Automatic travelling method, automatic travelling program, and automatic travelling system

Abstract

To provide an automatic travelling method, an automatic travelling program, and an automatic travelling system capable of replenishing a material to a work vehicle at an appropriate replenishment timing.SOLUTION: A travelling processing part 111 causes a work vehicle 10 to travel automatically according to a target route in a farm field. A work processing part 112 causes work for supplying a material to be loaded on the work vehicle 10 to be performed during automatic travelling. A notification processing part 114 gives notification of replenishment information on a replenishment timing for replenishing the material to the work vehicle 10 on the basis of a work executable distance calculated based on at least either a residual amount of the material or a consumption amount of the material in the work vehicle 10.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an automatic driving method, an automatic driving program, and an automatic driving system for causing a work vehicle to automatically drive in a work area while performing work to supply materials. [Background technology]

[0002] There is a known system that automatically drives a work vehicle along a target route in a field while causing a work machine attached to the work vehicle to perform a predetermined task. For example, in a rice transplanter that plants seedlings while automatically driving along a target route, a technology is known in which a user selects one of the sides of the field as a supply side for supplying materials (seedlings), and the supply work of materials is performed at the set supply side (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-108620 Summary of the Invention [Problem to be solved by the invention]

[0004] If the work vehicle runs out of materials during work, it must stop working and move to a supply location where it can replenish the materials. For this reason, if the material shortage occurs near the supply location, for example, the travel distance to the supply location is short, resulting in little lost work, but if the material shortage occurs far from the supply location, the travel distance to the supply location is long, resulting in more lost work. In this way, the timing of material replenishment can cause a problem of reduced work efficiency.

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving program, and an automatic driving system that are capable of replenishing materials to a work vehicle at an appropriate replenishment timing. [Means for solving the problem]

[0006] The automatic driving method of the present invention performs the following steps: automatically driving a work vehicle in a work area according to a target route; performing the work of supplying materials loaded on the work vehicle to the work area while the work vehicle is automatically driving; and notifying supply information regarding the timing of supplying the materials to the work vehicle based on a workable distance calculated based on at least one of the remaining amount of the materials in the work vehicle and the consumed amount of the materials.

[0007] In addition, the automatic driving method of the present invention performs the following steps: automatically driving a work vehicle in a work area according to a target route; performing the work of supplying materials loaded on the work vehicle to the work area while the work vehicle is automatically driving; and when a workable distance calculated based on at least one of the remaining amount of materials in the work vehicle and the consumed amount of materials falls below a threshold, automatically driving the work vehicle to a supply position set corresponding to the work area.

[0008] In addition, the automatic driving program of the present invention is an automatic driving program that causes one or more processors to perform the following operations: automatically driving a work vehicle in a work area according to a target route; performing the work of supplying materials loaded on the work vehicle to the work area while the work vehicle is automatically driving; and notifying replenishment information regarding the timing of replenishment of the materials to the work vehicle based on a workable distance calculated based on at least one of the remaining amount of the materials in the work vehicle and the consumed amount of the materials.

[0009] The automated driving system according to the present invention includes a driving processing unit, a work processing unit, and a notification processing unit. The driving processing unit automatically drives a work vehicle along a target route in a work area. The work processing unit executes, while the work vehicle is automatically driving, the work of supplying materials loaded on the work vehicle to the work area. The notification processing unit notifies the work vehicle of supply information regarding the timing of supplying the materials to the work vehicle based on a workable distance calculated based on at least one of the remaining amount of the materials on the work vehicle and the consumed amount of the materials. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide an automatic driving method, an automatic driving program, and an automatic driving system that are capable of replenishing materials to a work vehicle at an appropriate replenishment timing. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. [Figure 2A] FIG. 2A is a side view showing an example of a work vehicle (rice transplanter) according to an embodiment of the present invention. [Figure 2B] FIG. 2B is a top view showing an example of the work vehicle (rice transplanter) according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of a farm field and a target route according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of a traveling method of the work vehicle according to the embodiment of the present invention. [Figure 5] FIG. 5 is a diagram showing an example of an automatic driving screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 6A] FIG. 6A is a diagram showing an example of an automatic driving screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 6B] FIG. 6B is a diagram showing an example of an automatic driving screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 7]FIG. 7 is a diagram showing an example of an automatic driving screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing another example of a traveling method for a work vehicle according to an embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of a menu screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a method for registering a farm field according to an embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a method for registering a farm field according to an embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of a method for registering a farm field according to an embodiment of the present invention. [Figure 13] FIG. 13 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. [Figure 14A] FIG. 14A is a diagram showing another example of a method for setting a threshold value according to an embodiment of the present invention. [Figure 14B] FIG. 14B is a diagram showing another example of a method for setting a threshold value according to an embodiment of the present invention. [Figure 15A] FIG. 15A is a diagram showing another example of a method for setting a threshold value according to an embodiment of the present invention. [Figure 15B] FIG. 15B is a diagram showing another example of a method for setting a threshold value according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] The following embodiment is an example of the present invention and does not limit the technical scope of the present invention.

[0013] 1, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. 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.

[0014] The present invention is applicable to a work vehicle that performs work such as supplying materials to a field. In this embodiment, the work vehicle 10 is described as a rice transplanter. In another embodiment, the work vehicle 10 may be a tractor or the like. The work vehicle 10 is an autonomous vehicle configured to be able to automatically travel (autonomously travel) within a pre-registered field. For example, an operator (user) registers a field to be worked on and sets a travel route (target route) for the work vehicle 10 to automatically travel through the field. The work vehicle 10 automatically travels along a pre-set target route through the field based on position information of the current position of the work vehicle 10 calculated by the positioning unit 16. The work vehicle 10 is also capable of performing predetermined work (for example, planting seedlings) while automatically traveling within the field.

[0015] For example, the work vehicle 10 automatically travels along a target route R in a field F shown in FIG. 3. The field F shown in FIG. 3 includes an inner area Fa and a headland area Fb (outer area), and a ridge A1 (such as a bank) is formed around the outside of the field F. An entrance / exit for the work vehicle 10 is formed in the field F, and the entrance / exit is connected to a road. The road may be a farm road or a public road. For example, the work vehicle 10 travels (manually or automatically) on the road from a predetermined storage location to the field F to perform work. A target route R including multiple work routes is set in advance for the field F. For example, a work route Ra is set in the inner area Fa that travels back and forth in parallel from a travel start position S, and a work route Rb is set in the headland area Fb that travels in a spiral shape (circular travel) around the periphery toward a travel end position G.

[0016] The work vehicle 10 starts automatic travel from a travel start position S, and performs work while traveling back and forth along a work route Ra in the inner area Fa. The work vehicle 10 also performs work while traveling in a circle in the headland area Fb to a travel end position G along a work route Rb.

[0017] Here, the work path Rb in the headland area Fb is set based on the number of work strokes. Fig. 3 shows the work path Rb when the number of work strokes is two, but the number of work strokes on the work path Rb may also be one. On the work path Rb shown in Fig. 3, the work vehicle 10 performs work while traveling around the headland area Fb only two times. The width of the headland area Fb is set to a width according to the number of work strokes. Therefore, when the number of work strokes is two, the width of the headland area Fb is approximately twice the working width of the work vehicle 10.

[0018] The target route R is not limited to the route shown in Fig. 3, but is set appropriately depending on the shape of the field F, the work content, etc. For example, the target route R is set appropriately depending on the number of work strokes in the headland area Fb or the width of the headland area Fb.

[0019] A work vehicle 10 carrying planting materials is loaded with seedlings. The work vehicle 10 plants the seedlings while automatically traveling along a target route R. If the seedlings loaded on the work vehicle 10 run out, the work must be interrupted and the work vehicle 10 must be moved to a specified location (supply location) to replenish the seedlings. For example, if the materials run out in a location close to the supply location, the travel distance to the supply location is short, resulting in little work loss. However, if the materials run out in a location far from the supply location, the travel distance to the supply location is long, resulting in more work loss. Conventional technology has a problem of reduced work efficiency depending on the location where the materials are in short supply. In contrast, the automatic driving system 1 according to this embodiment is capable of supplying materials to the work vehicle 10 at an appropriate time, as described below. Specific configurations of the work vehicle 10 and the operation terminal 20 are described below.

