicles 1A and 1B shown in FIG. 8A are the positions of the work vehicles 1A and 1B at the switching timing. The work section one end WSE may be set based on the positions of points A and B described above, or may be a position designated by the operator. In the former case, the work section one end WSE may be, for example, a position where points A and B are aligned (a position aligned in a direction orthogonal to the reference line L). In the latter case, the operator may specify the work section one end WSE by tapping an arbitrary position on the work route WP displayed on a screen provided in, for example, the work vehicle 1 or the operation device 2.

[0102] Between the work vehicle 1A in the left diagram of FIG. 8A and the work vehicle 1B in the right diagram of FIG. 8A, the positions of the work vehicle 1 at the switching timing are different. Specifically, the work vehicle 1B on the right side is located at a position farther from the work section one end WSE than the work vehicle 1A on the left side. In other words, the distance L2 from the work section one end WSE to the work vehicle 1B on the right side is larger than the distance L1 from the work section one end WSE to the work vehicle 1A on the left side.

[0103] For example, when the left working vehicle 1A automatically moves based on the set turning conditions at the switching timing and reaches near one end WSE of the working section as shown in Fig. 8A. In such a case, if the right working vehicle 1B automatically moves under the same turning conditions as the left working vehicle 1A, it will reach well in front of one end WSE of the working section as shown by the dashed arrow in Fig. 8A. In this case, there is a concern that there will be many unworked areas in the working section WS. For this reason, it can be said that it is preferable for the right working vehicle 1B to make a gentler turn as shown by the solid arrow compared to the case of the left working vehicle 1A. In addition, in order to reduce the unworked areas, it may be configured not to receive a route switching instruction unless the position of the working vehicle 1 is less than a predetermined distance from one end WSE of the working section. Whether to adopt such a configuration may be a configuration that can be selected by the operator. Also, the predetermined distance may be a configuration that can be set by the operator, or may be automatically set according to the turning conditions (amount of turning) and the target position of the next working route WP (for example, one end WSE of the working section).

[0104] Fig. 8B is a diagram showing a second specific example for explaining the first modification. The scene shown in Fig. 8B is almost the same as the scene in Fig. 8A. The difference is that the working vehicle 1 is closer to one end WSE of the working section compared to the case shown in Fig. 8A. In Fig. 8B, the symbol FE indicates the end of the field.

[0105] For example, when the right working vehicle 1B automatically moves based on the set turning conditions at the switching timing and reaches near one end WSE of the working section as shown in Fig. 8B. In such a case, if the left working vehicle 1A automatically moves under the same turning conditions as the right working vehicle 1B, it will hit the end FE of the field as shown by the dashed arrow in Fig. 8B. For this reason, it can be said that it is preferable for the left working vehicle 1A to make a sharper turn as shown by the solid arrow compared to the case of the right working vehicle 1B.

[0106] From the above, it can be seen that it is preferable to change the method of steering control (the speed of turning) based on the position of the work vehicle 1 at the switching timing with respect to one end WSE of the work section. Based on this, in this modified example, the method of steering control in the automatic driving to move to the next work path WP is configured to change according to the position of the work vehicle 1 at the switching timing with respect to one end WSE of the work section.

[0107] In addition, in FIGS. 8A and 8B described above, the turning is performed with one end WSE of the work section of the next work path WP as the target position, but this is an example. The target position may be set, for example, at a position a predetermined distance behind or a predetermined distance in front of one end WSE of the work section of the next work path WP. The predetermined distance mentioned here may be configured to be set by the operator.

[0108] Also, in FIGS. 8A and 8B, the turning driving method for switching the work path WP is the forward turning method (the method shown in FIG. 7A) described above, but this is an example, and the reverse turning method (the method shown in FIG. 7B) described above may be appropriately used. For example, when a path switching instruction is given while the work vehicle is moving forward on the work path WP and exceeding one end WSE of the work section, the path may be switched by reverse turning driving instead of forward turning driving as shown in FIGS. 8A and 8B. Also, when a path switching instruction is given while the work vehicle is moving backward on the work path WP and exceeding one end WSE of the work section, the path may be switched by forward turning driving.

[0109] [4-2. Second Modified Example] Similar to the first modified example, in the second modified example, the method of steering control in the automatic driving (automatic movement) to move to the next work path WP is configured to change according to the position of the work vehicle 1 at the switching timing. In the first modified example, a configuration was shown in which the method of steering control for automatic movement is changed based on the position of the work vehicle 1 with one end WSE of the work section as the reference position. In the second modified example, the reference position is set to a position different from one end WSE of the work section.

[0110] FIG. 9 is a diagram showing a specific example for explaining a second modification. In FIG. 9, the work vehicles 1A and 1B are moving forward toward the end FE side of the field. The work vehicles 1A and 1B are about to start automatic movement in response to a switching instruction for the work path WP at the position shown in FIG. 9 (corresponding to one end WSE of the work section). That is, the positions of the work vehicles 1A and 1B shown in FIG. 9 are the positions of the work vehicles 1A and 1B at the switching timing.

[0111] In FIG. 9, the distance from the one end WSE of the work section where the switching instruction is given to the end FE of the field is different between the left figure and the right figure. Specifically, the distance L4 from the one end WSE of the work section to the end FE of the field in the case of the right figure is shorter than the distance L3 from the one end WSE of the work section to the end FE of the field in the case of the left figure.

[0112] In FIG. 9, the automatic movement of the work vehicle 1B on the right side is shown by a broken line as the movement of the work vehicle 1 when the turning conditions of the work vehicle 1A on the left side are the same. Since the work vehicle 1B on the right side will hit the end FE of the field if it moves along the broken line, it can be said that it is preferable to turn more sharply than the work vehicle 1A on the left side, as shown by the solid line arrow.

