Spraying work method, spraying work program, and spraying work system

Abstract

To provide a spraying work method, a spraying work program and a spraying work system that are capable of improving work efficiency of operations by an automatically traveling work vehicle.SOLUTION: The spraying work method is a method in which a work vehicle 10 executes the work of spraying a spray material in a field F, where a stirring start condition for starting the stirring work of the spray material stored in a storage tank 14A provided in the work vehicle 10 is set by an operation terminal 20 capable of communicating with the work vehicle 10.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a technology for automatically driving a work vehicle along a target route in a work site. [Background technology]

[0002] There is known a work vehicle that automatically travels along a target route while spraying a chemical solution on crops planted in a work area such as a field or farm (see, for example, Patent Document 1). The work vehicle automatically travels in sequence along a plurality of work routes on which crops are planted, spraying the chemical solution stored in a storage tank onto the crops. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-009027 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, since the chemical solution is composed of a mixture of chemical and liquid (such as water), it is necessary to stir the chemical solution placed in the storage tank. If the chemical solution is not stirred sufficiently, the concentration of the chemical solution may not be uniform, or the spray nozzle that releases the chemical solution may become clogged, resulting in a decrease in the accuracy of the spraying work. This problem is particularly noticeable at the start of the spraying work.

[0005] An object of the present invention is to provide a spraying method, a spraying program, and a spraying system that can improve the accuracy of spraying performed by an autonomously traveling work vehicle. [Means for solving the problem]

[0006] The spraying method of the present invention is a method for having a work machine perform work to spray a spray material on a work site. The spraying method includes setting, in an operation terminal capable of communicating with the work machine, an agitation start condition for starting an agitation work of the spray material stored in a storage tank provided on the work machine.

[0007] The spraying operation program according to the present invention is a program for causing a work machine to perform work of spraying a spray material on a work site. The spraying operation program causes one or more processors to set, on an operation terminal capable of communicating with the work machine, a stirring start condition for starting work of stirring the spray material stored in a storage tank provided on the work machine.

[0008] The spraying work system of the present invention is a system for causing a work machine to perform work of spraying a spray material on a work site. The spraying work system sets, in an operation terminal capable of communicating with the work machine, a stirring start condition for starting work of stirring the spray material stored in a storage tank provided on the work machine. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a spraying method, a spraying program, and a spraying system that can improve the accuracy of spraying work performed by an automatically traveling work vehicle. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram showing the overall configuration of an automated driving system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. [Figure 3] FIG. 3 is an external view of the work vehicle according to the embodiment of the present invention as viewed from the left front side. [Figure 4A] FIG. 4A is a left side external view of the work vehicle according to the embodiment of the present invention as viewed from the left side. [Figure 4B]FIG. 4B is an external view of the right side of the work vehicle according to the embodiment of the present invention as viewed from the right side. [Figure 4C] FIG. 4C is a rear external view of the work vehicle according to the embodiment of the present invention as viewed from the rear side. [Figure 5] FIG. 5 is a diagram showing an example of a crop row according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of a target route according to an embodiment of the present invention. [Figure 7] FIG. 7 is an external view of a storage tank according to an embodiment of the present invention. [Figure 8] FIG. 8 is a cross-sectional view of a storage tank according to an embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing how a chemical solution is supplied to a work vehicle according to an embodiment of the present invention. [Figure 10] FIG. 10 is an external view of the manual traveling operation unit according to the embodiment of the present invention. [Figure 11A] FIG. 11A is a diagram for explaining a method for generating a target route according to an embodiment of the present invention. [Figure 11B] FIG. 11B is a diagram for explaining a method for generating a target route according to an embodiment of the present invention. [Figure 12] FIG. 12 is a flowchart showing an example of the procedure of the automatic driving process executed by the automatic driving system according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] The following embodiment is an example of the present invention and does not limit the technical scope of the present invention.

[0012] [Automated Driving System 1] 1 and 2, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10, an operation terminal 20, a base station 40, and a satellite 50. The work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN.

[0013] In this embodiment, the work vehicle 10 is described as a vehicle that performs spraying work to spray chemicals, water, etc. on crops V (see FIG. 5) planted in a field F. The field F is an example of a work site in the present invention, and the field F is, for example, an orchard such as a vineyard or apple orchard. The crops V are, for example, grape trees. The spraying work is, for example, work to spray a chemical or other spray material on the crops V.

[0014] Crops V are arranged in multiple rows at predetermined intervals in the field F. Specifically, as shown in FIG. 5, multiple crops V are planted linearly in a predetermined direction (direction D1), forming a crop row Vr including multiple crops V lined up in a straight line. FIG. 5 shows an example of three crop rows Vr. Each crop row Vr is arranged at a predetermined interval W1 in the row direction (direction D2). The area (space) between adjacent crop rows Vr, defined by the interval W2, becomes a work passageway along which the work vehicle 10 sprays the crops V while traveling in the direction D1.

[0015] The work vehicle 10 is also capable of automatic travel (autonomous travel) along a preset target route R. For example, as shown in FIG. 6, the work vehicle 10 automatically travels from a work start position S to a work end position G along a target route R that includes a work route R1 (work routes R1a to R1f) and a travel route R2. The work start position S is an example of an automatic travel start position in the present invention. The work route R1 is a linear route along which the work vehicle 10 sprays the crops V, and the travel route R2 is a route along which the work vehicle 10 moves between crop rows Vr without spraying. The travel route R2 includes, for example, a turning route and a straight route. In the example shown in FIG. 6, a crop V consisting of crop rows Vr1 to Vr11 is planted in a field F. In FIG. 6, the position where the crop V is planted (crop position) is represented by "Vp." Furthermore, the work vehicle 10 traveling through the field F in Figure 6 has a vehicle body 100 shaped like a gate (see Figure 4C), and while traveling across one crop row Vr, sprays a chemical solution on the crops V in that crop row Vr and on the crop rows Vr adjacent to that crop row Vr. For example, as shown in Figure 6, when the work vehicle 10 travels across crop row Vr5, the left body (left side part 100L) of the work vehicle 10 travels through the work passage between crop rows Vr4 and Vr5, and the right body (right side part 100R) of the work vehicle 10 travels through the work passage between crop rows Vr5 and Vr6, and sprays a chemical solution on the crops V in crop rows Vr4, Vr5, and Vr6.