[0020] [Work vehicle 10] 1, 2A, and 2B, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a vehicle body unit 13, a work implement 14, a communication unit 15, a positioning unit 16, an obstacle detection unit 17, a material detection unit 171, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the vehicle body unit 13, the work implement 14, the positioning unit 16, the obstacle detection unit 17, the material detection unit 171, etc. The vehicle control device 11 and the positioning unit 16 may be capable of wireless communication.

[0021] First, a rice transplanter, which is an example of work vehicle 10, will be described with reference to Figures 2A and 2B. Figure 2A is a side view of work vehicle 10 (rice transplanter), and Figure 2B is a plan view of work vehicle 10. Work vehicle 10 is equipped with a vehicle body section 13, a pair of left and right front wheels 132, a pair of left and right rear wheels 133, a work implement 14 (planting section), etc.

[0022] An engine (drive unit) 131 is disposed inside a hood 134 disposed at the front of the vehicle body 13. Power generated by the engine 131 is transmitted to front wheels 132 and rear wheels 133 via a transmission case 135. The power transmitted via the transmission case 135 is also transmitted to the work implement 14 via a PTO shaft 37 disposed at the rear of the vehicle body 13. The PTO shaft 37 is configured to transmit power via a planting clutch (work clutch) (not shown). A driver's seat 138 for an operator to sit in is provided between the front wheels 132 and rear wheels 133 in the fore-and-aft direction of the vehicle body 13.

[0023] In front of the driver's seat 138, operating tools such as a steering wheel 137, a main speed change lever (not shown), and a planting clutch lever (not shown) are arranged. The steering wheel 137 is an operating tool for changing the steering angle of the work vehicle 10. The main speed change lever is configured to be able to select at least the positions of "forward," "reverse," "neutral," and "seedling clutch." When the main speed change lever is operated to the "forward" position, power is transmitted so that the front wheels 132 and rear wheels 133 rotate in a direction that moves the work vehicle 10 forward. When the main speed change lever is operated to the "reverse" position, power is transmitted so that the front wheels 132 and rear wheels 133 rotate in a direction that moves the work vehicle 10 backward. When the main speed change lever is operated to the "neutral" position, power transmission to the front wheels 132 and rear wheels 133 is cut off. When the main speed change lever is operated to the "seedling clutch" position, power transmission to the front wheels 132, rear wheels 133, and PTO shaft 37 is cut off. In addition, by operating the planting clutch lever, the planting clutch can be switched between a transmission state in which it transmits power to the PTO shaft 37 (i.e., the work implement 14) and a disconnection state in which it does not transmit power to the PTO shaft 37 (i.e., the work implement 14).

[0024] The work implement 14 is connected to the rear of the vehicle body 13 via a lifting link mechanism 31. The lifting link mechanism 31 is configured with a parallel link structure including a top link 39 and a lower link 38. A lifting cylinder (lifting device) 32 is connected to the lower link 38. By extending and contracting the lifting cylinder 32, the entire work implement 14 can be raised and lowered. This allows the height of the work implement 14 to be changed between a working position (working height) where the work implement 14 is lowered to perform planting work, and a non-working position (non-working height) where the work implement 14 is not performed by raising the work implement 14. Note that the lifting cylinder 32 is a hydraulic cylinder, but an electric cylinder may also be used. Furthermore, the work implement 14 may be raised and lowered by an actuator other than a cylinder.

[0025] The work machine 14 (planting section) includes a planting input case 33, a plurality of planting units 34, a seedling carrier 35, a plurality of floats 36, and the like.

[0026] Each planting unit 34 is equipped with a planting transmission case 41 and a rotating case 42. Power is transmitted to the planting transmission case 41 via the PTO shaft 37 and the planting input case 33. Each planting transmission case 41 has a rotating case 42 attached to both sides in the vehicle width direction. Two planting claws 43 are attached to each rotating case 42, lined up in the direction of travel of the work vehicle 10. These two planting claws 43 plant one row.

[0027] As shown in FIG. 2A, the seedling carrier 35 is positioned above and in front of the planting unit 34 and is configured to be able to place a seedling mat on it. The seedling carrier 35 is configured to be able to move back and forth laterally (slide laterally). The seedling carrier 35 is also configured to be able to intermittently transport the seedling mat vertically downward at the end of its reciprocating movement. This configuration allows the seedling carrier 35 to supply seedlings from the seedling mat to each planting unit 34. In this way, the work vehicle 10 can sequentially supply seedlings to each planting unit 34, allowing for continuous seedling planting.

[0028] The float 36 shown in FIG. 2A is provided below the work implement 14 and is positioned so that its underside can come into contact with the ground. When the float 36 comes into contact with the ground, the rice field surface is leveled before seedlings are planted. The float 36 is also provided with a float sensor (not shown) that detects the swing angle of the float 36. The swing angle of the float 36 corresponds to the distance between the rice field surface and the work implement 14. The work vehicle 10 can maintain a constant height of the work implement 14 above the ground by operating the lifting cylinder 32 based on the swing angle of the float 36 to raise and lower the work implement 14.

[0029] The spare seedling trays 19 are positioned on the outer side of the hood 134 in the vehicle width direction, and can carry seedling boxes containing spare mat seedlings. The upper parts of the pair of left and right spare seedling trays 19 are connected to each other by a connecting frame 18 that extends vertically and in the vehicle width direction. A positioning unit 16 is located in the center of the connecting frame 18 in the vehicle width direction.

[0030] The positioning unit 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164 (see FIG. 1). For example, the positioning unit 16 is provided at the upper center of the front of the work vehicle 10, as shown in FIGS. 2A and 2B. The installation location of the positioning unit 16 is not limited. Furthermore, the positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning unit 16 may be disposed in different locations on the work vehicle 10. A battery is connected to the positioning unit 16, and the positioning unit 16 can operate even when the engine 131 is stopped. Furthermore, the positioning unit 16 may be substituted with, for example, a mobile phone terminal, a smartphone, a tablet terminal, a quantum compass, or the like.

[0031] The positioning control unit 161 is a computer system including one or more processors and storage memories such as nonvolatile memory and RAM. The storage unit 162 is a nonvolatile memory that stores a program for causing the positioning control unit 161 to execute the positioning process, and data such as positioning information and movement information. For example, the 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 162. Note that the program may be downloaded to the positioning unit 16 from a server (not shown) via a communication network N1 and stored in the storage unit 162.

[0032] The communication unit 163 is a communication interface that connects the positioning unit 16 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 a base station server via the communication network N1.

[0033] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0034] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received from satellites by the positioning antenna 164. For example, when the work vehicle 10 is autonomously traveling within a field F, the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites, and the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs autonomous traveling using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or may be a position displaced from the positioning position (for example, the planting operation position of the planting unit 34). The positioning control unit 161 may calculate (position) the current position of the work vehicle 10 using a quantum compass.

[0035] An obstacle detection unit 17 is provided at the front of the vehicle body 13. The obstacle detection unit 17 is configured with a sensor that detects obstacles in a predetermined detection area using, for example, infrared rays, ultrasound, or the like. For example, the obstacle detection unit 17 may be a lidar sensor (distance sensor) that uses lasers to measure the distance to a measurement object (obstacle) in three dimensions, or a sonar sensor with multiple sonars that uses ultrasound to measure the distance to a measurement object. Examples of the obstacle include a ridge, a water intake, a utility pole, materials temporarily placed in the field F, and a person. When the obstacle detection unit 17 detects the obstacle, it transmits the detection result (measurement information) to the vehicle control device 11. When the obstacle detection unit 17 detects an obstacle in the detection area, the vehicle control device 11 slows down or stops the work vehicle 10. Note that the obstacle detection units 17 may be provided at the front, rear, left side, and right side. In this case, the vehicle control device 11 controls the travel of the work vehicle 10 based on the detection results of each obstacle detection unit 17.

[0036] The material detection unit 171 is equipped with a remaining amount sensor that detects the remaining amount of materials (seedlings) loaded on the work vehicle 10, and a consumption amount sensor that detects the consumed amount of materials (seedlings) discharged from the work vehicle 10. The remaining amount sensor detects, for example, the amount of seedlings loaded on the seedling carrier 35 and the spare seedling carrier 19. The consumption amount sensor detects the amount supplied from the seedling carrier 35 to the planting unit 34. The material detection unit 171 outputs the detection results (remaining amount and consumed amount) of the remaining amount sensor and the consumption amount sensor to the vehicle control device 11. Note that the material detection unit 171 may be equipped with either a remaining amount sensor or a consumption amount sensor. In this case, the material detection unit 171 outputs the remaining amount or consumed amount as the detection result to the vehicle control device 11.

