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 improving work accuracy in starting the work of a work vehicle.SOLUTION: A vehicle control device 11 of a work vehicle 10 starts driving of a work machine 14 before starting automatic travelling of the work vehicle 10, and continues the driving of the work machine 14 from the start of the driving of the work machine 14 until the start of automatic travelling of the work vehicle 10.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technology for automatically driving a work vehicle equipped with a work machine that performs a predetermined task. [Background technology]

[0002] Conventionally, there is known a work vehicle that automatically travels along a predetermined target route in a field while performing a predetermined task using a work implement. In such a work vehicle, the driving force of the engine is transmitted to a PTO (Power Take Off) shaft via a PTO clutch to drive the work implement, and the drive of the PTO and the work implement is controlled by controlling the on / off of the PTO clutch (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-028775 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional work vehicles, the PTO drive is uniformly stopped when the work vehicle is stopped. For example, when the work vehicle is stopped before starting autonomous driving or when the work vehicle temporarily stops during autonomous driving, the PTO drive is stopped to stop the work equipment. This causes a problem in that the work equipment cannot be driven properly immediately after the work vehicle starts autonomous driving, resulting in reduced work accuracy.

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving program, and an automatic driving system that can improve the work accuracy of a work vehicle when it starts work. [Means for solving the problem]

[0006] An automatic driving method according to the present invention is an automatic driving method for automatically driving a work vehicle equipped with a work machine that performs a predetermined task. The automatic driving method starts driving the work machine before starting automatic driving of the work vehicle, and continues driving the work machine from when driving of the work machine starts until the automatic driving of the work vehicle starts.

[0007] The automatic driving program according to the present invention is an automatic driving program for automatically driving a work vehicle equipped with a work implement for performing a predetermined task. The automatic driving program causes one or more processors to start driving the work implement before starting automatic driving of the work vehicle, and to continue driving the work implement from the start of driving the work implement until the automatic driving of the work vehicle starts.

[0008] The automated driving system according to the present invention is an automated driving system for automatically driving a work vehicle equipped with a work machine for performing a predetermined task. The automated driving system starts driving the work machine before starting automated driving of the work vehicle, and continues driving the work machine from when driving of the work machine starts until the time when automated driving of the work vehicle starts. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide an automatic driving method, an automatic driving program, and an automatic driving system that can improve the work accuracy of a work vehicle when it starts work. [Brief explanation of the drawings]

[0010] [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 2] FIG. 2 is an exterior side view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 3] FIG. 3 is an external plan view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 4A]FIG. 4A is a diagram showing the configuration inside the cabin of the work vehicle according to the embodiment of the present invention. [Figure 4B] FIG. 4B is a diagram showing the configuration inside the cabin of the work vehicle according to the embodiment of the present invention. [Figure 5A] FIG. 5A is a diagram showing an example of a target route for a work vehicle in an outer area according to an embodiment of the present invention. [Figure 5B] FIG. 5B is a diagram showing an example of a target route for a work vehicle in the inner area according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of a menu 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 a PTO setting screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a confirmation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of an operation 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 an operation screen displayed on the operation device according to the embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a guide screen displayed on the operation device according to the embodiment of the present invention. [Figure 12] FIG. 12 is a flowchart showing an example of the procedure of the automatic driving process executed in the automatic driving system according to the embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of a PTO setting screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 14] FIG. 14 is a diagram showing an example of a PTO setting screen displayed on the operating device according to the embodiment of the present invention. [Figure 15] FIG. 15 is a diagram showing an example of a PTO drive maintaining switch installed in a work vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

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

[0012] As shown in FIG. 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. The automated driving system 1 is a system that automatically drives the work vehicle 10 within a field F.