[0113] That is, when data regarding the end FE of the field exists in the storage unit 101, it can be seen that it is preferable to change the way of steering control (the sharpness of turning) based on the position of the work vehicle 1 at the switching timing with respect to the end FE of the field. Based on this, in this modification, the way of steering control in the automatic driving to move to the next work path WP is configured to change according to the position of the work vehicle 1 at the switching timing with respect to the end FE of the field. For example, when the position of the work vehicle 1 at the switching timing is close to the end FE of the field, the steering control is performed so that the turning of the work vehicle 1 in the automatic movement becomes sharp. Also, when the position of the work vehicle 1 at the switching timing is far from the end FE of the field, the steering control is performed so that the turning of the work vehicle 1 in the automatic movement becomes gentle.

[0114] The one end portion WSE of the working section as the reference position shown in the first modification example and the end portion FE of the farm field shown in the second modification example are merely illustrative. Any position determined by the operator may be used as the reference position. That is, the steering control method in the automatic driving to move to the next working path WP may be configured to change according to the position of the work vehicle 1 at the switching timing with respect to a predetermined position. Thereby, it is possible to suppress the work vehicle 1 from making an inappropriate movement (for example, colliding with a ridge) by the automatic driving to move to the next working path WP.

[0115] [4-3. Third Modification Example] In the embodiments shown above, the switching timing of the working path WP is configured to occur in response to an instruction from the operator using the operating device 2. In the third modification example, the switching timing occurs when the work vehicle 1 automatically traveling on the working path WP reaches a predetermined position. That is, in the third modification example, the switching of the working path WP can be automatically started without an instruction from the operator. For this reason, the work load of the operator can be reduced and the automatic driving work can be efficiently performed. Hereinafter, a specific example of the third modification example will be described.

[0116] FIG. 10 is a block diagram showing a schematic configuration of the work vehicle 1C of the third modification example. Note that FIG. 10 is the same as FIG. 2 described above. As can be seen from a comparison between FIG. 10 and FIG. 2, in this modification example, a switching position arrival determination unit 108 is added to the configuration of the above-described embodiment. The switching position arrival determination unit 108 is a functional unit provided in the control device 10. The function of the switching position arrival determination unit 108 is realized, like the other functional units 102 to 107, by causing an arithmetic device provided in the control device 10 to execute arithmetic processing according to a program, for example.

[0117] The switching position arrival determination unit 108 determines whether the work vehicle 1C has reached a preset predetermined position. The predetermined position is stored in the storage unit 101 according to a setting instruction by the operator. The position of the work vehicle 1C is known from the information from the positioning communication unit 14. For this purpose, the switching position arrival determination unit 108 can determine whether the work vehicle 1C has reached the predetermined position by monitoring the information obtained from the positioning communication unit 14.

[0118] The predetermined position may be, for example, one end portion WSE of the above-described work section (see FIG. 8A etc.). That is, the predetermined position may be, for example, the end portion of the work section WS on the approaching side of the work vehicle 1C traveling along the work route WP. The predetermined position may be other than one end portion WSE of the work section. For example, the predetermined position may have a configuration with a width within a predetermined distance (for example, 1 m etc.) before and after one end portion WSE of the work section. Also, the predetermined position may be a configuration that can be arbitrarily set by the operator.

[0119] FIG. 11 is a flowchart illustrating the flow of the automatic driving method executed in the third modification example. The flowchart shown in FIG. 11 is generally the same as the flowchart shown in FIG. 6. It is only different in that the process of step S5 in FIG. 6 is replaced by the process of step S5A. Hereinafter, the flowchart shown in FIG. 11 will be described focusing on this difference.

[0120] Note that the process of step S5A is performed after the start of the automatic straight-line control (see the process of step S4 above).

[0121] In step S5A, the control device 10 (specifically, the switching position arrival determination unit 108) determines whether the work vehicle 1C has reached a preset predetermined position (for example, one end WSE of the work section). When the switching position arrival determination unit 108 determines that the work vehicle 1C has not reached the predetermined position (No in step S5A), the process proceeds to step S6. In this case, unless it is determined that the automatic driving has ended, the process is returned to step S5A, so basically the monitoring of step S5A continues. On the other hand, when the switching position arrival determination unit 108 determines that the work vehicle 1C has reached the predetermined position (Yes in step S5A), the process proceeds to step S7. In this case, the process of starting the automatic movement to switch the work route WP is performed. That is, the switching operation of the work route WP is automatically started without an operator's instruction. For the automatic movement at this time, for example, either the above-mentioned forward turning method (see FIG. 7A) or the reverse turning method (see FIG. 7B) is used. Which turning method to use may be a configuration that can be set by the operator.

[0122] Note that when the switching position arrival determination unit 108 determines (detects) the arrival of the work vehicle 1C at the predetermined position, the automatic movement may be immediately started. That is, the switching timing of the work route WP may be the timing when the work vehicle 1C that is automatically driving on the work route WP reaches the predetermined position (the first example). However, the switching timing of the work route WP may be a timing delayed from the timing when the work vehicle 1C that is automatically driving on the work route WP reaches the predetermined position (the second example).

[0123] In the case of the above-described first example, for example, the work vehicle 1C during traveling by automatic driving may be configured to start automatic movement without stopping. Also, as another example, the travel control unit 105 may perform speed control so that the vehicle speed of the work vehicle 1C becomes zero at a predetermined position, and the work vehicle 1C may be once stopped at the predetermined position and then automatic movement may be started. By doing so, since the possibility of the work vehicle 1C colliding with the end FE (such as a ridge or a wall) of the field can be reduced, safety can be enhanced. In the case of this configuration, an operator's instruction may be required when the stopped work vehicle 1C starts automatic movement.

[0124] In the case of the above-described second example, a configuration may be cited in which an automatic movement instruction from the operator who has been informed that the work vehicle 1C has reached a predetermined position is required. Also, in the case of the above-described second example, for example, the following configuration may also be cited. When the travel control unit 105 detects that the work vehicle 1C has reached a predetermined position, the travel control unit 105 performs control to temporarily stop the work vehicle 1C. When it is confirmed that the work vehicle 1C has stopped, automatic movement is automatically started. Also in this case, an operator's instruction may be required when the stopped work vehicle 1C starts automatic movement.