[0016] The work vehicle 10 also travels automatically in a predetermined row order. For example, the work vehicle 10 travels across the crop row Vr1, then across the crop row Vr3, and then across the crop row Vr5. In this way, the work vehicle 10 travels automatically according to a preset order of the crop rows Vr. The work vehicle 10 may travel every other row in the order of the crop rows Vr, or every several rows.

[0017] The satellite 50 is a positioning satellite that constitutes a satellite positioning system such as the Global Navigation Satellite System (GNSS), and transmits a GNSS signal (satellite signal). The base station 40 is a reference point (reference station) that constitutes the satellite positioning system. The base station 40 transmits correction information to the work vehicle 10 for calculating the current position of the work vehicle 10.

[0018] The positioning device 16 mounted on the work vehicle 10 executes positioning processing to calculate the current position (latitude and longitude) and current direction of the work vehicle 10 using GNSS signals transmitted from satellites 50. Specifically, the positioning device 16 locates the position of the work vehicle 10 using an RTK (Real Time Kinematic) method or the like, which locates the position of the work vehicle 10 based on positioning information (GNSS signals, etc.) received by two receivers (antenna 164 and base station 40) and correction information generated by base station 40. This positioning method is a well-known technology, so a detailed description will be omitted.

[0019] The components of the automated driving system 1 will be described in detail below.

[0020] [Work vehicle 10] Fig. 3 is an external view of the work vehicle 10 as seen from the front left side. Fig. 4A is an external view of the left side of the work vehicle 10 as seen from the left side, Fig. 4B is an external view of the right side of the work vehicle 10 as seen from the right side, and Fig. 4C is an external view of the rear of the work vehicle 10 as seen from the rear side.

[0021] As shown in Figures 1 to 4, work vehicle 10 includes vehicle control device 11, memory unit 12, traveling device 13, spraying device 14, communication unit 15, positioning device 16, obstacle detection device 17, etc. Vehicle control device 11 is electrically connected to memory unit 12, traveling device 13, spraying device 14, positioning device 16, obstacle detection device 17, etc. Note that vehicle control device 11 and positioning device 16 may be capable of wireless communication.

[0022] The communication unit 15 is a communication interface that connects the work vehicle 10 to the communication network N1 by wire or wirelessly and performs data communication in accordance with a predetermined communication protocol with external devices such as the operation terminal 20 via the communication network N1.

[0023] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute the automatic driving process (see FIG. 12 ), which will be described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. The storage unit 12 also stores route data including information on a target route R generated in the operation terminal 20. For example, the route data is transferred from the operation terminal 20 to the work vehicle 10 and stored in the storage unit 12.

[0024] The vehicle control device 11 has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are pre-stored. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as temporary storage memory (work area) for the various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by having the CPU execute various control programs pre-stored in the ROM or storage unit 12.

[0025] The vehicle control device 11 controls the traveling of the work vehicle 10. Specifically, as shown in FIG. 2, the vehicle control device 11 includes various processing units such as a traveling processing unit 111, a scattering processing unit 112, an agitation processing unit 113, and a notification processing unit 114. The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the control program using the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

[0026] The driving processing unit 111 causes the work vehicle 10 to automatically drive along the target route R based on positioning information including the position and orientation of the work vehicle 10 measured by the positioning device 16. For example, when the positioning state becomes one in which RTK positioning is possible and the operator presses the start button on the operation screen of the operation terminal 20 (instruction to start automatic driving), the operation terminal 20 outputs an automatic driving start instruction (instruction to start work) to the work vehicle 10. When the driving processing unit 111 receives the automatic driving start instruction from the operation terminal 20, it causes the work vehicle 10 to start automatic driving based on the positioning information of the work vehicle 10 measured by the positioning device 16. As a result, the work vehicle 10 starts automatic driving along the target route R, and starts spraying work by the spraying device 14 in the work passage.

[0027] In another embodiment, the driving processing unit 111 may start the automatic driving of the work vehicle 10 when the operator presses the start button (instruction to start automatic driving) on ​​an operation remote control (not shown) mounted on the work vehicle 10.

[0028] Furthermore, the driving processing unit 111 stops the automatic driving of the work vehicle 10 when it receives a driving stop instruction from the operation terminal 20. For example, when the operator presses the stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs the driving stop instruction to the work vehicle 10. When the driving processing unit 111 receives the driving stop instruction from the operation terminal 20, it stops the automatic driving of the work vehicle 10. As a result, the work vehicle 10 stops the automatic driving and stops spraying work by the spraying device 14. Note that the driving processing unit 111 may also stop the automatic driving of the work vehicle 10 when it receives a driving stop instruction from the operation remote control. The driving processing unit 111 is an example of a driving processing unit of the present invention.

[0029] Here, work vehicle 10 is equipped with a gate-shaped vehicle body 100 that travels across crops V (fruit trees) planted in multiple rows in a farm field F. As shown in FIG. 4C , vehicle body 100 is formed in a gate shape with a left side section 100L, a right side section 100R, and a connecting section 100C that connects left side section 100L and right side section 100R, and a space 100S that allows crops V to pass through is secured inside left side section 100L, right side section 100R, and connecting section 100C.

[0030] Crawlers 101 are provided at the lower end of each of the left side 100L and right side 100R of the vehicle body 100. An engine 103 (see FIG. 4A), a battery (not shown), etc. are provided on the left side 100L. A storage tank 14A (see FIG. 4B) for the spraying device 14 is provided on the right side 100R. By distributing and arranging components on the left side 100L and right side 100R of the vehicle body 100 in this way, the work vehicle 10 achieves a balanced left-right balance and a low center of gravity. As a result, the work vehicle 10 can travel stably on slopes in the field F, etc.

[0031] The traveling device 13 is a drive unit that drives the work vehicle 10. The traveling device 13 includes an engine 103, crawlers 101, and the like.