[0037] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory 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. 13 ), which will be described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, 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 may also store route data for a target route R generated in the operation terminal 20.

[0038] 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.

[0039] The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. The vehicle control device 11 also executes automatic driving processing for the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning unit 16 and a target route R that is set in advance.

[0040] As shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111, an operation processing unit 112, an acquisition processing unit 113, a notification processing unit 114, and a setting processing unit 115. The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the autonomous driving program using the CPU. Some or all of the processing units may be configured with electronic circuits. The autonomous driving program may be a program for causing multiple processors to function as the processing units.

[0041] The driving processing unit 111 controls the driving of the work vehicle 10. Specifically, the driving processing unit 111 causes the work vehicle 10 to automatically drive according to a target route R set in the field F. For example, the driving processing unit 111 causes the work vehicle 10 to start automatic driving when it receives a driving start instruction from the operation terminal 20. For example, when the current position of the work vehicle 10 is in a position that satisfies the driving start conditions, and the operator presses the start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a driving start instruction to the work vehicle 10. When the driving processing unit 111 receives the driving start instruction from the operation terminal 20, it causes the work vehicle 10 to start automatic driving according to the target route R. For example, the driving processing unit 111 causes the work vehicle 10 to drive straight from the start end to the end end of each work route, and to drive in a turn from the start end to the end end of each turning route.

[0042] 3, an operator gets into work vehicle 10 and manually drives it along a road (e.g., a farm road), enters field F from an entrance / exit, and moves work vehicle 10 to the vicinity of travel start position S. When the current position of work vehicle 10 satisfies the travel start conditions and the operator issues a travel start command, travel processing unit 111 automatically drives work vehicle 10 from travel start position S to travel end position G according to target route R.

[0043] 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 pause button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a driving stop instruction to the work vehicle 10.

[0044] Furthermore, the driving processing unit 111 controls the driving of the work vehicle 10 based on the detection results by the obstacle detection unit 17. Specifically, when the obstacle detection unit 17 detects an obstacle, the driving processing unit 111 slows down or stops the work vehicle 10. Furthermore, the driving processing unit 111 may cause the work vehicle 10 to perform avoidance driving to avoid the obstacle.

[0045] The work processing unit 112 performs work (planting work) to supply materials (seedlings) loaded on the work vehicle 10 to the field F while the work vehicle 10 is automatically traveling. For example, when the work vehicle 10 reaches the start of the work path or a predetermined position just before the start, the work processing unit 112 lowers the work implement 14 to the work position and starts driving the work implement 14. Specifically, the work processing unit 112 engages the planting clutch and starts driving the work implement 14, thereby starting the planting operation (the operation of the planting unit 34 to plant seedlings in the rice field surface).

[0046] Furthermore, when the work vehicle 10 reaches the end of the work path, the work processing unit 112 raises the work implement 14 to a non-working position and stops the drive of the work implement 14. Specifically, the work processing unit 112 stops the planting operation by disengaging the planting clutch and stopping the drive of the work implement 14. When the work implement 14 rises to the non-working position, the travel processing unit 111 causes the work vehicle 10 to travel in a turning motion along the turning path. In this way, the work processing unit 112 controls the drive of the work implement 14 according to the positions of the start and end of the work path to carry out the planting operation.

[0047] The work vehicle 10 performs planting operations on each work route while automatically traveling along the target route R shown in FIG.

[0048] The acquisition processing unit 113 acquires detection results from the material detection unit 171, which detects at least one of the remaining amount of materials (seedlings) and the consumed amount of materials in the work vehicle 10. In this embodiment, the acquisition processing unit 113 acquires detection results of both the remaining amount and the consumed amount from the material detection unit 171. When the work vehicle 10 starts autonomous driving, the acquisition processing unit 113 acquires the detection results in real time at a predetermined cycle while the work vehicle 10 is autonomously driving.

[0049] The notification processing unit 114 notifies replenishment information relating to the timing of replenishing materials to the work vehicle 10. Specifically, the notification processing unit 114 notifies the replenishment information based on at least one of the remaining amount of materials and the consumed amount of materials (detection results) in the work vehicle 10. Furthermore, the notification processing unit 114 notifies the replenishment information based on a workable distance calculated based on at least one of the remaining amount and the consumed amount.

[0050] For example, the notification processing unit 114 calculates the remaining distance that the work vehicle 10 can work while traveling with the materials remaining in the work vehicle 10, based on the remaining amount, the consumed amount, and the speed of the work vehicle 10. The notification processing unit 114 updates the available work distance in real time while the work vehicle 10 is traveling automatically. Note that the notification processing unit 114 may also calculate the available work distance by taking into consideration information such as the soil condition of the field F, the inclination angle of the field F, the wheel slip rate, and past traveling and work history.

[0051] After calculating the remaining travel distance, the notification processor 114 determines whether the remaining work distance has fallen below a threshold. If the notification processor 114 determines that the remaining work distance has fallen below the threshold, it notifies replenishment information regarding the timing of replenishment. The replenishment information is, for example, information such as the remaining work distance, the remaining amount, and the time remaining until the remaining amount reaches 0 (zero). The threshold is set, for example, to a value equal to or greater than the distance that can be traveled to the end of the work route on the replenishment position side (the work start position or work end position on the work route).

[0052] The vehicle control device 11 sets the threshold value based on the length of the work route. Specifically, the vehicle control device 11 sets the threshold value to the length of a predetermined number of work routes based on the length of the work route and the supply positions set corresponding to the field F. For example, as shown in FIG. 4, if a supply area is set on one side of the field F (e.g., the road side), and the length of the work route Ra (straight route) in the inner area Fa is represented by La, the vehicle control device 11 sets the threshold value to the length of one round trip of the work route Ra (2 × La). In the example shown in FIG. 4, the threshold value (= 2 × La) is the sum of the distance from the current position P0 of the work vehicle 10 on work route Ra1 to the work end position of work route Ra1, the distance from the work start position to the work end position of work route Ra2 (= La), and the distance from the work start position to the reference position Pa on work route Ra3. If a large amount of materials remains on the work vehicle 10, the work vehicle 10 can continue working to a position beyond the reference position Pa. As the remaining amount of materials loaded on the work vehicle 10 decreases (the amount consumed increases), the position where the materials run out approaches the reference position Pa. In other words, as the remaining amount of materials loaded on the work vehicle 10 decreases (the amount consumed increases), the workable distance approaches the threshold value (2×La).

[0053] When the notification processor 114 determines that the available work distance has fallen below a threshold, it notifies the operator of replenishment information regarding the timing of replenishment. Specifically, when the available work distance reaches the threshold, the notification processor 114 displays replenishment information M1 indicating that the available work distance has reached the threshold on the automatic driving screen D1 of the operation terminal 20, as shown in FIG. 5. FIG. 5 shows an example in which the threshold is 100 m (2 × La = 100 m). When the work vehicle 10 starts automatic driving, the operation terminal 20 displays the automatic driving screen D1 to display map information, the current position of the work vehicle 10, the driving status, the work status, and the like. When the available work distance reaches the threshold, the notification processor 114 displays the replenishment information M1 in a pop-up on the automatic driving screen D1. In the example shown in Figure 4, when the remaining amount of materials loaded on the work vehicle 10 decreases and the point where the materials run out reaches the reference position Pa, i.e., the workable distance reaches the threshold value (2 x La), the notification processing unit 114 pops up replenishment information M1 on the automatic driving screen D1 (see Figure 5).

[0054] In another embodiment, as shown in FIG. 6A, the operation terminal 20 may display progress information M2 indicating the available work distance on the automatic driving screen D1 when the work vehicle 10 starts automatic driving. The notification processing unit 114 calculates the available work distance in real time when automatic driving starts and outputs the calculation result to the operation terminal 20. The operation terminal 20 updates the available work distance in the progress information M2 in real time. Then, when the available work distance reaches the threshold, the notification processing unit 114 displays replenishment information M1 on the automatic driving screen D1 as shown in FIG. 6B. In other words, when the available work distance reaches the threshold, the notification processing unit 114 switches from the progress information M2 to the replenishment information M1. Note that, as shown in FIG. 6B, the notification processing unit 114 may display the replenishment information M1 more emphatically than the progress information M2 so that it stands out.

[0055] In another embodiment, as shown in FIG. 7, the notification processing unit 114 may display supply information M1, such as a message indicating that materials are running out or a message urging supply work, on the automatic driving screen D1 when the workable distance reaches the threshold.