[0013] In this embodiment, the work vehicle 10 will be described as a tractor. In other embodiments, the work vehicle 10 may be a rice transplanter, a combine harvester, construction machinery, a snowplow, or the like. The work vehicle 10 is configured to be able to automatically travel (autonomously travel) within a field F (see FIGS. 5A and 5B) according to a predetermined target route R. The work vehicle 10 is also capable of performing predetermined work while automatically traveling within the field F. For example, the work vehicle 10 performs predetermined work while automatically traveling within the field F according to a predetermined target route R based on position information of the current position of the work vehicle 10 calculated by the positioning unit 16. In this embodiment, the work vehicle 10 is equipped with a work implement 14 (sprayer) that sprays a spray material such as a chemical solution or water, and performs spraying work of spraying the spray material on work objects (crops, soil, etc.).

[0014] For example, as shown in FIG. 5A, the work vehicle 10 performs spraying work while automatically traveling along a preset target route R (outer target route R2) in an outer area F2 (F2a to F2d) on the periphery of the field F. The outer target route R2 includes linear work routes R2a to R2d that surround the inner area F1. The work route R2a is connected to a work start position S (automatic travel start position). The work vehicle 10 performs spraying work while traveling in circles in the outer area F2 according to the outer target route R2.

[0015] As shown in FIG. 5B, the work vehicle 10 performs spraying work while automatically traveling along a preset target route R (inner target route R1) in an inner area F1 in the center of the field F. The inner target route R1 includes linear work routes R11-R14 arranged in multiple rows, and movement routes R21-R25 (non-work routes) connecting the work routes. The movement route R25 is connected to a work end position G (automatic travel end position). The work vehicle 10 performs spraying work while traveling back and forth in the inner area F1 along the work routes R11-R14.

[0016] 5A and 5B, for example, the work vehicle 10 starts traveling from a work start position S, and in the outer area F2, performs spraying work on work paths R2a to R2d in order. After completing spraying work on work path R2d (see FIG. 5A), the work vehicle 10 travels along movement path R21 (see FIG. 5B) and enters the inner area F1, where it performs spraying work on work path R11, travels along movement path R22 and moves to the next work path R12, and after spraying work on work path R12, it travels along movement path R23 and moves to the next work path R13, after spraying work on work path R13, it travels along movement path R24 and moves to the next work path R14, and after spraying work path R14, it travels along movement path R25 and moves to a work end position G.

[0017] In this way, the work vehicle 10 sprays the outer area F2 and the inner area F1 in that order while automatically traveling along the target route R. The work vehicle 10 may spray the inner area F1 first, and then the outer area F2. The work vehicle 10 also sprays in the direction of a crop row that includes multiple crops lined up in a straight line.

[0018] In conventional work vehicles, the PTO drive is uniformly stopped when the work vehicle is stopped. For example, when the work vehicle is stopped before autonomous driving begins or when the work vehicle temporarily stops during autonomous driving, the PTO drive is stopped to stop the work equipment. This causes a problem of the work equipment not being able to be driven properly immediately after the work vehicle begins autonomous driving, resulting in reduced work accuracy. In particular, for work that requires the PTO to be driven before autonomous driving begins, stopping the PTO drive at the start of autonomous driving makes it difficult to perform the work properly. For example, in spraying work, the chemical solution needs to be continuously stirred before the start of work to maintain a uniform concentration of the chemical solution added to the storage tank. However, if the PTO drive is stopped at the start of autonomous driving, the stirring operation will stop, resulting in poor spraying immediately after the start of work. Furthermore, when sowing seeds using a vacuum seeder, vacuum pressure needs to be continuously applied before the start of work to keep the seeds attached to the seeding plate. However, if the PTO drive stops when the automatic driving starts, the vacuum pressure is released and the seeds cannot be adsorbed, resulting in poor sowing immediately after the start of work. As such, conventional technology has the problem of reduced work accuracy immediately after the start of automatic driving (work). In contrast, the automatic driving system 1 according to this embodiment is equipped with a configuration that can improve the work accuracy of the work vehicle 10 when it starts work, as described below.

[0019] [Work vehicle 10] 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a work implement 14, a work control device 14A, a communication unit 15, a positioning unit 16, an obstacle detection device 17, an operation device 18, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work implement 14, the work control device 14A, the positioning unit 16, the obstacle detection device 17, the operation device 18, etc. The vehicle control device 11 and the positioning unit 16 may be capable of wireless communication. The vehicle control device 11 and the operation device 18 may also be capable of wireless communication.