[0032] The left and right crawlers 101 are driven by power from the engine 103 in a state where independent speed changes are possible using a hydrostatic continuously variable transmission. As a result, the vehicle body 100 is in a forward state where it moves straight forward in the forward direction when the left and right crawlers 101 are driven at a constant speed in the forward direction, and in a reverse state where it moves straight backward in the reverse direction when the left and right crawlers 101 are driven at a constant speed in the reverse direction. The vehicle body 100 is in a forward turning state where it turns while moving forward when the left and right crawlers 101 are driven at unequal speeds in the forward direction, and in a reverse turning state where it turns while moving backward when the left and right crawlers 101 are driven at unequal speeds in the reverse direction. The vehicle body 100 is in a pivot turning state (pivot turning) when one of the left and right crawlers 101 is stopped and the other crawler 101 is driven, and in a spin turning state (pivot turning) when the left and right crawlers 101 are driven at a constant speed in both the forward and reverse directions. Furthermore, the vehicle body 100 is brought to a stopped state by stopping the driving of the left and right crawlers 101. The left and right crawlers 101 may be configured as an electrically driven type driven by an electric motor.

[0033] As shown in Figure 4C, the spraying device 14 includes a storage tank 14A for storing chemical solutions, spraying pipes 14B arranged in parallel, two on each side, in a vertical position on the back of the vehicle body 100, and a total of 12 spraying nozzles 14C, three on each spraying pipe 14B.

[0034] Each spray nozzle 14C is attached to the corresponding spray pipe 14B so that its position can be changed in the vertical direction. This allows the spacing between adjacent spray nozzles 14C and the height position of each spray nozzle 14C relative to the spray pipe 14B to be changed depending on the object to be sprayed (crop V). Furthermore, each spray nozzle 14C is attached so that its height position and left / right position relative to the vehicle body 100 can be changed depending on the object to be sprayed.

[0035] In the spraying device 14, the number of spray nozzles 14C provided on each spray pipe 14B can be changed in various ways depending on the type of crop V, the length of each spray pipe 14B, and the like.

[0036] As shown in FIG. 4C , of the multiple spray nozzles 14C, three spray nozzles 14C provided on the leftmost spray pipe 14B spray the chemical solution leftward toward the crop Va located on the outer left side of the vehicle body 100. Of the multiple spray nozzles 14C, three spray nozzles 14C provided on the left inner spray pipe 14B adjacent to the leftmost spray pipe 14B spray the chemical solution rightward toward the crop Vb located in the space 100S in the center of the left and right sides of the vehicle body 100. Of the multiple spray nozzles 14C, three spray nozzles 14C provided on the rightmost spray pipe 14B spray the chemical solution rightward toward the crop Vc located on the outer right side of the vehicle body 100. Of the multiple spray nozzles 14C, the three spray nozzles 14C provided on the right inner spray pipe 14B adjacent to the rightmost spray pipe 14B spray the chemical solution leftward toward the crops Vb located in the space 100S.

[0037] With the above-described configuration, in the spraying device 14, the two spraying pipes 14B and six spraying nozzles 14C provided on the left side 100L of the vehicle body 100 function as the left spraying section 14L. Furthermore, the two spraying pipes 14B and six spraying nozzles 14C provided on the right side 100R of the vehicle body 100 function as the right spraying section 14R. The left and right spraying sections 14L, 14R are arranged at the rear of the vehicle body 100 with a lateral distance that allows the crop Vb to pass through (space 100S) between the left and right spraying sections 14L, 14R, while allowing spraying in the lateral direction.

[0038] In the spraying device 14, the spraying patterns by the spraying units 14L, 14R include a four-way spraying pattern in which each of the spraying units 14L, 14R sprays the chemical solution in both the left and right directions, and a directional limited spraying pattern in which the spraying direction by the spraying units 14L, 14R is limited. The direction-limited spray patterns include a left-side three-way spray pattern in which spraying unit 14L sprays the chemical solution in both the left and right directions and spraying unit 14R sprays the chemical solution only in the left direction; a right-side three-way spray pattern in which spraying unit 14L sprays the chemical solution only in the right direction and spraying unit 14R sprays the chemical solution in both the left and right directions; a two-way spray pattern in which spraying unit 14L sprays the chemical solution only in the right direction and spraying unit 14R sprays the chemical solution only in the left direction; a left-side one-way spray pattern in which spraying unit 14L sprays the chemical solution only in the left direction and spraying unit 14R does not spray the chemical solution; and a right-side one-way spray pattern in which spraying unit 14R sprays the chemical solution only in the right direction and spraying unit 14L does not spray the chemical solution.

[0039] Spraying device 14 executes a switching process to switch the spray direction (spraying pattern) of the chemical liquid based on the control information included in the route data transferred from operation terminal 20. In other words, spraying device 14 has a function as a spray pattern switching processing unit.

[0040] FIG. 7 shows the overall configuration of a storage tank 14A that constitutes the spraying device 14, and FIG. 8 shows a cross-sectional view showing the internal configuration of the storage tank 14A.

[0041] A lid 14a is provided on top of the storage tank 14A, and the chemical solution is supplied (put into) the storage tank 14A by removing the lid 14a. The storage tank 14A is equipped with a spray pump 14b that pumps the chemical solution, an electric spray motor 14c that drives the spray pump 14b, an electronically controlled valve unit 14d that changes the amount and pattern of the chemical solution sprayed, and a plurality of spray pipes (not shown) that connect these components. The storage tank 14A is also equipped with a flow rate regulator 14e that adjusts the rotation speed of the spray motor 14c to adjust the flow rate of the chemical solution pumped from the spray pump 14b, a flow rate sensor 14f that detects the flow rate of the chemical solution pumped from the spray pump 14b, and the like. As shown in FIG. 8, the storage tank 14A is also equipped with an agitator 14g that agitates the chemical solution in the storage tank 14A, a remaining amount sensor 14h that detects the remaining amount of the chemical solution in the storage tank 14A, and the like. Although details will be described later, the stirring unit 14g performs stirring work (rotational driving) in accordance with commands from the vehicle control device 11 when predetermined conditions are met before the work vehicle 10 starts autonomous traveling.