[0056] In another embodiment, the notification processing unit 114 may notify the replenishment information M1 by sound. For example, the notification processing unit 114 outputs an alarm sound (alarm), a voice message, or the like to the outside from at least one of the work vehicle 10 and the operation terminal 20. Note that the notification processing unit 114 may combine the display processing of the replenishment information M1 with the sound output processing of the replenishment information M1.

[0057] When the operator confirms the replenishment information M1, he or she causes the work vehicle 10 to carry out replenishment work. Specifically, after the replenishment information M1 is notified, when the work vehicle 10 reaches the work end position on the work route where work is to be carried out toward the replenishment area, the operator interrupts the work and moves the work vehicle 10 to the replenishment position.

[0058] Here, the setting processing unit 115 sets a supply location where supply work will be performed to supply materials (seedlings) to the work vehicle 10. Specifically, the setting processing unit 115 sets the supply location based on the position of the travel route (work route) on which the work vehicle 10 is currently traveling, within a pre-set supply area. For example, when a start side (for example, the bottom side of field F (see FIG. 12)) corresponding to the position where automatic travel will start is set in a field registration operation executed on the operation terminal 20, the setting processing unit 115 sets a supply area (see FIG. 4) on the start side.

[0059] In the example shown in FIG. 4, when the travelable distance on work route Ra1 falls below the threshold, the travel processing unit 111 and the work processing unit 112 continue automatic travel and work to a work end position P1 on work route Ra2, where work is performed toward the replenishment area. The setting processing unit 115 sets a replenishment position P2 in the replenishment area based on the work end position P1. For example, the setting processing unit 115 may set the replenishment position P2 on an extension of the work route Ra2, or, if a material storage area has been set in advance within the replenishment area, may set the material storage area as the replenishment position P2. The setting processing unit 115 may also set the replenishment position P2 when the travelable distance reaches the threshold, or may set the replenishment position P2 in advance before the start of automatic travel.

[0060] When the work vehicle 10 reaches the work end position P1, the work processing unit 112 suspends the work, and the driving processing unit 111 causes the work vehicle 10 to automatically travel along the supply route Rh that connects the work end position P1 and the supply position P2. The driving processing unit 111 may temporarily stop the work vehicle 10 at the work end position P1 and then start automatic travel along the supply route Rh, or may automatically travel continuously along the work route Ra2 and the supply route Rh without temporarily stopping the work vehicle 10 at the work end position P1.

[0061] The driving processing unit 111 causes the work vehicle 10 to travel straight toward the supply position P2, and stops the work vehicle 10 when it reaches the supply position P2. In another embodiment, the driving processing unit 111 may cause the work vehicle 10 to travel straight toward the supply position P2, reverse the direction of the work vehicle 10, and then cause the work vehicle 10 to travel in reverse toward the supply position P2, and stop the work vehicle 10 when it reaches the supply position P2.

[0062] In another embodiment, the driving processing unit 111 may cause the work vehicle 10 to turn from the work end position P1 on the work path Ra2 to the work start position P3 on the next work path Ra3 (see Figure 4), then reverse towards the replenishment area, and stop the work vehicle 10 when it reaches the replenishment position P2.

[0063] In another embodiment, the driving processing unit 111 may switch to manual driving at the work end position P1 and drive the work vehicle 10 to the replenishment area in response to manual steering by the operator.

[0064] When the work vehicle 10 reaches the supply area (supply position P2), work is performed to supply seedlings to the work vehicle 10. When the seedling supply work is completed, the travel processing unit 111 moves the work vehicle 10 to the work route and resumes planting operation. For example, the travel processing unit 111 moves the work vehicle 10 to the work start position P3 of the next work route Ra3 and starts automatic travel and planting operation on the work route Ra3. Note that the travel processing unit 111 may cause the work vehicle 10 to travel automatically to the work start position P3 of the work route Ra3, or may cause the work vehicle 10 to travel in response to manual steering by the operator. In addition, when the supply work is completed, the vehicle control device 11 updates the remaining amount of seedlings carried on the work vehicle 10. As a result, for example, the supply information M1 (see Figures 5, 6B, and 7) displayed on the operation terminal 20 is deleted.

[0065] As described above, the vehicle control device 11 notifies replenishment information M1 regarding replenishment timing when the workable distance calculated based on at least one of the remaining amount and consumed amount of materials becomes less than a threshold value corresponding to the length of the work route.

[0066] Furthermore, the vehicle control device 11 causes the work vehicle 10 to perform a replenishment operation when the workable distance falls below the threshold. Specifically, when the workable distance falls below the threshold, the vehicle control device 11 causes the work vehicle 10 to continue work and automatic driving to a work end position on the work route toward the replenishment area, and then automatically drives from the work end position to a replenishment position. In another embodiment, the vehicle control device 11 may cause the work vehicle 10 to perform the replenishment operation on the condition that a replenishment operation instruction is received from the operator after notifying the operator of replenishment information M1.

[0067] 4, for example, when replenishment information M1 is notified, work can be continued for at least one round trip, allowing work to be continued to a work end position P1 that is close to the replenishment area on work route Ra2. This prevents shortages of materials along work route Ra1 or work route Ra2, and also minimizes the travel distance from the work interruption position (work end position P1 on work route Ra2) to the replenishment position P2 and the travel distance from the replenishment position P2 to the work resumption position (work start position P3 on work route Ra3). This improves the work efficiency of the work vehicle 10.

[0068] In the above example, the vehicle control device 11 sets the threshold value to the length of one round trip of the work route Ra (2 × La). However, in other embodiments, the threshold value may be set to the length of multiple round trips of the work route Ra (for example, two round trips, three round trips, four round trips, etc.). That is, the vehicle control device 11 may set the threshold value to the length of n round trips of the work route Ra (n × 2 × La) (where "n" is an integer greater than or equal to 1) (the length of an even number of work routes Ra). The larger "n" is, the earlier the timing of the notification of the replenishment information M1 can be. Note that the vehicle control device 11 may set the threshold value to the length of n round trips of the work route Ra, or may set the threshold value to a length equal to or greater than the length of n round trips of the work route Ra. That is, in a configuration in which the replenishment area is set on only one side of the field F (see FIG. 4), the threshold value is set to a length equal to or greater than the length of n round trips of the work route Ra.

[0069] While the example shown in FIG. 4 shows a configuration in which a replenishment area is set on only one side of the field F, in another embodiment, a replenishment area may be set on both sides of the field F. FIG. 8 shows a configuration in which a replenishment area is set on each of the bottom side L1 and top side L2 of the field F. In this case, the work vehicle 10 can perform replenishment work on both the bottom side L1 and top side L2. In this configuration, the vehicle control device 11 may set the threshold value to the one-way length of the work route Ra (1 × La). In the example shown in FIG. 8, the threshold value (= 1 × La) corresponds to the sum of the distance from the current position P0 of the work vehicle 10 on the work route Ra1 to the work end position of the work route Ra1 and the distance from the work start position of the work route Ra2 to the reference position Pa.

[0070] 8, when supply information M1 is notified, work can be continued for at least one trip, so work can be continued to a work end position P1 that is close to the supply area on work route Ra1. This prevents shortages of materials along work route Ra1, and also minimizes the travel distance from the work interruption position (work end position P1 on work route Ra1) to supply position P2 and the travel distance from supply position P2 to the work restart position (work start position P3 on work route Ra2). This improves the work efficiency of work vehicle 10.

[0071] In the above example, the vehicle control device 11 sets the threshold value to the length of one one-way section of the work route Ra (1 × La). However, in other embodiments, the threshold value may be set to the length of multiple one-way sections of the work route Ra (for example, two, three, or four one-way sections). That is, the vehicle control device 11 may set the threshold value to the length of m one-way sections of the work route Ra (m × La) (where "m" is an integer greater than or equal to 1) (the length of an integer number of work routes Ra). The larger "m" is, the earlier the timing of the notification of the replenishment information M1 can be. Note that the vehicle control device 11 may set the threshold value to the length of m one-way sections of the work route Ra, or may set the threshold value to a length equal to or greater than the length of m one-way sections of the work route Ra. That is, in a configuration in which replenishment areas are set on both sides of the field F, the threshold value is set to a length equal to or greater than the length of m one-way sections of the work route Ra.

[0072] [Operation terminal 20] 1, the operation terminal 20 is an information processing device including an operation 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.

[0073] 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.