[0020] The communication unit 15 is a communication interface that connects the work vehicle 10 to the communication network N1 by wire or wirelessly and performs data communication in accordance with a predetermined communication protocol with external devices such as the operation terminal 20 via the communication network N1.

[0021] 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. 12) described below. 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 including a target route R and control information generated in the operation terminal 20.

[0022] The traveling device 13 is a drive unit that causes the work vehicle 10 to travel. As shown in Fig. 2, the traveling device 13 is equipped with an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handlebar 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. The traveling device 13 is not limited to a wheel type equipped with front wheels 132 and rear wheels 133, but may also be a crawler type equipped with crawlers provided on the left and right sides of the work vehicle 10.

[0023] The engine 131 is a drive source such as a diesel engine or a gasoline engine that runs on fuel supplied to a fuel tank (not shown). The traveling device 13 may be equipped with an electric motor as a drive source in addition to or instead of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery provided on the work vehicle 10. The battery is charged with power supplied from the generator. Electrical components such as the vehicle control device 11, positioning unit 16, and operating device 18 provided on the work vehicle 10 can be driven by power supplied from the battery even after the engine 131 is stopped.

[0024] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and to the rear wheels 133 via the transmission 134 and the rear axle 136. The driving force of the engine 131 is also transmitted to a PTO shaft 139 (see FIG. 3) via a PTO clutch, and the work implement 14 connected to the PTO shaft 139 is driven. When the work vehicle 10 performs autonomous driving, the traveling device 13 performs a driving operation in accordance with commands from the vehicle control device 11. The rotational driving of the PTO shaft 139 corresponds to "driving the PTO." The rotational driving of the PTO shaft 139 drives the work implement 14. Unlike work performed by the work implement 14, the driving of the work implement 14 begins before the work performed by the work implement 14 starts. For example, the agitating operation of the spreader is performed when the drive of the spreader starts, and the spraying operation of the spreader is performed when the work of the spreader starts.

[0025] The work implement 14 may be, for example, a spreader, a seed sower, a fertilizer applicator, or the like, and may be detachable from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the work implements 14. In this embodiment, an example will be described in which the work implement 14 is a spreader (sprayer). Hereinafter, the work implement 14 will be referred to as the "spreader 14" where appropriate.

[0026] As shown in Fig. 4A, inside the cabin 138 are provided operating devices such as a driver's seat 311, a reversing lever 312 for switching between forward and reverse travel, a PTO switch 313 for operating a PTO clutch that turns power transmission to the PTO shaft 139 on and off, a lifting lever 314 for raising and lowering the work implement 14, and a front loader operating lever 315. The reversing lever 312 is an operating device for changing the direction of travel of the work vehicle 10 by switching between three positions: forward, neutral, and reverse. The PTO switch 313 is an operating device for switching between on and off to select whether the work implement 14 is driven or not driven. The lifting lever 314 is an operating device for extending and retracting a lifting cylinder to change the height of the work implement 14.

[0027] In addition to the operating tools described above, the cabin 138 is also provided with a steering wheel 137 for steering the work vehicle 10, a front meter panel 316 that displays the driving status of the work vehicle 10, a speed change pedal 318 provided on a step 317, an auxiliary speed change lever 319, and a hydraulic pressure adjustment knob 320.

[0028] 4B, an operation device 18 is provided inside the cabin 138. The operation device 18 is an operation monitor that displays information about the work vehicle 10 and accepts setting operations for the work vehicle 10, setting operations for the work, and setting operations for the driving mode (autonomous driving mode, manual driving mode, etc.). For example, the operator (worker) performs an operation to switch the autonomous driving mode on on the operation screen D11 (see FIG. 10) of the operation device 18.