[0125] Also in the case of this modified example, as in the above-described embodiment, when automatic movement is started, it is preferable that the work vehicle 1C emits a notification sound such as a buzzer sound. Also, a configuration in which the above-described indicators such as the line light are displayed so that an operator away from the work vehicle 1C can recognize that the work vehicle 1C is approaching a predetermined position may also be applied to this modified example.

[0126] [4-4. Fourth Modified Example] In the third modification example described above, the operator sets (determines) the predetermined position that determines the switching timing of the work path WP. In the fourth modification example, the predetermined position is automatically set based on the outer edge of the travelable area where the work vehicle 1D can travel. The travelable area where the work vehicle 1D can travel is, for example, within a farm field. In this case, the outer edge of the travelable area is the outer edge of the farm field (the edge of the farm field). The outer edge of the farm field is, for example, a ridge or a wall. Hereinafter, a specific example of the fourth modification example will be described. Note that the configuration of the fourth modification example is generally the same as that of the third modification example. For this reason, the description will focus on the parts different from the third modification example.

[0127] FIG. 12 is a block diagram showing a schematic configuration of the work vehicle 1D of the fourth modification example. Note that FIG. 12 is the same as FIG. 10 described above. As can be seen from a comparison between FIG. 12 and FIG. 10, in this modification example, a farm field registration unit 109 is added to the configuration of the third modification example described above. The farm field registration unit 109 is a functional unit provided in the control device 10. The function of the farm field registration unit 109 is realized, for example, by causing an arithmetic device provided in the control device 10 to execute arithmetic processing according to a program, similar to the other functional units 102 to 108.

[0128] The farm field registration unit 109 performs a registration process of the farm field, for example, in response to an instruction from the operator using the operation device 2. Information such as the shape of the farm field is stored in the storage unit 101 by the registration process of the farm field. Note that the function of the farm field registration unit 109 may include editing and deleting information regarding the registered farm field.

[0129] When registering the farm field, for example, the operator drives the work vehicle 1D manually along the outer edge of the farm field such as a ridge. The shape of the farm field is specified by the travel locus of the work vehicle 1D obtained using the positioning communication unit 14 during the travel. The inside of the specified shape of the farm field is the farm field area. Note that in this embodiment, this farm field area is the above-described travelable area. The outer edge of the travelable area is the outer edge of the farm field. As can be understood from the description, in the automatic travel method of this modification example, setting the outer edge of the travelable area where the work vehicle 1C can travel is executed.

[0130] In this modification example, the path generation unit 103 specifically includes a work path generation unit 103a and a movement path generation unit 103b. This also differs from the configuration of the third modification example. The work path generation unit 103a generates a work path WP by the same method as described in the above-described embodiment. The movement path generation unit 103b generates a movement path MP (see FIG. 13 described later) for moving between the work paths WP. Specifically, the movement path generation unit 103b generates the movement path MP using the registration result of the farm field by the farm field registration unit 109.

[0131] As can be seen from the above, in this modification example, the method for generating the automatic driving path for the work vehicle 1D to perform automatic driving includes generating a plurality of work paths WP and generating a movement path MP for automatically moving between the work paths WP. The plurality of work paths WP include sections for performing automatic driving while performing work using the work implement 12. The movement path MP is a path that does not reverse the front and rear of the work vehicle 1C.

[0132] FIG. 13 is a diagram for explaining the generation process of the movement path MP by the movement path generation unit 103b. The movement path generation unit 103b determines turning conditions including the turning radius of the movement path MP based on input conditions such as the number of skips input by the operator, for example. The movement path generation unit 103b determines the start position SP of automatic movement based on, for example, the determined turning conditions, vehicle information of the work vehicle 1D including the working width and length of the work implement 12, and information on the outer edge (end) FE of the farm field stored in the storage unit 101.

[0133] The start position SP is determined so that the work vehicle 1 does not collide with the outer edge FE of the farm field by turning according to the determined turning conditions. The start position SP is determined for each work path WP. In the example shown in FIG. 13, for each work path WP, the start position SP is set at a position that is a distance D from the outer edge FE of the farm field. Note that in FIG. 13, only one side of both ends of each work path WP is shown, and the other side is not shown. For this reason, in FIG. 13, the start position SP is shown every other work path WP.

[0134] The start position SP is a predetermined position that determines the switching timing of the work path WP described above. When the switching position arrival determination unit 108 determines that the work vehicle 1D has reached the start position SP, the travel control unit 105 causes the work vehicle 1D to start automatic movement. When the automatic movement is started, the work vehicle 1D moves to switch the work path WP according to the movement path MP generated by the movement path generation unit 103b.

[0135] According to the configuration of the fourth modification example, the operator does not need to set a predetermined position that determines the switching timing of the work path WP, and the work load of the operator can be reduced. In the example shown in FIG. 13, the automatic movement is configured to be performed in the above-described forward turning method (see FIG. 7A), but the automatic movement may be configured to be performed in the reverse turning method (see FIG. 7B).

[0136] [4-5. Fifth Modification Example] Similar to the above embodiments and modification examples, in this modification example as well, the automatic movement for switching the work path WP is performed without reversing the front and rear of the work vehicle 1. Hereinafter, the form of movement between the work paths WP without such reversal of the front and rear of the work vehicle 1 may be expressed as a shift turn. Further, hereinafter, the shift turn by automatic driving may be expressed as an automatic shift turn.

[0137] The automatic shift turn may be configured to be performed entirely automatically without the operator operating the operating device 2 at all, or may be configured to be executed while the operator performs some operations other than steering the work vehicle 1 using the operating device 2. In this modification example, when the automatic shift turn is executed, the operator is configured to perform forward and reverse operations of the work vehicle 1. The forward and reverse operations may be performed, for example, using an operation lever provided in the operating device 2. The forward and reverse operations using the operating device 2 may include an operation for determining whether the traveling direction of the work vehicle 1 is forward or backward, and an operation for adjusting the speed of the work vehicle 1.