[0042] The vehicle body 100 is equipped with an automatic travel control unit that automatically travels the vehicle body 100 along a target route R in the field F based on positioning information acquired from the positioning device 16, an engine control unit that controls the engine 103, an HST (Hydro-Static Transmission) control unit that controls the hydrostatic continuously variable transmission, and an implement control unit that controls implements such as the spraying device 14. Each control unit is constructed by an electronic control unit equipped with a microcontroller or the like, and various types of information and control programs stored in a non-volatile memory (for example, an EEPROM such as a flash memory) of the microcontroller. The various types of information stored in the non-volatile memory may include a target route R that has been generated in advance. In this embodiment, each control unit is collectively referred to as a "vehicle control device 11" (see FIG. 2).

[0043] The positioning device 16 is a communication device that includes a positioning control unit 161, a memory unit 162, a communication unit 163, and an antenna 164. The antennas 164 are provided at the front and rear of the ceiling (connection unit 100C) of the vehicle body 100 (see FIG. 3). Indicator lights 102 that display the traveling status of the work vehicle 10 are also provided on the ceiling of the vehicle body 100 (see FIG. 3). The battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 103 is stopped.

[0044] The communication unit 163 is a communication interface that connects the positioning device 16 to the communication network N1 by wire or wirelessly and performs data communication with an external device such as a base station 40 via the communication network N1 in accordance with a predetermined communication protocol.

[0045] The antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites. Because the antennas 164 are provided at the front and rear of the work vehicle 10, the current position and current orientation of the work vehicle 10 can be determined with high accuracy.

[0046] The positioning control unit 161 is a computer system equipped with one or more processors and storage memory such as non-volatile memory and RAM. The storage unit 162 is a non-volatile memory that stores a control program for causing the positioning control unit 161 to execute positioning processing, and data such as positioning information and movement information. The positioning control unit 161 determines the current position and current orientation of the work vehicle 10 using a predetermined positioning method (such as the RTK method) based on the GNSS signals received by the antenna 164 from satellites 50.

[0047] The obstacle detection device 17 includes a LIDAR sensor 171L provided on the front left side of the vehicle body 100 and a LIDAR sensor 171R provided on the front right side of the vehicle body 100 (see FIG. 3). Each LIDAR sensor measures the distance from the LIDAR sensor to each ranging point (measurement object) within the measurement range using, for example, a TOF (Time Of Flight) method, which measures the distance to a ranging point based on the round-trip time it takes for laser light emitted by the LIDAR sensor to reach the ranging point and return.

[0048] The measurement range of the lidar sensor 171L is set to a predetermined range on the front left side of the vehicle body 100, and the measurement range of the lidar sensor 171R is set to a predetermined range on the front right side of the vehicle body 100. Each lidar sensor transmits measurement information such as the measured distance to each ranging point and the scanning angle (coordinates) for each ranging point to the vehicle control device 11.

[0049] The obstacle detection device 17 also includes left and right ultrasonic sensors 172F (see FIG. 3) provided on the front side of the vehicle body 100, and left and right ultrasonic sensors 172R (see FIGS. 4A to 4C) provided on the rear side of the vehicle body 100. Each ultrasonic sensor measures the distance from the ultrasonic sensor to the object to be measured using a TOF method that measures the distance to a ranging point based on the round-trip time it takes for ultrasonic waves emitted by the ultrasonic sensor to reach the ranging point and return.

[0050] The front left ultrasonic sensor 172F has a measurement range set to a predetermined range on the front left side of the vehicle body 100, the front right ultrasonic sensor 172F has a measurement range set to a predetermined range on the front right side of the vehicle body 100, the rear left ultrasonic sensor 172R has a measurement range set to a predetermined range on the rear left side of the vehicle body 100, and the rear right ultrasonic sensor 172R has a measurement range set to a predetermined range on the rear right side of the vehicle body 100. Each ultrasonic sensor transmits measurement information including the measured distance to the measurement object and the direction of the measurement object to the vehicle control device 11.

[0051] The obstacle detection device 17 also includes left and right contact sensors 173F (see FIG. 3) provided on the front side of the vehicle body 100, and left and right contact sensors 173R (see FIGS. 4A and 4B) provided on the rear side of the vehicle body 100. The contact sensor 173F on the front side of the vehicle body 100 detects an obstacle when the obstacle comes into contact with the contact sensor 173F. A spraying device 14 is provided in front of the contact sensor 173R on the rear side of the vehicle body 100 (toward the rear of the work vehicle 10), and when an obstacle comes into contact with the spraying device 14, the contact sensor 173R detects the obstacle by causing the spraying device 14 to move rearward (toward the front of the work vehicle 10). Each contact sensor sends a detection signal to the vehicle control device 11 when it detects an obstacle.

[0052] The vehicle control device 11 executes an avoidance process to avoid an obstacle when there is a possibility that the work vehicle 10 will collide with the obstacle, based on measurement information relating to the obstacle obtained from the obstacle detection device 17.

[0053] The spraying processing unit 112 of the vehicle control device 11 causes the spraying device 14 to perform spraying work. Specifically, when the work vehicle 10 starts autonomous traveling at the work start position S (see Figure 6), the spraying processing unit 112 outputs a switching signal to the spraying device 14 to switch the spraying pattern based on the control information included in the route data. Upon receiving the switching signal, the spraying device 14 performs spraying work using a predetermined spray pattern. The spraying processing unit 112 is an example of the spraying processing unit of the present invention.

[0054] The stirring processing unit 113 of the vehicle control device 11 causes the stirring unit 14g (see FIG. 8) to perform a stirring operation that stirs the chemical solution in the storage tank 14A. Specifically, the stirring processing unit 113 outputs a drive signal to a drive motor (not shown) that drives the stirring unit 14g, thereby rotating the stirring unit 14g. The stirring unit 14g is rotated to stir the chemical solution in the storage tank 14A. The stirring unit 14g is rotated at a preset rotation speed.

[0055] However, if the chemical agent and liquid in the storage tank 14A are not sufficiently mixed when the work vehicle 10 starts work, problems arise that reduce the accuracy of the spraying work, such as the concentration of the chemical agent not being uniform or the spraying nozzle 14C becoming clogged. In contrast, with the work vehicle 10 according to this embodiment, the mixing work is started before the work vehicle 10 starts autonomous driving, making it possible to improve the accuracy of the spraying work.

[0056] Specifically, the mixing processing unit 113 starts the mixing work when predetermined conditions are satisfied before the work vehicle 10 starts autonomous traveling. For example, the mixing processing unit 113 starts the mixing work when the predetermined conditions are satisfied before the work vehicle 10 reaches a preset work start position S. The mixing processing unit 113 is an example of the mixing processing unit of the present invention.