[0029] As shown in FIG. 4B, a mounting stand to which the operation terminal 20 can be detachably attached is provided inside the cabin 138, and the operator can bring the operation terminal 20 into the work vehicle 10 and install it there. The operator uses the operation terminal 20 to perform various operations to start automatic driving (for example, selecting a field, selecting a driving mode, and aligning the work vehicle 10). Furthermore, if the operator removes the operation terminal 20 and gets off the work vehicle 10, he or she can use the operation terminal 20 to grasp the work status from a remote location while the work vehicle 10 is automatically driving (see FIG. 9).

[0030] The vehicle control device 11 controls the traveling of the work vehicle 10. Specifically, the vehicle control device 11 operates the accelerator to control the rotation speed of the engine 131. The vehicle control device 11 also operates the brake to brake the rotation of the front wheels 132 and rear wheels 133 using an electromagnetic brake.

[0031] 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, as shown in FIG. 2, the positioning unit 16 is provided at the upper center of the front of the work vehicle 10. 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.

[0032] 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.

[0033] 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.

[0034] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0035] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from satellites. 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. 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 determined position (for example, the position of the positioning antenna 164), or may be displaced from the determined position. The positioning control unit 161 may calculate (measure) the current position of the work vehicle 10 using a quantum compass.

[0036] When the obstacle detection device 17 detects a detection target (obstacle) while the work vehicle 10 is autonomously traveling, it outputs measurement information to the vehicle control device 11. Specifically, the obstacle detection device 17 detects the detection target within a predetermined detection range using infrared rays, ultrasonic waves, or the like. For example, the obstacle detection device 17 may be equipped with a lidar sensor (distance sensor) that can measure the distance to the detection target in three dimensions using a laser, a sonar sensor having multiple sonars that can measure the distance to the detection target using ultrasonic waves, a camera, or the like. The sensor is installed in the center front or center rear of the body of the work vehicle 10, etc., and monitors the periphery of the work vehicle 10 to detect obstacles. The obstacle detection device 17 may determine the type of the detection target (measurement target) (person, vehicle, structure, material, etc.) based on the captured image acquired from the camera and the measurement information acquired from the sensor, and output the determination result to the vehicle control device 11.

[0037] The vehicle control device 11 and the work control device 14A each have 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 processes 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 the storage unit 12. The work control device 14A controls the work implement 14 by having the CPU execute various control programs pre-stored in the ROM or the storage unit 12.

[0038] 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 predetermined target route.

[0039] The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the automatic driving program using the CPU. Also, some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing multiple processors to function as the processing units.

[0040] Specifically, the vehicle control device 11 starts the automatic traveling of the work vehicle 10 when it receives a traveling start instruction from the operation terminal 20. For example, when the operator presses the start button K2 on the operation screen D4 (see FIG. 9) of the operation terminal 20, the operation terminal 20 outputs a 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 starts the automatic traveling of the work vehicle 10 according to the target route R. As a result, for example, the work vehicle 10 starts the automatic traveling of the work vehicle 10 according to the target route R within the field F.

[0041] The work control device 14A controls the operation of the sprayer 14 based on the spraying pattern corresponding to the control information generated by the operation terminal 20. The work control device 14A also causes the sprayer 14 to perform spraying processing based on the control information and the current position of the work vehicle 10 calculated by the positioning unit 16. As a result, the work vehicle 10 performs spraying work in the field F using a predetermined spraying pattern based on the control information while automatically traveling along the target route R.

[0042] Furthermore, when the vehicle control device 11 and the work control device 14A receive a travel stop instruction from the operation terminal 20, they stop the automatic travel and spraying work of the work vehicle 10. For example, when the operator presses the stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a travel stop instruction to the work vehicle 10.

[0043] Next, the specific configuration of the spreader 14 will be described with reference to Figures 2 and 3. The spreader 14 is mounted to the rear of the body of the work vehicle 10. A PTO shaft 139 is arranged at the rear of the body for outputting the driving force of the engine 131 to the spreader 14. The driving force of the engine 131 is transmitted to the PTO shaft 139 via a transmission 134.