[0138] In addition, when the automatic shift turn is executed, the operation of the working machine 12 may be configured to be operated by the operator using the operating device 2 or to be performed automatically. For example, before and after the start of the automatic shift turn, the working state and the non-working state of the working machine 12 may be automatically switched. Specifically, before the start of the automatic shift turn (more specifically, after the end of the working travel), the working machine 12 may be automatically set to the non-working state, and after the end of the automatic shift turn (more specifically, before the start of the working travel), the working machine 12 may be automatically set to the working state. Whether or not to utilize such an automatic operation of the working machine 12 may be selectable by the operator using a setting unit provided in the work vehicle 1 or the operating device 2.

[0139] A specific example will be given and described for the forward and reverse operations during the automatic shift turn. FIG. 14A is a schematic diagram assuming a case where an automatic shift turn is performed outside the work area WA. That is, in FIG. 14A, the automatic shift turn (automatic travel) to move to the next work path WP is performed outside the work area WA where the work using the working machine 12 is carried out. In other words, the automatic shift turn is performed in a so-called headland area.

[0140] In FIG. 14A, the solid arrow indicates the work section WS in the work path WP, and the work vehicle 1 advances in the direction of the arrow in the work section WS. In the work section WS, the work vehicle 1 performs automatic straight-ahead travel while performing work by the working machine 12. Also, in FIG. 14A, the dashed arrow indicates the non-work section NWS where no work using the working machine 12 is performed, and the work vehicle 1 advances in the direction of the arrow in the non-work section NWS. The non-work section NWS is specifically composed of a shift turn path STP, which is the path traveled by the work vehicle 1 during the automatic shift turn, and a portion on the work path WP where no work using the working machine 12 is performed.

[0141] In the example shown in FIG. 14A, the automatic driving starts from one end WAE1 of the work area WA. The work vehicle 1 that has started automatic driving specifically performs automatic straight running within the work section WS of the work path WP by forward driving. During the automatic straight running, the operator performs a forward operation using the operation device 2. After starting the automatic straight running, when the work vehicle 1 detects the work end point (specifically, the intersection of the work path WP being traveled and the other end WAE2 of the work area WA), it automatically stops at the work end point. In accordance with the stop of the work vehicle 1, the work implement 12 is automatically switched from the working state to the non-working state.

[0142] After the work vehicle 1 stops, when the operator instructs the start of an automatic shift turn using the operation device 2, a shift turn path STP, which is a path for the automatic shift turn, is automatically generated, and the work vehicle 1 becomes ready to execute the automatic shift turn. When the operator performs a forward operation using the operation device 2 in this state, the work vehicle 1 performs automatic driving to move automatically to the next work path WP while moving forward along the shift turn path STP. That is, the work vehicle 1 performs an automatic shift turn outside the work area WA. In FIG. 14A, although the shift turn path STP is simply described as a straight line, in reality, it includes a curved path.

[0143] When it reaches the next work path WP, the work vehicle 1 automatically stops at one end. After the work vehicle 1 stops, when the operator performs a reverse operation using the operation device 2, the work vehicle 1 performs automatic straight running to automatically reverse along the work path WP. When the work vehicle 1 detects the work start point (specifically, the intersection of the work path WP being traveled and the other end WAE2 of the work area WA), it automatically stops at the work start point. In accordance with the stop of the work vehicle 1, the work implement 12 is automatically switched from the non-working state to the working state.

[0144] After that, when the operator performs a reverse operation using the operating device 2, the vehicle starts automatic straight running within the work section WS of the work path WP by reverse running. When the work vehicle 1 detects the work end point (specifically, the intersection of the work path WP during running and one end WAE1 of the work area W A) while running in reverse, it temporarily stops. Then, in the same manner as above, it performs an automatic shift turn outside the work area WA and moves to the next work path WP by automatic running. In this case, the forward and reverse operation directions of the operator are opposite to those in the above case. That is, the work vehicle 1 performs an automatic shift turn running by the reverse operation of the operator. Further, after the automatic shift turn, the work vehicle 1 moves to the work start point on the work path WP by the forward operation of the operator.

[0145] By repeating the operations of the work vehicle 1 and the operations of the operator described above, the work vehicle 1 completes the work using the work implement 12 in the work area WA. As described above, the automatic shift turn in Fig. 14A is a method that performs a forward turning run when performing automatic straight running forward and a reverse turning run when performing automatic straight running in reverse, which can be said to be the forward turning type automatic shift turn described above.

[0146] In the configuration shown in Fig. 14A, since the operation for moving to the next work path WP can be executed outside the work area WA, it is possible to suppress the work area WA from being damaged by the turning operation. Also, in the configuration shown in Fig. 14A, compared with the case of performing a turn that reverses the front-rear direction of the work vehicle 1 to move to the next work path WP, the non-work path can be shortened and the work can be performed efficiently.

[0147] Figure 14B is a schematic diagram assuming the case where an automatic shift turn is performed inside the work area WA. That is, in Figure 14B, the automatic shift turn (automatic driving) to move to the next work path WP is performed inside the work area WA where the work is carried out using the work machine 12. Also in Figure 14B, similar to Figure 14A, the solid arrows indicate the work section WS in the work path WP, and the work vehicle 1 advances in the direction of the arrow in the work section WS. Further, in Figure 14B, the dashed arrows indicate the non-work section NWS where the work using the work machine 12 is not performed, and the work vehicle 1 advances in the direction of the arrow in the non-work section NWS. Similar to the case of Figure 14A, the non-work section NWS is composed of the shift turn path STP and the part on the work path WP where the work using the work machine 12 is not performed.

[0148] In the example shown in Figure 14B, the work vehicle 1 starts automatic driving from one end WAE1 of the work area WA. The work vehicle 1 that has started automatic driving automatically travels straight ahead inside the work section WS of the work path WP by forward driving. During this automatic straight-ahead driving, the operator performs a forward operation using the operation device 2. After starting the automatic straight-ahead driving, when the work vehicle 1 detects the work end point (specifically, the intersection of the work path WP during travel and the other end WAE2 of the work area WA), it automatically stops at the work end point. In accordance with the stop of the work vehicle 1, the work machine 12 is automatically switched from the work state to the non-work state.