[0057] Here, the work vehicle 10 is supplied with chemical liquid from a chemical liquid supply vehicle in a chemical liquid supply area AR outside the field F. For example, as shown in FIG. 9, the operator moves the work vehicle 10 to the side of the chemical liquid supply vehicle in the chemical liquid supply area AR and pours (supplies) the chemical liquid from the chemical liquid supply vehicle into the storage tank 14A. After the chemical liquid has been supplied, the work vehicle 10 is manually driven to a work start position S by the operator. For example, the operator drives the work vehicle 10 by operating a manual driving operation unit 18 (see FIG. 4B) provided on the work vehicle 10. FIG. 10 shows the exterior of the manual driving operation unit 18. The manual driving operation unit 18 is equipped with a power switch 181 that activates the manual driving mode, an operation switch 182 that drives the work vehicle 10 forward and backward, an operation switch 183 that drives the work vehicle 10 to turn right and left, and an LED 184 that lights up when the manual driving mode is activated. The manual driving operation unit 18 is connected to the vehicle control device 11 of the work vehicle 10 via a communication cable (not shown). The vehicle control device 11 drives the work vehicle 10 in accordance with the operation of the manual driving operation unit 18. For example, when the operator has finished supplying chemical liquid to the work vehicle 10, he or she turns on the power switch 181 of the manual driving operation unit 18 and drives the work vehicle 10 to the work start position S (see FIG. 9) while operating the operation switches 182, 183. When the work vehicle 10 reaches the work start position S and meets the conditions for starting automatic driving, it starts automatic driving along a target route corresponding to the route data.

[0058] The predetermined condition is a condition for starting the stirring work, and one of the following conditions is set in the work vehicle 10. Below, first to fourth conditions are given as examples of the predetermined condition.

[0059] (First condition) The first condition is that "the key switch for starting the engine 103 (see FIG. 4A) of the work vehicle 10 has been turned on." Specifically, the mixing processing unit 113 starts the mixing operation when the key switch for starting the engine 103 of the work vehicle 10 (for example, an engine key switch) is turned on. For example, the operator transports the work vehicle 10 from a storage shed (such as a barn) to a predetermined position using a transporter and turns the engine start switch on using the engine key. This causes the vehicle control device 11 to start the engine 103, and the mixing processing unit 113 starts the rotational drive of the mixing unit 14g. This causes the chemical solution in the storage tank 14A to be mixed. Thereafter, the operator operates the manual traveling operation unit 18 to unload the work vehicle 10 from the transporter. After unloading the work vehicle 10 from the transporter, the operator performs predetermined operations such as registering work information using the operation terminal 20, and then operates the manual traveling operation unit 18 to move the work vehicle 10 to the work start position S. While the work vehicle 10 is being manually driven, the chemical solution in the storage tank 14A is agitated.

[0060] Furthermore, if the predetermined amount of chemical liquid does not remain in the storage tank 14A when the work vehicle 10 is unloaded from the transporter, the operator moves the work vehicle 10 to the chemical liquid supply area AR and supplies the chemical liquid from the chemical liquid supply vehicle to the storage tank 14A (see FIG. 9). Thereafter, the operator operates the manual traveling operation unit 18 to move the work vehicle 10 to the work start position S. Note that information regarding the remaining amount of chemical liquid in the storage tank 14A may be displayed on the operation terminal 20.

[0061] According to the first condition, the stirring operation can be started at the moment the engine of the work vehicle 10 is started.

[0062] (Second condition) The second condition is "chemical liquid has been supplied to the storage tank 14A." Specifically, the stirring processing unit 113 starts the stirring operation when the chemical liquid has been supplied to the storage tank 14A. For example, the stirring processing unit 113 does not drive the stirring unit 14g when the chemical liquid is not contained in the storage tank 14A, but drives the stirring unit 14g when the chemical liquid has been supplied (put into) the storage tank 14A. For example, the stirring processing unit 113 recognizes that the chemical liquid has been supplied to the storage tank 14A based on the detection result of the remaining amount sensor 14h (see FIG. 8), and starts rotational driving of the stirring unit 14g.

[0063] According to the second condition, the stirring operation can be started at the time when the chemical liquid is supplied to the storage tank 14A, and unnecessary rotation of the stirring unit 14g can be prevented.

[0064] (Third condition) The third condition is that "the power switch 181 (see FIG. 10) of the manual driving operation unit 18, which manually drives the work vehicle 10 to the work start position S, has been turned on." Specifically, the mixing processing unit 113 starts the mixing work when the power switch 181 of the manual driving operation unit 18 is turned on. For example, when the operator turns on the power switch 181 of the manual driving operation unit 18 when unloading the work vehicle 10 from the transporter, the mixing processing unit 113 starts the rotational drive of the mixing unit 14g.

[0065] According to the third condition, the mixing work can be started at the time when the operator starts to manually drive the work vehicle 10.

[0066] (Fourth condition) The fourth condition is "the work vehicle 10 is connected to an external power source." Specifically, the mixing processing unit 113 starts the mixing operation when the work vehicle 10 is connected to an external power source. For example, when the work vehicle 10 is connected to a power source (such as a battery) mounted on a transporter that transports the work vehicle 10, the mixing processing unit 113 starts the mixing operation using that power source.

[0067] According to the fourth condition, the chemical solution in the storage tank 14A can be agitated even while the work vehicle 10 is being transported.

[0068] As described above, the mixing processing unit 113 starts the mixing work when a preset condition from among the first condition, the second condition, the third condition, and the fourth condition is met before the work vehicle 10 starts autonomous traveling. For example, the operator can select and set one of the first condition, the second condition, the third condition, and the fourth condition on the operation terminal 20. The operator may also be able to change the set condition to another condition.