[0044] Sprayer 14 includes a storage tank 30 that stores a material to be sprayed (such as a chemical solution), a boom unit 41 that sprays the material in storage tank 30, and a pump 42 that is driven by a driving force transmitted from PTO shaft 139 and pressurizes the material to be sprayed in storage tank 30 to boom unit 41. Sprayer 14 also includes an agitation unit (not shown) that is driven by a driving force transmitted from PTO shaft 139 and agitates the material to be sprayed in storage tank 30.

[0045] The boom unit 41 includes a rear boom 43 that spreads material behind the vehicle body, and a pair of side booms 44 (left boom 44L, right boom 44R) that spread material on each side of the vehicle body. In other words, the sprayer 14 is made up of three booms (units). The rear boom 43 extends in the vehicle width direction (left-right direction) perpendicular to the direction of travel of the work vehicle 10. The rear boom 43 is provided with a plurality of rear nozzles 45 at equal intervals in the direction in which the rear boom 43 extends. The multiple rear nozzles 45 discharge material downward.

[0046] The left boom 44L is connected to the left end of the rear boom 43, and the right boom 44R is connected to the right end of the rear boom 43. Each side boom 44 is provided with multiple side nozzles 46 at equal intervals in the direction in which the side boom 44 extends. The multiple side nozzles 46 discharge material downward. The left boom 44L sprays material on the left side of the vehicle body, and the right boom 44R sprays material on the right side of the vehicle body.

[0047] The left boom 44L is rotatable about a predetermined vertical axis near the connection between the left boom 44L and the rear boom 43. By rotating, the left boom 44L moves between a standby position (position shown by a solid line in FIG. 3) where the tip of the left boom 44L approaches the vehicle body so that the direction in which the left boom 44L extends is approximately the direction of travel, and a working position (position shown by a two-dot chain line in FIG. 3) where the tip of the left boom 44L is away from the vehicle body so that the direction in which the left boom 44L extends is approximately the vehicle width direction. In other words, the posture of the left boom 44L changes between the posture in the standby position and the posture in the working position.

[0048] Similarly, the right boom 44R is rotatable about a predetermined vertical axis near the connection between the right boom 44R and the rear boom 43. By rotating, the right boom 44R moves between a standby position (position shown by a solid line in FIG. 3) where the tip of the right boom 44R approaches the vehicle body so that the direction in which the right boom 44R extends is approximately the direction of travel, and a working position (position shown by a two-dot chain line in FIG. 3) where the tip of the right boom 44R is away from the vehicle body so that the direction in which the right boom 44R extends is approximately the vehicle width direction. In other words, the right boom 44R changes position between the standby position and the working position.

[0049] The sprayer 14 further includes a pair of boom rotation cylinders 47 (see FIG. 3) that rotate each of the pair of side booms 44, and a boom lifting cylinder 40 (see FIG. 2) that raises and lowers the rear boom 43 and the pair of side booms 44. The boom rotation cylinders 47 extend and retract their cylinder rods to rotate the corresponding side booms 44 around a predetermined rotation center.

[0050] The boom lifting cylinder 40 extends and retracts the cylinder rod to simultaneously raise and lower the rear boom 43 and the pair of side booms 44. The pair of side booms 44 rise and lower between a lower position extending horizontally and an upper position inclined horizontally.

[0051] The sprayer 14 includes a rear valve (not shown) that controls the discharge of spray material from the multiple rear nozzles 45 of the rear boom 43, a left valve (not shown) that controls the discharge of spray material from the multiple side nozzles 46 of the left boom 44L, and a right valve (not shown) that controls the discharge of spray material from the multiple side nozzles 46 of the right boom 44R.

[0052] When the rear valve is opened while the pump 42 is driven, the material to be sprayed is discharged from the multiple rear nozzles 45 on the rear boom 43. When the left valve is opened while the pump 42 is driven, the material to be sprayed is discharged from the multiple side nozzles 46 on the left boom 44L. When the right valve is opened while the pump 42 is driven, the material to be sprayed is discharged from the multiple side nozzles 46 on the right boom 44R.