[0149] After the work vehicle 1 stops, when the operator instructs the start of an automatic shift turn using the operation device 2, a shift turn path STP, which is a path for the automatic shift turn, is automatically generated, and the work vehicle 1 becomes ready to execute the automatic shift turn. When the operator performs a reverse operation using the operation device 2 in this state, the work vehicle 1 automatically performs automatic driving to move to the next work path WP while reversing along the shift turn path STP. That is, the work vehicle 1 performs an automatic shift turn inside the work area WA. Note that in Figure 14B, the shift turn path STP is simply described as a straight line, but in reality, it includes a curved path.

[0150] When reaching the next work path WP, the work vehicle 1 automatically stops at one end. After the work vehicle 1 stops, when the operator uses the operating device 2 to perform a forward operation, the work vehicle 1 performs automatic straight-ahead driving in which it automatically moves forward along the work path WP. When the work vehicle 1 detects the work start point (specifically, the intersection of the work path WP during travel and the other end WAE2 of the work area WA), it automatically stops at the work start point. In accordance with the stop of the work vehicle 1, the work implement 12 is automatically switched from the non-operating state to the operating state. In FIG. 14B, although the work path WP where non-operating automatic straight-ahead driving is performed and the work path WP where automatic straight-ahead driving is performed while working are shown offset, this is a convenient description for ease of understanding, and actually the two overlap. Such a description is also used in FIGS. 15, 16A, and 16B described below.

[0151] After this, when the operator uses the operating device 2 to perform a reverse operation, reverse driving is used to start automatic straight-ahead driving within the work section WS of the work path WP. When the work vehicle 1 detects the work end point (specifically, the intersection of the work path WP during travel and the one end WAE1 of the work area WA) while performing reverse driving, it stops once, and in the same manner as above, performs an automatic shift turn inside the work area WA, and moves to the next work path WP by automatic driving. In this case, the forward and reverse operation directions of the operator are reversed compared to the above case. That is, the work vehicle 1 performs automatic shift turn driving by the operator's forward operation. Also, after the automatic shift turn, the work vehicle 1 moves to the work start point on the work path WP by the operator's reverse operation.

[0152] By repeating the operations of the work vehicle 1 and the operations of the operator described above, the work vehicle 1 completes the work using the work implement 12 in the work area WA. As described above, the automatic shift turn in FIG. 14B is a method of performing a reverse turning operation when going forward and performing a forward turning operation when going backward while performing automatic straight running, and can be said to be the reverse turning type automatic shift turn described above. In the configuration shown in FIG. 14B, since the operation for moving to the next work path WP can be executed inside the work area WA, the headland area can be narrowed.

[0153] It is preferable that whether to use the forward turning type automatic shift turn or the reverse turning type automatic shift turn can be preset by the operator before starting work using a setting unit provided in the work vehicle 1 or the operating device 2.

[0154] In addition, as another form, after receiving an instruction to start an automatic shift turn using the operating device 2, the type of automatic shift turn may be determined by the operation that the operator first performs among the forward operation and the reverse operation. This configuration will be described assuming the states shown in FIGS. 14A and 14B.

[0155] As described above, the work vehicle 1 stops when it reaches the work end point of the first work path WP (the rightmost work path WP in FIGS. 14A and 14B). Then, when the operator gives an instruction to start an automatic shift turn using the operating device 2 at the time of this stop, the work vehicle 1 becomes in a state where it can execute the automatic shift turn. In this state where the automatic shift turn can be executed, if the operator first performs a forward operation, a forward turning type automatic shift turn that performs an automatic shift turn outside the work area WA as shown in FIG. 14A will be selected. On the other hand, in the state where the automatic shift turn can be executed, if the operator first performs a reverse operation, a reverse turning type automatic shift turn that performs an automatic shift turn inside the work area WA as shown in FIG. 14B will be selected.

[0156] Note that in Fig. 14A, it is assumed that an automatic shift turn in the forward turning mode is preset. For this reason, the automatic shift turn for moving from the first working path WP to the next working path WP is executed only in the case of a forward operation, and is not executed in the case of a reverse operation. Further, in Fig. 14B, it is assumed that an automatic shift turn in the reverse turning mode is preset. For this reason, the automatic shift turn for moving from the first working path WP to the next working path WP is executed only in the case of a reverse operation, and is not executed in the case of a forward operation.

[0157] Further, in the above, once the shift turn path for performing the automatic shift turn is generated, the generated shift turn path is not changed. However, as a further alternative form, the shift turn path may be sequentially generated in accordance with the operator's operation, and the shift turn path once generated may be sequentially changed.

[0158] Fig. 15 is a diagram for explaining a configuration in which the shift turn path is sequentially generated according to the operator's operation. In Fig. 15, the operator's operation is a forward / backward operation. In Fig. 15, reference numeral WP1 denotes the working path WP on which the work vehicle 1 is currently traveling, and reference numeral WP2 denotes the working path WP on which the work vehicle 1 is scheduled to travel next. That is, it is assumed that the work vehicle 1 moves from the working path WP1 to the working path WP2 by an automatic shift turn. Further, in Fig. 15, the solid arrow indicates the working section WS, and the work vehicle 1 moves in the direction of the arrow in the working section WS. In Fig. 15, the dashed arrow indicates the non-working section NWS, and the work vehicle 1 moves in the direction of the arrow in the non-working section NWS. Similar to Fig. 14A and the like, the non-working section NWS is composed of the shift turn path STP and a portion on the working path WP where work is not performed using the work implement 12.

[0159] In the example shown in FIG. 15, the work vehicle 1 stops when it reaches the end point of the current work route WP1 (the intersection of the work route WP1 and the end WAE of the work area WA). Then, when the operator gives an instruction to start an automatic shift turn using the operating device 2 at the time of the stop, the work vehicle 1 becomes capable of executing an automatic shift turn.