[0069] Here, if the obstacle detection device 17 detects an obstacle during automatic driving after the work vehicle 10 has started automatic driving, the vehicle control device 11 temporarily stops the driving of the work vehicle 10. In this case, if the agitation unit 14g also stops, there is a risk that the concentration of the chemical solution in the storage tank 14A will become uneven. Therefore, if the work vehicle 10 detects an obstacle during automatic driving and stops, the agitation processing unit 113 continues the agitation work without stopping it. This makes it possible to spray a chemical solution of a uniform concentration even after the work vehicle 10 resumes automatic driving. In this way, the agitation processing unit 113 continues the agitation work while the work vehicle 10 travels from the work start position S to the work end position G.

[0070] The notification processing unit 114 of the vehicle control device 11 displays the work status of the mixing work on at least one of the operation display unit 19 and the operation terminal 20 mounted on the work vehicle 10. As shown in FIG. 4B , the operation display unit 19, which includes a display unit (display panel) and an operation unit (operation switches), is provided on the front side of the right body (right side 100R) of the work vehicle 10. The operation display unit 19 may be a touch panel in which the display unit and operation unit are integrally formed. The notification processing unit 114, for example, displays the status of the mixing work, i.e., information indicating whether mixing work is being performed, on the display unit.

[0071] In another embodiment, the notification processing unit 114 may notify the operation terminal 20 of the status of the stirring operation, and cause the operation display unit 23 of the operation terminal 20 to display information indicating whether the stirring operation is being performed. This allows the operator to easily know whether the chemical solution in the storage tank 14A is being stirred or not.

[0072] In another embodiment, the operation display unit 19 may be capable of receiving an operation to start the mixing operation from an operator. When the operation display unit 19 receives the operation to start the mixing operation, the mixing processing unit 113 may start the mixing operation. With this configuration, the operator can start the mixing operation at a desired timing. For example, the operator can start the mixing operation at a desired timing before the set condition is satisfied.

[0073] The configuration of the work vehicle 10 described above is one example of the configuration of a work vehicle of the present invention, and the present invention is not limited to the above configuration. In another embodiment, the work vehicle 10 may have a vehicle body 100 that is not gate-shaped, but rather has a normal shape in which the entire vehicle body 100 travels between the crop rows Vr (work passages). In this case, the work vehicle 10 automatically travels through each work passage in sequence without crossing the crop rows Vr. The spraying device 14 is equipped with a single spraying unit, and performs spraying work by switching between a spraying pattern that sprays the chemical solution in both the left and right directions, a spraying pattern that sprays the chemical solution only to the left, and a spraying pattern that sprays the chemical solution only to the right.

[0074] [Operation terminal 20] 2, the operation terminal 20 is an information processing device including a control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone.

[0075] The communication unit 24 is a communication interface that connects the operation terminal 20 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0076] The operation display unit 23 is a user interface equipped with a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit to register various information (such as work vehicle information, field information, and work information, which will be described later) on the operation screen displayed on the display unit. The operator can also operate the operation unit to issue instructions to the work vehicle 10 to start work, stop travel, and so on. Furthermore, from a location away from the work vehicle 10, the operator can grasp the travel status, work status, and surrounding conditions of the work vehicle 10 that is automatically traveling within the field F according to the target route R, by viewing the travel trajectory and images of the vehicle body 100 displayed on the operation terminal 20.

[0077] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 22 stores control programs such as an automatic driving program for causing the control unit 21 to execute the automatic driving process (see FIG. 12 ), which will be described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The automatic driving program may be downloaded to the operation terminal 20 from a server (not shown) via the communication network N1 and stored in the storage unit 22.

[0078] The control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for the various types of processing executed by the CPU. The control unit 21 controls the operation terminal 20 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 22.

[0079] As shown in Fig. 2, the control unit 21 includes various processing units such as a setting processing unit 211, a path generation processing unit 212, and an output processing unit 213. The control unit 21 functions as the various processing units by executing various processes in accordance with the control program using the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

[0080] The setting processing unit 211 sets and registers information about the work vehicle 10 (hereinafter referred to as work vehicle information), information about the field F (hereinafter referred to as field information), and information about work (here, spraying work) (hereinafter referred to as work information).

[0081] In the process of setting the work vehicle information, the setting processing unit 211 sets information such as the model of the work vehicle 10, the position where the antenna 164 is attached on the work vehicle 10, the type of work implement (here, the spraying device 14), the size and shape of the work implement, the position of the work implement relative to the work vehicle 10, the vehicle speed and engine RPM of the work vehicle 10 while working, and the vehicle speed and engine RPM of the work vehicle 10 while turning, by having the operator perform an operation to register this information on the operation terminal 20. In this embodiment, information related to the spraying device 14 is set as information about the work implement.

[0082] In the field information setting process, the setting processing unit 211 sets information such as the position and shape of the field F, the work start position S where work begins and the work end position G (see Figure 6) where work ends, and the work direction by having the operator register this information on the operation terminal 20. The work direction means the direction in which the work vehicle 10 will travel while performing spraying work with the spraying device 14 in the work area, which is the area of ​​the field F excluding non-work areas such as headlands.

[0083] Information on the position and shape of the field F can be obtained automatically, for example, by having the operator manually drive the work vehicle 10 around the perimeter of the field F and record the changes in the position information of the antenna 164 at that time. The position and shape of the field F can also be obtained based on a polygon obtained by the operator operating the operation terminal 20 to specify multiple points on a map displayed on the operation terminal 20. The area specified by the obtained position and shape of the field F is the area in which the work vehicle 10 can be driven (travel area).

[0084] In the process of setting the work information, the setting processing unit 211 is configured to be able to set, as work information, the skip number, which is the number of work routes that the work vehicle 10 will skip when turning on the headland, the width of the headland, etc.

[0085] Based on each of the setting information, the route generation processing unit 212 generates a target route R, which is a route along which the work vehicle 10 will automatically travel. The target route R is, for example, a route from a work start position S to a work end position G (see FIG. 6). The target route R shown in FIG. 6 includes a linear work route R1 for spraying a chemical solution onto the crops V in an area where the crops V are planted, and a movement route R2 for moving between the crop rows Vr without performing spraying work.