[0074] The operation display unit 23 is a user interface that includes a display unit such as a liquid crystal display or organic EL display that displays various types of information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit on the operation screen displayed on the display unit to register various types of information (such as work vehicle information, field information, and work information, which will be described later). For example, the operator operates the operation unit to register the field F to be worked on.

[0075] The operator can also operate the operation unit to give instructions to start and stop traveling to the work vehicle 10. Furthermore, the operator can grasp the traveling status of the work vehicle 10, which is automatically traveling through the field F according to the target route R, from the traveling trajectory displayed on the operation terminal 20, while in a location away from the work vehicle 10.

[0076] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 22 stores control programs that cause the operation control unit 21 to execute various processes. For example, the farm field registration program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The farm field registration 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.

[0077] Furthermore, a dedicated application for automatically driving the work vehicle 10 is installed in the memory unit 22. The operation control unit 21 starts up the dedicated application to perform processing for setting various information related to the work vehicle 10, processing for generating a target route R for the work vehicle 10, and issuing instructions for automatic driving to the work vehicle 10.

[0078] The storage unit 22 also stores data such as work vehicle information, which is information relating to the work vehicle 10, and target route information, which is information relating to the target route R. The work vehicle information includes information such as the vehicle number and model for each work vehicle 10. The vehicle number is identification information for the work vehicle 10. The model is the model of the work vehicle 10.

[0079] Furthermore, the storage unit 22 may store the work vehicle information for one work vehicle 10, or may store the work vehicle information for multiple work vehicles 10. For example, if a specific operator owns multiple work vehicles 10, the work vehicle information for each work vehicle 10 is stored in the storage unit 22.

[0080] The target route information includes information such as the route name, field name, address, field area, and work time for each target route R. The route name is the route name of the target route R generated in the operation terminal 20. The field name is the name of the field F that is the work target for which the target route R is set. The address is the address of the field F, and the field area is the area of ​​the field F. The work time is the time required for the work vehicle 10 to work in the field F.

[0081] Furthermore, the storage unit 22 may store the target route information for one target route R, or may store the target route information for multiple target routes R. For example, if a specific operator generates multiple target routes R for one or multiple fields F that he or she owns, the target route information for each target route R is stored in the storage unit 22. Note that one target route R, or multiple target routes R, may be set for one field F.

[0082] In another embodiment, some or all of the information such as the work vehicle information and the target route information may be stored in a server accessible from the operation terminal 20. The operator may perform an operation to register the work vehicle information and the target route information in the server (for example, a personal computer, a cloud server, etc.).

[0083] The operation 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 temporary storage memory for the various types of processing executed by the CPU. The operation 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.

[0084] 1, the operation control unit 21 includes various processing units such as a setting processing unit 211 and an output processing unit 212. The operation 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.

[0085] The setting processing unit 211 sets various setting information for causing the work vehicle 10 to perform autonomous driving. Specifically, the setting processing unit 211 sets information relating to the work vehicle 10 (hereinafter referred to as work vehicle information). The setting processing unit 211 sets information such as the type (model) of the work vehicle 10, the position where the positioning antenna 164 is attached on the work vehicle 10, the type of work implement 14, the size and shape of the work implement 14, the position of the work implement 14 relative to the work vehicle 10, the vehicle speed (straight-line vehicle speed) and engine rotation speed of the work vehicle 10 while working, and the vehicle speed (turning vehicle speed) and engine rotation speed of the work vehicle 10 while turning by having the operator perform a registration operation on the operation terminal 20.

[0086] For example, the setting processing unit 211 causes the operation display unit 23 to display the menu screen D2 shown in Fig. 9. The worker selects, for example, "Work machine registration" on the menu screen D2 to register work machine information related to the work machine 14.

[0087] The setting processing unit 211 also sets information relating to the field F (hereinafter referred to as field information). The setting processing unit 211 sets information such as the position and shape of the field F, the travel start position S where automatic travel begins and the travel end position G where automatic travel ends (see FIG. 3), the work direction, etc., by performing a registration operation on the operation terminal 20. For example, the operator registers the field information by selecting "Register field" on the menu screen D2.

[0088] Information on the position and shape of the field F can be automatically obtained, for example, by having an operator get on the work vehicle 10 and drive it around the perimeter of the field F, and recording the progress of information on a specific position (for example, the position of the side end of the work vehicle 10) based on the positioning information of the work vehicle 10 at that time. A specific example of field registration will be described below.

[0089] When the setting processing unit 211 receives an operation from the operator to select "Register field" on the menu screen D2, it transitions to a field registration mode for registering a field. When the setting processing unit 211 transitions to the field registration mode, it causes a field measurement screen (not shown) to be displayed on the operation display unit 23. The operator selects "Start measurement" on the field measurement screen to perform teaching travel. Specifically, as shown in FIG. 10, the operator gets into the work vehicle 10 and drives it around the periphery of the area F0 to be registered. The operator starts driving near the entrance / exit of the area F0.

[0090] The setting processing unit 211 acquires position information of the work vehicle 10 traveling in a predetermined area F0 in response to the operator's traveling operation. Specifically, while the operator is driving the work vehicle 10, the positioning unit 16 calculates the current position of the work vehicle 10 at predetermined intervals and transmits position information of the calculated current position to the operation terminal 20.

[0091] When the setting processing unit 211 acquires the position information from the work vehicle 10, it records the position information as a travel trajectory of the work vehicle 10 within the predetermined area F0 in the storage unit 22. The setting processing unit 211 records the position information in the storage unit 22 every time it acquires it.

[0092] Furthermore, the setting processing unit 211 displays on the map on the field measurement screen D3 (see FIG. 11) the position where teaching travel started (teaching travel start position S0) and positions (measurement points) corresponding to the position information (each circle in FIG. 11), and also displays a message ("Measuring") indicating that recording processing to record the position information is in progress. This allows the operator to know that the position information of the work vehicle 10 has been obtained normally and that recording processing is being performed.

[0093] When the operator completes the perimeter travel (teaching travel), he / she presses the "Measurement Complete" button on the field measurement screen D3. When the operator presses the "Measurement Complete" button, the setting processing unit 211 displays the field registration screen D4 shown in FIG. 12. On the field registration screen D4, the setting processing unit 211 displays on a map the positions corresponding to all the position information acquired during the perimeter travel, as well as an area of ​​a shape recognized based on the position information. Furthermore, the setting processing unit 211 identifiably displays on the map the edge corresponding to the start position of the teaching travel (start edge). Note that if there are multiple edges close to the teaching travel start position S0, the setting processing unit 211 identifies and displays the edge extending along the road (road edge) as the start edge. Note that the setting processing unit 211 identifies the road edge based on the vehicle traveling direction after the start of teaching travel, the vehicle travel distance in the same traveling direction, the fluctuation (amplitude) of the travel trajectory in the left-right direction relative to the vehicle traveling direction, the operator's selection operation, etc. In another embodiment, the setting processing unit 211 may specify, as the start side, a side of the inner area Fa that extends in a direction perpendicular to the working direction.

[0094] Furthermore, the setting processing unit 211 may accept an operation to change the position of the start side from the operator on the field registration screen D4 shown in Fig. 12. When the operator presses the "Register" button on the field registration screen D4, the setting processing unit 211 registers the area F0 as the field F and also registers the start side (here, the bottom side L1 (see Fig. 4)).

[0095] In this way, the setting processing unit 211 registers the field F and the start side based on the position information acquired from the work vehicle 10 by teaching travel. In another embodiment, when the operator specifies a position on the field registration screen D4 where the work vehicle 10 is to start automatic travel, the setting processing unit 211 may identify and register the start side based on the specified position (automatic travel start position). Furthermore, when the operator specifies a position on the field registration screen D4 where the work vehicle 10 is to start planting work, the setting processing unit 211 may identify and register the start side based on the specified position (work start position).

[0096] The setting processing unit 211 also sets information relating to how the work will be carried out specifically (hereinafter referred to as work information). The setting processing unit 211 is configured to be able to set, as work information, whether or not cooperative work will occur between an unmanned work vehicle 10 and a manned work vehicle 10, the number of skips which is the number of work routes the work vehicle 10 will skip when turning on a headland, the width of the headland, and the width of the non-cultivated land. For example, the worker registers work information by selecting "Register work area" on the menu screen D2.