[0053] The work control device 14A switches the spraying pattern based on the control information set for the target route R. Examples of spraying patterns include a left side spraying pattern in which spraying is performed from the left boom 44L and the rear boom 43, a right side spraying pattern in which spraying is performed from the right boom 44R and the rear boom 43, a full spraying pattern in which spraying is performed from the left side boom 44L, the rear boom 43, and the right side boom 44R, and a spraying stop pattern in which spraying from the left side boom 44L, the rear boom 43, and the right side boom 44R is stopped. The spraying patterns are not limited to these, and may include, for example, a spraying pattern in which spraying is performed from only the left side boom 44L and the right side boom 44R, a spraying pattern in which spraying is performed from only the left side boom 44L, a spraying pattern in which spraying is performed from only the right side boom 44R, and a spraying pattern in which spraying is performed from only the rear boom 43.

[0054] As described above, in the work vehicle 10, the vehicle control device 11 automatically drives the work vehicle 10 according to the target route R, and the work control device 14A switches the spraying pattern according to the target route R and the control information to perform spraying work. Also, in the work vehicle 10, the tractor and work implement 14 work together to temporarily stop at the start of each work route, and work on the work route begins after the work implement 14 has changed its posture to the set spraying pattern. Specifically, when the work vehicle 10 reaches the start of the work route, the vehicle control device 11 temporarily stops the work vehicle 10, and the work control device 14A changes the posture of the work implement 14 to the spraying pattern corresponding to that work route. Once the posture change of the work implement 14 has been completed, the vehicle control device 11 resumes driving of the work vehicle 10, and the work control device 14A causes the work implement 14 to begin spraying processing.

[0055] Furthermore, when the work vehicle 10 detects an obstacle while it is traveling automatically, the vehicle control device 11 stops the automatic traveling and also stops the driving of the PTO, thereby stopping the work by the work implement 14.

[0056] Furthermore, the vehicle control device 11 executes a process for controlling the drive of the PTO when work starts. Specifically, the vehicle control device 11 controls the drive of the PTO based on the settings related to the drive of the PTO (PTO drive mode, described later) that are set in advance on the operation terminal 20. A specific configuration for controlling the drive of the PTO will be described later.

[0057] [Operation terminal 20] 1, the operation terminal 20 is an information processing device that includes 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. The operation terminal 20 is also a remote control terminal that can be operated from a location away from the work vehicle 10.

[0058] 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.

[0059] The operation display unit 23 is a user interface equipped with a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit on the operation screen displayed on the display unit to register various information (such as work vehicle information, field information, and work information, which will be described later). The operator can also operate the operation unit to give automatic driving instructions to the work vehicle 10. Furthermore, from a location away from the work vehicle 10, the operator can grasp the driving status of the work vehicle 10, which is automatically driving within the field F according to the target route R, by looking at the driving trajectory displayed on the operation terminal 20.

[0060] The memory unit 22 is a non-volatile memory unit such as an HDD or SSD that stores various types of information. The memory unit 22 stores a control program for causing the operation control unit 21 to execute various processes. For example, the control 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) provided in the operation terminal 20 and stored in the memory unit 22. The autonomous driving program may be downloaded to the operation terminal 20 from a server (not shown) via the communication network N1 and stored in the memory unit 22. The memory unit 22 may also store work information transmitted from the work vehicle 10.

[0061] 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 and performs processing to set various information related to the work vehicle 10, processing to generate a target route R for the work vehicle 10, processing to set the spray pattern and work width of the work implement 14 (processing to generate control information), processing to set the drive of the PTO, and issuing instructions to the work vehicle 10 to start and stop driving.

[0062] 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 a temporary storage memory (work area) 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.

[0063] 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.

[0064] 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 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 (here, a spreader), the size and shape of the work implement 14, and the position of the work implement 14 relative to the work vehicle 10, by having the operator perform an operation to register this information on the operation terminal 20.

[0065] For example, the setting processing unit 211 causes the operation display unit 23 to display the menu screen D1 shown in Fig. 6. The operator selects "Work machine registration" on the menu screen D1, for example, to register work machine information related to the work machine 14.

[0066] 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 work start position S where work begins, the work end position G where work ends, and the work direction by performing a registration operation on the operation terminal 20. For example, the operator registers the field information by selecting "Field registration" on the menu screen D1.