[0086] An example of a method for generating a target route R will be described with reference to FIGS. 11A and 11B. FIG. 11A schematically illustrates a crop row Vr. First, the operator manually drives the work vehicle 10 along the periphery of the crop row Vr (see FIG. 11A). While driving, the work vehicle 10 detects an end point E1 on one side (the lower side of FIG. 11A) of each crop row Vr and an end point E2 on the other side (the upper side of FIG. 11A) of each crop row Vr, and acquires position information (coordinates) of each end point E1, E2. Note that the end points E1, E2 may be the positions of crops V that have already been planted, or may be the positions of landmarks indicating the positions of crops V to be planted. Upon acquiring the position information (coordinates) of each end point E1, E2 from the work vehicle 10, the route generation processing unit 212 sets a line L1 (see FIG. 11B) connecting the corresponding end points E1, E2 as a work route for the crop row Vr, and generates a target route R including multiple work routes and travel routes (turning routes). The method for generating the target route R is not limited to the above-mentioned method. The route generation processing unit 212 may store the generated target route R in the storage unit 22.

[0087] The output processing unit 213 outputs route data including information on the target route R generated by the route generation processing unit 212 to the work vehicle 10.

[0088] The output processing unit 213 may output the route data to a server (not shown). The server stores and manages the route data acquired from each of the operation terminals 20 in association with the operation terminals 20 and the work vehicles 10.

[0089] In addition to the above-mentioned processes, the control unit 21 executes a process of displaying various information on the operation display unit 23. For example, the control unit 21 causes the operation display unit 23 to display a registration screen for registering work vehicle information, field information, work information, etc., an operation screen for generating the target route R, an operation screen for causing the work vehicle 10 to start automatic traveling, a display screen for displaying the traveling status of the work vehicle 10, etc. Furthermore, for example, when the control unit 21 acquires the work status of the mixing work from the work vehicle 10, it causes the operation display unit 23 to display the work status, i.e., information indicating whether or not the chemical solution in the storage tank 14A is being mixed.

[0090] The control unit 21 also accepts various operations from the operator. Specifically, the control unit 21 accepts from the operator a work start instruction to cause the work vehicle 10 to start work, a travel stop instruction to cause the work vehicle 10 to stop traveling while it is traveling automatically, etc. When the control unit 21 accepts each of the above instructions, it outputs the above instructions to the work vehicle 10.

[0091] When the vehicle control device 11 of the work vehicle 10 receives a work start instruction from the operation terminal 20, it starts the automatic traveling and spraying work of the work vehicle 10. Furthermore, when the vehicle control device 11 receives a traveling stop instruction from the operation terminal 20, it stops the automatic traveling and spraying work of the work vehicle 10.

[0092] The operation terminal 20 may be able to access a website (agricultural support site) of the agricultural support service provided by the server via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the control unit 21.

[0093] [Automatic driving processing] An example of the automatic driving process executed by the vehicle control device 11 of the work vehicle 10 will be described below with reference to FIG.

[0094] The present invention can be understood as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. Furthermore, one or more steps included in the automatic driving process described herein may be omitted as appropriate. The steps in the automatic driving process may be executed in a different order as long as the same effects are achieved. Furthermore, while the description here uses an example in which the vehicle control device 11 executes each step in the automatic driving process, another embodiment can also be an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner.

[0095] Here, the first condition among the first to fourth conditions, which are the conditions for starting the stirring operation, will be described as an example.

[0096] In step S1, the vehicle control device 11 determines whether the key switch (engine key switch) that starts the engine 103 of the work vehicle 10 has been turned on. For example, the operator transports the work vehicle 10 from a storage shed to a predetermined location using a transporter, and turns the engine start switch on using the engine key. When the vehicle control device 11 detects that the key switch is on (S1: Yes), the process proceeds to step S2. The vehicle control device 11 waits until the key switch is turned on (S1: No).

[0097] In step S2, the vehicle control device 11 starts the engine 103. In the following step S3, the vehicle control device 11 starts the stirring operation. Specifically, the vehicle control device 11 starts the rotational driving of the stirring unit 14g (see FIG. 8) to stir the chemical solution in the storage tank 14A.

[0098] Next, in step S4, the vehicle control device 11 manually drives the work vehicle 10 to the work start position S. For example, the vehicle control device 11 manually drives the work vehicle 10 to the work start position S based on a driving instruction operation by the operator on the manual driving operation unit 18 (see FIG. 10).

[0099] Here, when the operator supplies chemical liquid to the work vehicle 10 that has begun the mixing work, he or she operates the manual traveling operation unit 18 to move the work vehicle 10 to the chemical liquid supply area AR and supplies chemical liquid from the chemical liquid supply vehicle to the storage tank 14A. Thereafter, the operator operates the manual traveling operation unit 18 to move the work vehicle 10 to the work start position S (see FIG. 9). Note that if there is no chemical liquid remaining in the storage tank 14A, the vehicle control device 11 may start the mixing work when it detects that chemical liquid has been supplied to the storage tank 14A (corresponding to the second condition).

[0100] Next, in step S5, the vehicle control device 11 determines whether the work vehicle 10 has reached the work start position S (an automatic driving possible position). When the work vehicle 10 has reached the work start position S (S5: Yes), the process proceeds to step S6. The manual driving process (S4) is continued until the work vehicle 10 reaches the work start position S (S5: No).

[0101] In step S6, the vehicle control device 11 determines whether or not an automatic driving start instruction has been acquired from the operation terminal 20. For example, when the operator presses the start button on the operation terminal 20, the operation terminal 20 outputs an automatic driving start instruction (work start instruction) to the work vehicle 10. When the vehicle control device 11 acquires an automatic driving start instruction from the operation terminal 20 (S6: Yes), the processing proceeds to step S7. The vehicle control device 11 waits until it acquires an automatic driving start instruction from the operation terminal 20 (S6: No).

[0102] In step S7, the vehicle control device 11 starts automatic driving. For example, when the vehicle control device 11 receives an automatic driving start instruction and route data from the operation terminal 20, it starts automatic driving and spraying work along the target route R according to the route data. The vehicle control device 11 stores the route data received from the operation terminal 20 in the memory unit 12.

[0103] Next, in step S8, the vehicle control device 11 determines whether the work vehicle 10 has finished work (spraying work). The vehicle control device 11 determines that work has finished when the position of the work vehicle 10 matches the work end position G. If the work vehicle 10 has finished work (S8: Yes), the automatic driving process ends. The vehicle control device 11 continues automatic driving and spraying work until the work vehicle 10 finishes work (S8: No).