[0097] The setting processing unit 211 also generates a target route R, which is a route along which the work vehicle 10 will automatically travel, based on the various setting information. The target route R is, for example, a travel route from a travel start position S to a travel end position G (see FIG. 3). The target route R shown in FIG. 3 includes a work route, which is a straight path along which the work vehicle 10 travels back and forth in parallel in the inner area Fa of the field F, and a turning route connecting the work routes, and also includes a work route, which is a straight path along which the work vehicle 10 travels in a circular motion in the headland area Fb, and a turning route connecting the work routes. The setting processing unit 211 generates and stores the target route R for the work vehicle 10 based on the various setting information. For example, the worker selects "Create route" on the menu screen D2 to issue an instruction to generate the target route R. The setting processing unit 211 is capable of generating and storing multiple target routes R for one field F according to the work content.

[0098] The output processing unit 212 outputs route data of the target route R to the work vehicle 10. For example, when the operator selects the desired target route R on the operation screen and issues a command to start work, the output processing unit 212 outputs the route data of the selected target route R to the work vehicle 10. Note that the route data includes information about the start side. In the example described above, the output processing unit 212 outputs information about the bottom side L1 of the field F (see FIG. 12). When the vehicle control device 11 acquires the information about the start side, it sets a replenishment area on the start side (see FIG. 4).

[0099] The work vehicle 10 is configured so that route data of the target route R generated in the operation terminal 20 is transferred to the work vehicle 10 and stored in the memory unit 12, and the current position of the work vehicle 10 is detected by the positioning antenna 164, allowing the work vehicle 10 to travel autonomously along the target route R. The current position of the work vehicle 10 may or may not coincide with the position of the positioning antenna 164.

[0100] When predetermined start conditions are met and the operator presses the work start button on the operation screen to give a work start instruction, the work vehicle 10 starts automatic driving by the driving processing unit 111 of the work vehicle 10 and starts planting operations by the work implement 14. For example, the operation control unit 21 allows the work vehicle 10 to drive automatically on the condition that the current position of the work vehicle 10 is within a predetermined distance from the driving start position S and the vehicle heading is within a predetermined heading. Note that the start conditions for allowing the work vehicle 10 to drive automatically are not limited to the above conditions.

[0101] The vehicle control device 11 of the work vehicle 10 automatically drives the work vehicle 10 from a travel start position S to a travel end position G according to a target route R acquired from the operation terminal 20.

[0102] The operation terminal 20 may be able to access a website (agricultural support site) for an agricultural support service provided by a server (not shown) 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 operation control unit 21. The server is provided with the above-mentioned processing units and executes each process.

[0103] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the automatic driving system 1 will be described with reference to FIG.

[0104] 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.

[0105] In step S1, the vehicle control device 11 determines whether the work vehicle 10 is in a state where it can drive autonomously. When the work vehicle 10 satisfies the conditions for starting autonomous driving at the driving start position S (see FIG. 3) (S1: Yes), the vehicle control device 11 transitions the processing to step S2. The vehicle control device 11 waits until the work vehicle 10 satisfies the conditions for starting autonomous driving (S1: No).

[0106] In step S2, the vehicle control device 11 causes the work vehicle 10 to start automatic traveling. For example, when the operator issues a traveling start instruction on the operation screen of the operation terminal 20, the operation control unit 21 outputs the traveling start instruction to the work vehicle 10. When the vehicle control device 11 receives the traveling start instruction from the operation terminal 20, it causes the work vehicle 10 to start automatic traveling. As a result, the work vehicle 10 starts automatic traveling in the field F from the traveling start position S according to the target route R (see FIG. 3). Furthermore, once the work vehicle 10 starts automatic traveling, it starts planting seedlings along the work route.

[0107] In step S3, the vehicle control device 11 starts the process of calculating the workable distance. Specifically, the vehicle control device 11 calculates the remaining workable distance while traveling with the materials remaining in the work vehicle 10, based on at least one of the remaining amount of materials (seedlings) loaded on the work vehicle 10 and the amount of materials consumed. When automatic traveling begins, the vehicle control device 11 calculates and updates the workable distance in real time.

[0108] In step S4, the vehicle control device 11 determines whether the calculated workable distance is equal to or less than a threshold value.

[0109] Here, the vehicle control device 11 sets the threshold value based on the length of the work route. For example, if a replenishment area is set on one side of the field F (see FIG. 4), the vehicle control device 11 sets the length of one round trip or multiple round trips of the work route Ra to the threshold value. In the example shown in FIG. 4, the vehicle control device 11 sets the length of one round trip of the work route Ra (2×La) to the threshold value. In another embodiment, if replenishment areas are set on both sides of the field F (see FIG. 8), the vehicle control device 11 sets the length of one one-way trip or multiple one-way trips of the work route Ra to the threshold value. In the example shown in FIG. 8, the vehicle control device 11 sets the length of one one-way trip of the work route Ra (1×La) to the threshold value.

[0110] With regard to the headland region Fb, if a supply area is set on one side of the field F, the vehicle control device 11 may set the threshold value to a length equal to or greater than one circumference of the field F, and if a supply area is set on each side of the field F, the vehicle control device 11 may set the threshold value to a length equal to or greater than half the circumference of the field F.

[0111] If the vehicle control device 11 determines that the workable distance is equal to or less than the threshold (S4: Yes), it shifts the process to step S5. On the other hand, if the vehicle control device 11 determines that the workable distance exceeds the threshold (S4: No), it shifts the process to step S11.

[0112] In step S5, the vehicle control device 11 notifies the operator of replenishment information regarding the timing of replenishment. Specifically, the vehicle control device 11 notifies the operator of the replenishment information by text, sound, or the like. For example, as shown in FIG. 5, the vehicle control device 11 pops up replenishment information M1 on the automatic driving screen D1 of the operation terminal 20, indicating the workable distance (here, "100 m") at the time when the workable distance reaches the threshold. This allows the operator to understand that replenishment work of materials has become necessary. When the vehicle control device 11 notifies the replenishment information M1, it executes the following replenishment operation.

[0113] In step S6, the vehicle control device 11 determines whether the work vehicle 10 has reached the work end position on the supply area side. Specifically, the vehicle control device 11 determines whether the work vehicle 10 has reached the work end position on the supply area side of the work route it is traveling after the workable distance has become equal to or less than the threshold.

[0114] 4, the work end position of the work route Ra1 is located on the opposite side of the replenishment area, so when the work vehicle 10 reaches the work end position of the work route Ra1, the vehicle control device 11 does not determine that the work vehicle 10 has reached the work end position on the replenishment area side (S6: No).When the vehicle control device 11 determines that the work vehicle 10 has not reached the work end position on the replenishment area side (S6: No), it transitions the processing to step S11.

[0115] In contrast, the work end position of work route Ra2, which follows work route Ra1, is located on the replenishment area side, so when the work vehicle 10 reaches the work end position of work route Ra2, the vehicle control device 11 determines that the work vehicle 10 has reached the work end position on the replenishment area side (S6: Yes).When the vehicle control device 11 determines that the work vehicle 10 has reached the work end position on the replenishment area side (S6: Yes), it transitions the processing to step S7.

[0116] In step S7, the vehicle control device 11 moves the work vehicle 10 to the supply position. Specifically, the vehicle control device 11 causes the work vehicle 10 to travel along a supply route from the work end position on the supply area side to the supply position. In the example shown in FIG. 4, the vehicle control device 11 causes the work vehicle 10 to automatically travel along a supply route Rh that connects the work end position P1 on the work route Ra2 to the supply position P2. In another embodiment, the vehicle control device 11 may cause the work vehicle 10 to travel from the work end position P1 to the supply position P2 in response to manual steering by the operator.

[0117] Next, in step S8, the vehicle control device 11 performs the supply work. The vehicle control device 11 performs processing according to the supply work performed by the operator. When the seedling supply work is completed, the vehicle control device 11 updates information on the remaining amount of seedlings loaded on the work vehicle 10 and the workable distance. The vehicle control device 11 ends the supply work when it receives an operation from the operator to end the supply work, or when the supply amount or remaining amount reaches a specified amount. When the supply work is completed, the vehicle control device 11 transitions the processing to step S9.

[0118] Next, in step S9, the vehicle control device 11 moves the work vehicle 10 to the work start position of the next work route. For example, in the example shown in Fig. 4, the vehicle control device 11 automatically drives the work vehicle 10 from the supply position P2 to the work start position P3 of the work route Ra3. Note that the vehicle control device 11 may also move the work vehicle 10 to the work start position P3 of the work route Ra3 in accordance with manual steering by the operator.