[0160] In the example shown in FIG. 15, it is assumed that the operator first performs a reverse operation in a state where an automatic shift turn is possible. When the operator performs a reverse operation, a shift turn path STP1 for reaching the next work route WP2 while reversing is generated. When the shift turn path STP1 is generated, an automatic shift turn is started by the reverse operation of the operator.

[0161] Then, in the example shown in FIG. 15, it is assumed that the operator performs a forward operation after the start of the automatic shift turn driving while reversing. Such an operation of the operator is performed, for example, when there is an obstacle in the shift turn path STP1. When the operator performs a forward operation, a shift turn path STP2 for reaching the next work route WP2 while moving forward from that point is generated. When the new shift turn path STP2 is generated, an automatic shift turn along the new shift turn path STP2 is started by the forward operation of the operator.

[0162] Furthermore, in the example shown in FIG. 15, it is assumed that after the start of the automatic shift turn driving performed while moving forward, the operator performs a reverse operation. When the operator performs a reverse operation, a shift turn path STP3 for reaching the next work path WP2 while moving backward from that point is generated. When a new shift turn path STP3 is generated, an automatic shift turn along the new shift turn path STP3 is started by the reverse operation of the operator. In the example shown in FIG. 15, the next work path WP2 is reached by the automatic shift turn along the shift turn path STP3. After reaching the next work path WP2, if necessary, straight-ahead automatic driving for non-working movement to the work start point (the intersection of the work path WP2 and the end WAE of the work area WA) in the next work path WP2 is performed.

[0163] As can be understood from the above description, if the configuration is such that the shift turn path is sequentially generated in accordance with the operator's operation, the automatic shift turn can be performed flexibly according to the field conditions and the shape of the field. In the example shown in FIG. 15, the configuration is such that the shift turn path STP is changed twice after the automatic shift turn is first started, but this is merely an example. In this configuration, it is only necessary that the shift turn path STP be sequentially generated in accordance with the operator's operation, and the number of changes of the shift turn path STP is not particularly important. In this example, the number of changes of the shift turn path STP may be any number including zero.

[0164] [4-6. Sixth Modification Example] In the above embodiments and modification examples, the working machine 12 is configured to be available both when the work vehicle 1 moves forward and when it moves backward. And as a representative example, the working machine 12 is assumed to be a flail mower. However, the automatic shift turn is also applicable when the working machine 12 can be used only in either forward or reverse movement. That is, the automatic shift turn is also applicable when the work vehicle 1 is for one-way work. Hereinafter, an example will be given to explain this.

[0165] FIG. 16A is a diagram showing a first application example of an automatic shift turn when the work vehicle 1 is for one-way work. In FIG. 16A, the work implement 12A provided in the work vehicle 1 is, for example, a tiller, and the one-way work performed by the work vehicle 1 is rotary work. In FIG. 16A, the work area WA is provided inside an agricultural house GH such as a vinyl house. In the agricultural house GH, a headland area HA is provided at one longitudinal end side where an entrance / exit is provided, and no headland area HA is provided at the other longitudinal end side. Note that the work method shown in FIG. 16A can also be used for work performed outside the agricultural house GH.

[0166] In FIG. 16A, the solid arrow indicates the work section WS in the work path WP, and the work vehicle 1 advances in the direction of the arrow in the work section WS. Also, in FIG. 16A, the dashed arrow indicates the non-work section NWS, and the work vehicle 1 advances in the direction of the arrow in the non-work section NWS. The non-work section NWS is specifically composed of a shift turn path STP and a portion on the work path WP where work using the work implement 12A is not performed.

[0167] In the example shown in FIG. 16A, the work vehicle 1 starts automatic running from one end portion WAE1 of the work area WA. The work vehicle 1 performs rotary work using the work implement 12A while performing automatic straight running in the work section WS of the work path WP. During the automatic straight running, the operator performs a forward operation using the operation device 2. When the work vehicle 1 detects the work end point (specifically, the intersection of the work path WP during running and the other end portion WAE2 of the work area WA), it automatically stops at the work end point. In accordance with the stop of the work vehicle 1, the work implement 12A is automatically switched from the work state to the non-work state.

[0168] After the work vehicle 1 stops, when the operator uses the operating device 2 to instruct the start of an automatic shift turn, a shift turn path STP, which is a path for the automatic shift turn, is automatically generated, and the work vehicle 1 becomes ready to execute the automatic shift turn. When the operator performs a forward operation using the operating device 2 in this state, the work vehicle 1 performs an automatic driving operation in which it moves forward along the shift turn path STP and automatically moves to the next work path WP. That is, the work vehicle 1 performs an automatic shift turn outside the work area WA. In FIG. 16A, the shift turn path STP is schematically shown as a straight line, but actually includes a curved path.

[0169] When it reaches the next work path WP, the work vehicle 1 automatically stops at one end. After the work vehicle 1 stops, when the operator performs a reverse operation using the operating device 2, the work vehicle 1 performs an automatic straight-ahead driving operation in which it automatically reverses non-operatively along the work path WP. When the work vehicle 1 performing the automatic straight-ahead driving operation detects the work start point (specifically, the intersection of the work path WP during travel and one end portion WAE1 of the work area WA), it automatically stops at the work start point. In accordance with the stop of the work vehicle 1, the work implement 12A is automatically switched from the non-operating state to the operating state.

[0170] After this, when the operator performs a forward operation using the operating device 2, the work vehicle 1 performs an automatic straight-ahead driving operation while performing rotary work using the work implement 12A by forward travel in the work section WS of the work path WP. When the work vehicle 1 detects the work end point (specifically, the intersection of the work path WP during travel and the other end portion WAE2 of the work area WA), it stops once, and in the same manner as above, performs an automatic shift turn outside the work area WA and moves to the next work path WP by automatic driving.