[0104] Here, when the work vehicle 10 has finished spraying work and needs to be replenished with chemicals, the operator operates the manual travel operation unit 18 to manually travel to the chemicals supply area AR (see FIG. 9 ).The operator then replenishes the chemicals in the work vehicle 10 at the chemicals supply area AR.

[0105] As described above, the automated driving system 1 according to this embodiment automatically drives the work vehicle 10 along the target route R in a work area (e.g., field F) and performs a spraying operation to spray a spraying material (e.g., a chemical solution) on a target object (e.g., crop V). The automated driving system 1 also performs a stirring operation to stir the spraying material in the storage tank 14A. The automated driving system 1 also starts the stirring operation when predetermined conditions are met before the work vehicle 10 starts autonomous driving.

[0106] In addition, the automatic driving method of this embodiment involves one or more processors automatically driving the work vehicle 10 along a target route R in (e.g., a field F), performing a spraying operation to spray a spray material (e.g., a chemical solution) on a spray target (e.g., a crop V), performing a stirring operation to stir the spray material in the storage tank 14A, and starting the stirring operation when predetermined conditions are met before the work vehicle 10 starts automatic driving.

[0107] According to the above configuration, the chemical solution in the storage tank 14A can be agitated before the work vehicle 10 starts automatic traveling, thereby avoiding problems such as uneven chemical solution concentration and clogging of the spray nozzle that sprays the chemical solution. This allows the chemical solution to be appropriately sprayed at a uniform concentration on the crops V immediately after the start of automatic traveling. This makes it possible to improve the accuracy of the spraying work. Furthermore, even if the operator forgets to give the command to start the agitation work, the agitation work can be started automatically at a predetermined timing.

[0108] [Notes on the Invention] <Appendix 1> automatically driving a work vehicle along a target route in a work site; Executing a spraying operation of spraying a spray material onto a spray target; Executing an agitation operation to agitate the material to be sprayed in the storage tank; When a predetermined condition is satisfied before the work vehicle starts automatic traveling, the stirring operation is started. An automated driving method that performs the above.

[0109] <Appendix 2> When the predetermined condition is satisfied before the work vehicle reaches a preset automatic travel start position, the stirring operation is started. 1. The automated driving method according to claim 1.

[0110] <Appendix 3> When a key switch for starting the engine of the work vehicle is turned on, the stirring operation is started. 10. The automated driving method according to claim 1 or 2.

[0111] <Appendix 4> When the spray material is supplied to the storage tank, the stirring operation is started. 10. The automated driving method according to claim 1 or 2.

[0112] <Appendix 5> When a power switch of a manual driving operation unit that manually drives the work vehicle to a preset automatic driving start position is turned on, the stirring operation is started. 3. The automatic driving method according to claim 1 or 2.

[0113] <Appendix 6> When the work vehicle is connected to an external power source, the stirring operation is started. An automated driving method as described in appendix or 2.

[0114] <Appendix 7> If the work vehicle detects an obstacle and stops after the mixing work has started, the mixing work is continued. 7. An automatic driving method according to any one of appendices 1 to 6.

[0115] <Appendix 8> A work status of the mixing work is displayed on at least one of a display unit mounted on the work vehicle and an operation terminal capable of communicating with the work vehicle. An automatic driving method according to any one of appendices 1 to 7.

[0116] <Appendix 9> a driving processing unit that automatically drives a work vehicle along a target route in a work site; a spraying processing unit that performs a spraying operation of spraying a spray material onto a spray target; an agitation processing unit that performs an agitation operation to agitate the spray material in the storage tank; Equipped with The mixing processing unit starts the mixing operation when predetermined conditions are satisfied before the work vehicle starts automatic driving.

[0117] <Appendix 10> automatically driving a work vehicle along a target route in a work site; Executing a spraying operation of spraying a spray material onto a spray target; Executing an agitation operation to agitate the material to be sprayed in the storage tank; When a predetermined condition is satisfied before the work vehicle starts automatic traveling, the stirring operation is started. An automated driving program for executing the above on one or more processors. [Explanation of symbols]

[0118] 1:Automated driving system 10: Work vehicle 11: Vehicle control device 111: Driving processing unit 112: Spray processing unit 113: Stirring processing unit 114: Notification processing unit 14: Spraying device 14A: Storage tank 18: Manual driving control unit 19: Operation display section (display section) 20: Operation terminal 211: Setting processing section 212: Route generation processing unit 213: Output processing section 40:Base station 50:Satellite F: Field (working area) R: Target route V: Crop Vr: Crop row

Claims

1. A spraying operation method for causing a work machine to perform work of spraying a spray material on a work site, comprising: A spraying method in which an agitation start condition for starting the agitation work of the spray material stored in a storage tank provided on the work machine is set on an operation terminal capable of communicating with the work machine.

2. The work machine is capable of automatically traveling along a target route, The stirring start condition is set before the work machine starts automatic traveling. The method for spraying according to claim 1.

3. When the mixing start condition is satisfied before the work machine starts automatic traveling, the mixing operation is started. The method for spraying according to claim 2.

4. A plurality of stirring start conditions are registered in advance, starting the stirring operation when a stirring start condition selected by an operator from among the plurality of stirring start conditions on the operation terminal is satisfied; The method for spraying according to any one of claims 1 to 3.

5. displaying the working status of the mixing work on the operation terminal; The method for spraying according to any one of claims 1 to 4.

6. The stirring start conditions include at least one of the following: a key switch that starts the engine of the work machine is turned ON; the material to be sprayed is supplied to the storage tank; a power switch of a manual driving operation unit that manually drives the work machine to a predetermined automatic driving start position is turned ON; and the work machine is connected to an external power source. The method for spraying according to any one of claims 1 to 5.

7. A spraying operation program that causes a work machine to perform work of spraying a spray material on a work site, A spraying operation program that causes one or more processors to set, on an operating terminal capable of communicating with the work machine, stirring start conditions for starting the stirring operation of the spray material stored in a storage tank provided on the work machine.

8. A spraying operation system that causes a work machine to perform work of spraying a spray material on a work site, A spraying work system in which an agitation start condition for starting the agitation work of the spray material stored in a storage tank provided on the work machine is set on an operation terminal capable of communicating with the work machine.

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