[0119] Next, in step S10, the vehicle control device 11 causes the work vehicle 10 to resume automatic traveling and planting work. For example, the vehicle control device 11 causes the work vehicle 10 to resume automatic traveling and planting work from a work start position P3 on the work route Ra3.

[0120] In step S11, the vehicle control device 11 determines whether the work vehicle 10 has reached the travel end position G (see FIG. 3) in the field F. If the vehicle control device 11 determines that the work vehicle 10 has reached the travel end position G (S11: Yes), it ends the automatic travel processing. On the other hand, if the vehicle control device 11 determines that the work vehicle 10 has not reached the travel end position G (S11: No), it transitions the processing to step S4 and executes the above-mentioned processing again. The vehicle control device 11 repeatedly executes the processing of steps S4 to S10 until the work vehicle 10 reaches the travel end position G.

[0121] As described above, the vehicle control device 11 of this embodiment performs the following operations: automatically driving the work vehicle 10 in the field F according to the target route R; performing the work of supplying materials loaded on the work vehicle 10 to the field F while the work vehicle 10 is automatically driving; and notifying the work vehicle 10 of supply information regarding the timing of supplying the materials to the work vehicle 10 based on at least one of the remaining amount of materials on the work vehicle 10 and the amount of materials consumed.

[0122] With the above configuration, the operator can be notified of the appropriate timing for replenishment, preventing a decline in work efficiency due to replenishment operations. For example, by notifying the operator of replenishment information when there is an amount of material remaining that will allow work to be completed up to the end of the work route on the replenishment area side, the work vehicle 10 can be made to continue work up to the end of the work route and then moved from that end to the replenishment area. This reduces the distance traveled by the work vehicle 10 after work is interrupted.

[0123] In addition, the vehicle control device 11 of this embodiment automatically drives the work vehicle 10 in the field F according to the target route R, performs the work of supplying materials loaded on the work vehicle 10 to the field F while the work vehicle 10 is automatically driving, and automatically drives the work vehicle 10 to a supply position set corresponding to the field F when the workable distance calculated based on at least one of the remaining amount of materials in the work vehicle 10 and the consumed amount of materials becomes equal to or less than a threshold value.

[0124] According to the above configuration, when the workable distance falls below the threshold, the work vehicle 10 can be made to automatically travel to the replenishment position without relying on operator operation. Note that when the workable distance falls below the threshold, the vehicle control device 11 may cause the work vehicle 10 to work and automatically travel to a work end position on a work route whose traveling direction is toward the replenishment position, and then cause the work vehicle 10 to automatically travel from the work end position to the replenishment position.

[0125] [Other embodiments] The embodiments of the present invention are not limited to the above-described embodiments, and may be the following embodiments.

[0126] In the above-described embodiment, the vehicle control device 11 sets the threshold value based on the length La (see FIG. 4) of the work route Ra (straight route). In another embodiment, as shown in FIG. 14A, for example, the vehicle control device 11 may set the threshold value based on the distance Lb between point A (first reference position) and point B (second reference position) registered when generating the target route.

[0127] A method for generating a target route based on points A and B will be briefly described below. First, the operator moves the work vehicle 10 to an arbitrary position within the field F (for example, a target position where work will begin) and presses the point A registration button on the operation terminal 20. When the operator presses the point A registration button, the operation terminal 20 registers the current position of the work vehicle 10 as a first reference point (point A). Next, the operator manually drives the work vehicle 10 in the desired direction (target direction) to travel and work, moves it to an arbitrary position (for example, a target position where work will end), and presses the point B registration button. When the operator presses the point B registration button, the operation terminal 20 registers the current position of the work vehicle 10 as a second reference point (point B). When the operation terminal 20 acquires the position information of points A and B, it sets a straight line passing through points A and B as a reference line Rx (see FIG. 14A) and generates a travel route (target route) of multiple straight lines parallel to the reference line Rx. This makes it possible to generate a target route using a reference line Rx that passes through two points (points A and B) at both ends of the field F (for example, the target work start position and the target work end position).

[0128] The vehicle control device 11 automatically drives the work vehicle 10 in a straight line along multiple straight paths that are parallel to and equally spaced apart from the reference line Rx. For example, the operator starts automatic driving at a position obtained by translating point A on each straight path, and ends automatic driving at a position obtained by translating point B. When the distance Lb is the reference length, the vehicle control device 11 may set the threshold value to a length equivalent to multiple reference lengths.

[0129] In another embodiment, as shown in FIG. 14B , the vehicle control device 11 may set the threshold value based on the distance Lc (the length of the left side L3 and the right side L4) between a first intersection Pt where a first side (e.g., the bottom side L1) of the field F intersects with an extension of the work path Ry, and a second intersection Ps where a second side (e.g., the top side L2) of the field F intersects with the extension. For example, the operation terminal 20 generates multiple work paths Ry (target paths) parallel to one side (e.g., the left side L3) of the field F. In this case, the vehicle control device 11 can automatically drive the work vehicle 10 in a straight line in the headland area Fb according to the target path parallel to the left side L3. If the distance Lc is set as a reference length, the vehicle control device 11 may set the threshold value to a length equivalent to multiple reference lengths.

[0130] The above-described threshold setting methods, i.e., the threshold setting method based on the length La of the work route Ra (see FIG. 4), the threshold setting method based on the distance Lb between points A and B (see FIG. 14A), and the threshold setting method based on the distance Lc between the first intersection Pt and the second intersection Ps (see FIG. 14B), are suitable, for example, when the shape of the field F is rectangular. On the other hand, for a field F that is non-rectangular (irregularly shaped), the vehicle control device 11 may set multiple thresholds.

[0131] For example, as shown in FIG. 15A, if a field F is composed of a left-side region F1 defined by the length of the left side L3 and the length of the top side L21, and a right-side region F2 defined by the length of the right side L4 and the length of the top side L22, the vehicle control device 11 sets the thresholds as a first threshold corresponding to the left-side region F1 and a second threshold corresponding to the right-side region F2. For example, the vehicle control device 11 sets the first threshold based on the length La1 of the work path in the left-side region F1, and sets the second threshold based on the length La2 of the work path in the right-side region F2. The vehicle control device 11 switches between the first and second thresholds depending on the traveling position (region in which the work vehicle 10 is traveling) and determines whether the workable distance has become equal to or less than the threshold (first or second threshold).

[0132] Furthermore, for example, as shown in Figure 15B, when two opposing sides of the field F are non-parallel, such as when only one side (here, the upper side L2) is inclined, the vehicle control device 11 sets the threshold value for each work route. Specifically, the first threshold value is set based on the length Lx1 of the first work route, the second threshold value is set based on the length Lx2 of the second work route, and the nth threshold value is set based on the length Lx(n) of the nth work route. The vehicle control device 11 switches the threshold value depending on the traveling position of the work vehicle 10 (the work route being traveled), and determines whether the workable distance has become equal to or less than the threshold value.

[0133] Furthermore, in the above-described threshold setting method, the length La of the work route Ra, the distance Lb between points A and B, and the distance Lc between the first intersection point Pt and the second intersection point Ps can each be expressed as a "reference length." In this case, the vehicle control device 11 sets the threshold based on the reference length. Furthermore, the vehicle control device 11 sets the threshold to a length of a predetermined number of the reference length (a length obtained by multiplying the reference length by n (n is an integer greater than or equal to 1)) based on the reference length and a supply position set corresponding to the field F.

[0134] In another embodiment, the vehicle control device 11 may set the threshold value in accordance with a setting operation by the operator. For example, when the operator inputs the notification timing of the replenishment information M1 (e.g., "100 m") on the operation screen of the operation terminal 20, the vehicle control device 11 sets the input information as the threshold value. The vehicle control device 11 sets the threshold value by accepting the setting operation from the operator before starting autonomous driving. In another embodiment, the vehicle control device 11 may be able to change the threshold value when accepting the setting operation from the operator after the work vehicle 10 has started autonomous driving.

[0135] In each of the above-described embodiments, the vehicle control device 11 performs work while automatically driving the work vehicle 10 to a work end position of a work route traveling toward a preset start edge (see FIG. 12) (corresponding to the specific edge of the present invention), and then automatically drives the work vehicle 10 from the work end position to a supply position corresponding to the start edge. For example, the vehicle control device 11 performs work while automatically driving the work vehicle 10 to a work end position of a work route traveling toward a start edge that is closest to one of the following among the outline edges of field F: (1) the travel start position ("point A" in FIG. 14A) when the work vehicle 10 is made to travel along the periphery of field F for teaching in the work of registering field F, (2) the start position of automatic travel previously set for field F (travel start position S in FIG. 3), or (3) the start position of work previously set for field F, and then automatically drives the work vehicle 10 from the work end position to a supply position (supply area) corresponding to the start edge.