[0171] By repeating the operations of the work vehicle 1 and the operations of the operator described above, the work vehicle 1 completes the work using the work implement 12A in the work area WA. In the configuration shown in FIG. 16A, in order to execute the operation for moving to the next work path WP outside the work area WA, it is possible to suppress damaging the work area WA by a turning operation.

[0172] FIG. 16B is a diagram showing a second application example of the automatic shift turn when the work vehicle 1 is for one-way work. The configuration of the agricultural house GH shown in FIG. 16B is basically the same as the configuration of the agricultural house GH shown in FIG. 16A. Also, in FIG. 16B, the working machine 12A provided in the work vehicle 1 is a tiller, and the work vehicle 1 performs rotary work.

[0173] Also in the example shown in FIG. 16B, the work vehicle 1 starts automatic driving from one end portion WAE1 of the work area WA. Then, in the work section WS of the work path WP, the work vehicle 1 performs automatic straight running while performing rotary work using the working machine 12A by forward running, and when detecting the work end point, automatically stops at the work end point. In accordance with the stop of the work vehicle 1, the working machine 12A is automatically set to the non-working state.

[0174] After the work vehicle 1 stops, when the operator instructs the start of the automatic shift turn using the operation device 2, a shift turn path STP, which is a path for the automatic shift turn, is automatically generated, and the work vehicle 1 becomes in a state where it can execute the automatic shift turn. In this state, when the operator performs a reverse operation using the operation device 2, the work vehicle 1 performs automatic driving to move automatically to the next work path WP while reversing along the shift turn path STP. That is, the work vehicle 1 performs an automatic shift turn inside the work area WA. This is different from the example shown in FIG. 16A. In FIG. 16B, the shift turn path STP is simply described as a straight line, but actually includes a curved path.

[0175] When reaching the next work path WP, the work vehicle 1 automatically stops at one end. After the work vehicle 1 stops, when the operator performs a reverse operation using the operation device 2, the work vehicle 1 performs automatic straight running to automatically reverse non-working along the work path WP. Note that after reaching the next work path WP, the operation direction of the operator is not changed, and the switching of the working state of the working machine 12A is not performed either. For this reason, the work vehicle 1 may not stop when reaching the next work path WP by the automatic shift turn and may immediately start automatic straight running.

[0176] When the work vehicle 1 that performs automatic straight running during non-operation detects a work start point (specifically, the intersection of the work route WP during travel and one end WAE1 of the work area WA), it automatically stops at the work start point. In accordance with the stop of the work vehicle 1, the work implement 12A is automatically switched from the non-operation state to the operation state.

[0177] After that, when the operator performs a forward operation using the operation device 2, the work vehicle 1 performs automatic straight running while performing rotary work using the work implement 12A in the work section WS of the work route WP by forward running. When the work vehicle 1 detects a work end point (specifically, the intersection of the work route WP during travel and the other end WAE2 of the work area WA), it temporarily stops, and in the same manner as above, performs an automatic shift turn inside the work area WA and moves to the next work route WP by automatic running.

[0178] By repeating the operation of the work vehicle 1 and the operation of the operator described above, the work vehicle 1 completes the work using the work implement 12A in the work area WA. In the configuration shown in FIG. 16B, in order to execute the operation for moving to the next work route WP inside the work area WA, the headland area HA can be made narrower compared to the case of FIG. 16A.

[0179] [4-7. Seventh Modification Example] In the embodiments and modification examples shown above, the work vehicle 1 is configured to perform an automatic shift turn without reversing the front and rear of the work vehicle 1 when moving from the currently traveled work route WP to the next work route WP. However, it is preferable that the work vehicle 1 can perform not only an automatic shift turn but also an automatic reverse turn accompanied by the reversal of the front and rear of the work vehicle 1 when moving from the currently traveled work route WP to the next work route WP. And it is preferable that the operator can select whether to use an automatic shift turn or an automatic reverse turn by using a setting unit provided in the work vehicle 1 or the operation device 2.

[0180] FIG. 17 is a schematic diagram showing a configuration example of a setting unit that enables selection of either an automatic shift turn or an automatic reverse turn. The setting unit shown in FIG. 17 is configured by a touch panel 200 as an example. FIG. 17 specifically illustrates a setting screen 201 displayed on the touch panel 200.

[0181] In the example shown in FIG. 17, when moving from the currently traveling work path WP to the next work path WP, a fishtail turn mode and a shift turn mode can be selected as the automatic turning mode to be used. In the example shown in FIG. 17, 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.

[0182] For example, by touching a specific area of the setting screen 201, it can be configured to be possible to select whether to use the fishtail turn mode or the shift turn mode. In the example shown in FIG. 17, the area surrounded by the first frame 202 with "Fishtail Turn" described therein in the framed area is a software switch for selecting the fishtail turn mode. Also, the area surrounded by the second frame 203 with "Shift Turn" described therein in the framed area is a software switch for selecting the shift turn mode.

[0183] In the example shown in FIG. 17, 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. 17, when the interiors of the circular areas 204 and 205 are filled, it indicates that the mode described in the frames 202 and 203 existing on the right side of the corresponding circular area has been selected. In the example shown in FIG. 17, since the second circular area 205 is in a filled state, the shift turn mode is selected as the automatic turning mode.

[0184] When a shift turn is selected as the automatic turning mode, it may be possible to select a more detailed method for the shift turn. As detailed methods, for example, the method shown in FIG. 14A above (clockwise turning method), the method shown in FIG. 14B (counterclockwise turning method), the method shown in FIG. 16A (one-sided clockwise turning method), and the method shown in FIG. 16B (one-sided counterclockwise turning method) can be mentioned.

[0185] Also, even when a fish-tail turn mode is selected as the automatic turning mode, as illustrated in FIG. 18, it may be possible to select a turning method other than the fish-tail turn (for example, a U-turn method, etc.). Further, in the example shown in FIG. 17, as a reverse turn, a configuration including a fish-tail turn is adopted, but a configuration in which the fish-tail turn is not included in the reverse turn may also be possible.

[0186] Hereinafter, the fish-tail turn and the U-turn shown in FIG. 18 will be briefly described. Note that FIG. 18 is a diagram for explaining the fish-tail turn and the U-turn that can be selectively included in the fish-tail turn mode.

[0187] Both the fish-tail turn and the U-turn are performed outside the work area WA (the headland area). The U-turn is a turning method in which the work vehicle 1 moves from the work path WP on which it is currently traveling to the next work path WP along a U-shaped turning path including an arc-shaped path. The U-turn is used when the interval PI between the work paths WP is relatively wide. When the interval PI between the work paths WP is narrow, the fish-tail turn is used.

[0188] In the fish-tail turn, the work vehicle 1 makes the following movements. Here, the movements of the fish-tail turn will be described based on the example shown in FIG. 18. The work vehicle 1 advances while turning left to point KP1 and once stops. Then, after once stopping, it reverses to point KP2 and once stops again. After once stopping again, it advances while turning left from point KP2 and reaches the next work path WP (a straight path).

[0189] <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 implemented in combination as far as possible.

[0190] <6. Supplementary Note> The exemplary automatic driving method of the present invention is an automatic driving method for a work vehicle, which includes generating a plurality of work routes arranged side by side, causing the work vehicle to automatically drive along one work route selected from the plurality of work routes, and causing the work vehicle to perform automatic driving to move to the next work route without reversing the front and rear of the work vehicle at the switching timing of the work route (a first configuration).

[0191] In the automatic driving method of the above first configuration, the switching timing may be a configuration (a second configuration) that occurs when an operator performs a predetermined operation.

[0192] In the automatic driving method of the above first configuration, the switching timing may be a configuration (a third configuration) that occurs when the work vehicle automatically driving along the work route reaches a predetermined position.

[0193] The automatic driving method of the above third configuration may execute setting an outer edge of a travelable area where the work vehicle can travel, and the predetermined position may be automatically set based on the outer edge (a fourth configuration).

[0194] In the automatic driving method of any of the above first to fourth configurations, the steering control method in the automatic driving to move to the next work route may be a configuration (a fifth configuration) that changes according to the position of the work vehicle at the switching timing.

[0195] In the automatic driving method having any one of the first to fourth configurations, the steering control in the automatic driving for moving to the next work route may be a configuration (sixth configuration) that is performed based on the turning conditions set by the operator.

[0196] The automatic driving method having any one of the first to fourth configurations executes memorizing the turning conditions during the manual driving movement between the work routes, and the steering control in the automatic driving for moving to the next work route may be a configuration (seventh configuration) that is performed based on the pre-memorized turning conditions.

[0197] In the automatic driving method having any one of the first to seventh configurations, the next work route may be a configuration (eighth configuration) that is selected based on the operator's setting.

[0198] In the automatic driving method having any one of the first to eighth configurations, the automatic driving for moving to the next work route may be a configuration (ninth configuration) that is performed outside the work area where the work using the work implement is carried out.

[0199] In the automatic driving method having any one of the first to eighth configurations, the automatic driving for moving to the next work route may be a configuration (tenth configuration) that is performed inside the work area where the work using the work implement is carried out.

Explanation of Signs

[0200] 1, 1A, 1B, 1C, 1D ··· Work vehicle 10 ··· Control device 12, 12A ··· Work implement 100 ··· Automatic driving system MP ··· Movement route WA ··· Work area WP ··· Work route WS ··· Work section

Claims

1. A method for automatically driving a work vehicle, comprising: generating a plurality of work paths arranged side-by-side with one another; causing the work vehicle to automatically travel along one work route selected from the plurality of work routes; At a timing of switching the work route, the work vehicle is caused to perform automatic traveling to move to a next work route without reversing the front and rear of the work vehicle; An automatic driving method that performs the above.

2. The automatic driving method according to claim 1 , wherein the switching timing occurs when an operator performs a predetermined operation.

3. The automatic driving method according to claim 1 , wherein the switching timing occurs when the work vehicle, which is automatically driving along the work route, reaches a predetermined position.

4. Setting an outer edge of a travelable area in which the work vehicle can travel, The automatic driving method according to claim 3 , wherein the predetermined position is automatically set based on the outer edge.

5. The automatic driving method according to claim 1 , wherein a steering control method during automatic driving to move to the next work route is changed depending on a position of the work vehicle at the switching timing.

6. The automatic driving method according to claim 1 , wherein steering control during automatic driving to move to the next work route is performed based on turning conditions set by an operator.

7. Execute storing a turning condition during manual travel between the work paths; The automatic driving method according to claim 1 , wherein steering control during automatic driving to move to the next work route is performed based on the turning condition stored in advance.

8. The automated driving method according to claim 1 , wherein the next work route is selected based on an operator's setting.

9. The automatic driving method according to claim 1 , wherein the automatic driving to move to the next work path is performed outside a work area where work is performed using a work machine.

10. The automatic navigation method according to claim 1 , wherein the automatic navigation to move to the next work path is performed inside a work area where work is performed using a work machine.

11. A method for generating an automatic driving route for a work vehicle to automatically travel, comprising: generating a plurality of work routes including a work section in which automatic travel is performed while performing work using a work machine; generating a travel route for automatically traveling the work vehicle between the work routes without reversing the front and rear of the work vehicle; An automatic driving route generation method for performing the above.

12. A work vehicle, A control device that controls automatic traveling of the work vehicle; Equipped with The control device includes: generating a plurality of work paths arranged side by side with one another; causing the work vehicle to automatically travel along one work route selected from the plurality of work routes; An automatic driving system that causes the work vehicle to perform automatic driving such that, at the timing of switching the work route, the work vehicle moves to the next work route without reversing its front and rear.

13. A program for causing a computer to execute an automatic driving method for a work vehicle, The computer, generating a plurality of work paths arranged side-by-side with one another; causing the work vehicle to automatically travel along one work route selected from the plurality of work routes; At a timing of switching the work route, the work vehicle is caused to perform automatic traveling to move to a next work route without reversing the front and rear of the work vehicle; A program that serves as a means to

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