[0136] In each of the above-described embodiments, the vehicle control device 11 calculates the available work distance. However, in another embodiment, the vehicle control device 11 may calculate the available work time (the time remaining until the materials run out). Specifically, the vehicle control device 11 may calculate the available work time based on at least one of the remaining amount of materials in the work vehicle 10 and the consumed amount of materials, and may notify the replenishment information when the available work time falls below a predetermined time (threshold value). The vehicle control device 11 sets the predetermined time to the time required to travel along the work route. For example, the vehicle control device 11 sets the predetermined time to the time required to make one round trip along the work route. Furthermore, for example, the vehicle control device 11 sets the threshold value to the total required time for a predetermined number of work routes (an integer multiple of the required travel time) based on the required travel time along the work route and the replenishment location set corresponding to the field F.

[0137] In the above embodiment, a rice transplanter is used as an example of the work vehicle 10, but in other embodiments, the work vehicle 10 may be a spreader, a fertilizer applicator, a seed sower, etc. For example, if the work vehicle 10 is a spreader, the material is a spray material (water, chemical solution), and the vehicle control device 11 detects the remaining amount and consumed amount of the spray material and determines whether replenishment work is required.

[0138] Furthermore, in the above-described embodiment, the work vehicle 10 alone corresponds to the automated driving system according to the present invention, but the automated driving system according to the present invention may be configured with the vehicle control device 11 alone, or may be configured to include the work vehicle 10 and the operation terminal 20. Furthermore, the functions of the vehicle control device 11 and the operation control unit 21 may be included in a server.

[0139] [Notes on the Invention] The following is a summary of the invention extracted from the embodiments. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0140] <Appendix 1> automatically driving a work vehicle along a target route in a work area; Executing an operation of supplying materials loaded on the work vehicle to the work area during automatic traveling; notifying the work vehicle of replenishment information regarding the timing of replenishment of the material based on a workable distance calculated based on at least one of the remaining amount of the material in the work vehicle and the consumed amount of the material; An automated driving method that performs the above.

[0141] <Appendix 2> updating the workable distance while the work vehicle is automatically traveling; 1. The automated driving method according to claim 1.

[0142] <Appendix 3> When the workable distance becomes equal to or less than a threshold, the replenishment information is notified. 10. The automated driving method according to claim 1 or 2.

[0143] <Appendix 4> the target route includes a plurality of work routes along which the work vehicle travels while performing work, The length of the working path is set as a reference length, and the threshold value is set based on the reference length. 1. The automated driving method described in Appendix 3.

[0144] <Appendix 5> a distance between a first reference position and a second reference position registered when generating the target route is set as a reference length, and the threshold value is set based on the reference length; 5. The automated driving method according to claim 3 or 4.

[0145] <Appendix 6> the target route includes a plurality of work routes along which the work vehicle travels while performing work, a reference length is defined as a distance between a first intersection where a first side of the working area intersects with an extension of the working path and a second intersection where a second side of the working area intersects with the extension, and the threshold value is set based on the reference length; setting the threshold value based on the length of the working path; 6. The automatic driving method according to any one of appendices 3 to 5.

[0146] <Appendix 7> and setting the threshold value to a length corresponding to a predetermined number of the reference length based on the reference length and a supply position set corresponding to the work area. 7. The automatic driving method according to any one of Supplementary Notes 3 to 6.

[0147] <Appendix 8> The threshold value is set in accordance with a setting operation by a user. An automatic driving method according to any one of appendices 3 to 7.

[0148] <Appendix 9> The work vehicle is caused to automatically travel to a work end position of a first work route that travels toward a specific edge of the outline of the work area that is closest to (1) a travel start position when the work vehicle is caused to travel along the periphery of the work area during teaching travel in the work of registering the work area, (2) a start position of automatic travel that is preset for the work area, or (3) a work start position that is preset for the work area, and the work vehicle is caused to automatically travel from the work end position to a supply position that corresponds to the specific edge. An automatic driving method according to any one of appendices 1 to 8.

[0149] <Appendix 10> When the process of replenishing the work vehicle with the material at the replenishing position is completed, the work vehicle is automatically driven from the replenishing position to a work start position of a second work route that continues to the first work route. 10. The automated driving method according to claim 9. [Explanation of symbols]

[0150] 1:Automated driving system 10: Work vehicle 11: Vehicle control device 111: Driving processing unit 112: Work processing unit 113: Acquisition processing unit 114: Notification processing unit 115: Setting processing section 171: Material detection unit 20: Operation terminal 21: Operation control section 211: Setting processing section 212: Output processing section D1: Automatic driving screen D2: Menu screen D3: Field measurement screen D4: Field registration screen M1:Supply information F: Field (working area) Fa: inner area Fb: Headland area S: Travel start position G: End position of travel A1: Ridge P0: Current position P1: Work end position P2: Supply position P3: Work start position Pa: Reference position Pt: 1st intersection Ps: 2nd intersection R: Target route Ra: Work path

Claims

1. automatically driving a work vehicle along a target route in a work area; Executing an operation of supplying materials loaded on the work vehicle to the work area during automatic traveling; notifying the work vehicle of replenishment information regarding the timing of replenishing the material based on a workable distance calculated based on at least one of the remaining amount of the material in the work vehicle and the consumed amount of the material; An automated driving method that performs the above.

2. updating the workable distance while the work vehicle is automatically traveling; The automatic driving method according to claim 1 .

3. When the workable distance becomes equal to or less than a threshold, the replenishment information is notified. The automatic driving method according to claim 1 .

4. the target route includes a plurality of work routes along which the work vehicle travels while performing work, The length of the working path is set as a reference length, and the threshold value is set based on the reference length. The automatic driving method according to claim 3.

5. a distance between a first reference position and a second reference position registered when the target route is generated is set as a reference length, and the threshold value is set based on the reference length; The automatic driving method according to claim 3.

6. the target route includes a plurality of work routes along which the work vehicle travels while performing work, a reference length is defined as a distance between a first intersection where a first side of the working area intersects with an extension of the working path and a second intersection where a second side of the working area intersects with the extension, and the threshold value is set based on the reference length; setting the threshold value based on the length of the working path; The automatic driving method according to claim 3.

7. and setting the threshold value to a length corresponding to a predetermined number of the reference length based on the reference length and a supply position set corresponding to the work area. The automatic driving method according to any one of claims 4 to 6.

8. The threshold value is set in accordance with a setting operation by a user. The automatic driving method according to claim 3.

9. The work vehicle is caused to automatically travel to a work end position of a first work route that travels toward a specific edge of the outer edge of the work area that is closest to (1) a travel start position when the work vehicle is caused to travel along the periphery of the work area during teaching in the work of registering the work area, (2) a start position of automatic travel that is preset for the work area, or (3) a work start position that is preset for the work area, and the work vehicle is caused to automatically travel from the work end position to a supply position that corresponds to the specific edge. The automatic driving method according to claim 1 .

10. when the process of replenishing the work vehicle with the material at the replenishing position is completed, the work vehicle is automatically driven from the replenishing position to a work start position of a second work route that is continuous with the first work route. The automatic driving method according to claim 9.

11. automatically driving a work vehicle along a target route in a work area; Executing an operation of supplying materials loaded on the work vehicle to the work area during automatic traveling; When a workable distance calculated based on at least one of the remaining amount of the material in the work vehicle and the consumed amount of the material becomes equal to or less than a threshold, the work vehicle is automatically driven to a replenishment position set corresponding to the work area; An automated driving method that performs the above.

12. automatically driving a work vehicle along a target route in a work area; Executing an operation of supplying materials loaded on the work vehicle to the work area during automatic traveling; notifying the work vehicle of replenishment information regarding the timing of replenishing the material based on a workable distance calculated based on at least one of the remaining amount of the material in the work vehicle and the consumed amount of the material; An automated driving program for executing the above on one or more processors.

13. a driving processing unit that automatically drives a work vehicle along a target route in a work area; a work processing unit that executes a work of supplying materials loaded on the work vehicle to the work area during automatic traveling; a notification processing unit that notifies replenishment information regarding the timing of replenishing the material to the work vehicle based on a workable distance calculated based on at least one of the remaining amount of the material in the work vehicle and the consumed amount of the material; An autonomous driving system equipped with

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