[0067] Information on the position and shape of the field F can be automatically obtained, for example, by having an operator get into the work vehicle 10 and drive it around the outside of the field F, recording the changes in position information of the positioning antenna 164 at that time. The position and shape of the field F can also be obtained based on a polygon obtained by the operator operating the operation terminal 20 to specify multiple points on a map while a map is displayed on the operation terminal 20. The area specified by the obtained position and shape of the field F is the area in which the work vehicle 10 can be driven (travel area).

[0068] The setting processor 211 also sets information relating to how work will be carried out specifically (hereinafter referred to as work information). The setting processor 211 is configured to be able to set, as work information, whether or not cooperative work will occur between the work vehicle 10 (unmanned tractor) and the manned work vehicle 10, the number of skips which is the number of work routes the work vehicle 10 will skip when turning in the headland area, the width of the headland area, and the width of the non-work area. For example, the operator selects "Work area registration" on the menu screen D1 to register work information.

[0069] Furthermore, the setting processing unit 211 generates a target route R, which is a route along which the work vehicle 10 will automatically travel, based on the setting information. The target route R in this embodiment includes an outer target route R2 (work routes R2a to R2d) (see FIG. 5A) along which the work vehicle 10 will automatically travel in the outer area F2, and an inner target route R1 (work routes R11 to R14, movement routes R21 to R25) (see FIG. 5B) along which the work vehicle 10 will automatically travel in the inner area F1. The setting processing unit 211 generates the target route R (outer target route R2, inner target route R1) for the work vehicle 10 based on each piece of setting information. For example, the operator issues an instruction to generate the target route R by selecting "Create route" on the menu screen D1.

[0070] The setting processing unit 211 also generates control information for controlling the method (spraying pattern) of spraying material on work objects by the sprayer 14 provided on the work vehicle 10. Specifically, the setting processing unit 211 generates control information for switching spraying patterns based on the positions of the endpoints of each crop row. For example, the spraying patterns include the left-side spraying pattern, right-side spraying pattern, full spraying pattern, and spraying stop pattern described above. In other words, the setting processing unit 211 sets the working width of the sprayer 14 in the left-right direction relative to the traveling direction of the work vehicle 10.

[0071] The setting processor 211 also performs setting processing related to the drive of the PTO. Specifically, the setting processor 211 sets the PTO drive mode to a mode in which the drive state of the PTO is maintained without stopping it when work starts ("PTO drive maintenance mode"), or a mode in which the drive of the PTO is stopped when work starts ("PTO drive stop mode"). The method for setting the PTO drive mode will be described later.

[0072] The output processing unit 212 outputs to the work vehicle 10 route data including the target route R and control information, and information relating to the PTO drive mode ("PTO drive maintenance mode" or "PTO drive stop mode").

[0073] In addition, the operation control unit 21 receives from the operator an instruction operation to start work (work start instruction operation), an instruction operation to stop work by the automatically traveling work vehicle 10 (work stop instruction operation), etc. When the operation control unit 21 receives the work start instruction operation, it outputs the work start instruction to the work vehicle 10.

[0074] Specific methods for setting the PTO drive mode (embodiments 1 to 3) will be described below.

[0075] [Example 1] The setting processor 211 according to the first embodiment sets the PTO drive mode based on a setting operation (selection operation) by the operator.

[0076] Specifically, the operator selects, for example, "Work Machine Registration" on the menu screen D1 to perform setting operations related to PTO drive. FIG. 7 shows an example of a PTO setting screen D2 that accepts setting operations related to PTO drive. The PTO setting screen D2 displays an "ON" button and an "OFF" button, and the operator can select either one. For example, the operator selects the "ON" button if he or she wishes to maintain the PTO drive state without stopping it when work starts. On the other hand, the operator selects the "OFF" button if he or she allows the PTO drive to stop when work starts. When the "ON" button on the PTO setting screen D2 is pressed, the setting processing unit 211 displays a confirmation screen D3 shown in FIG. 8. The setting processing unit 211 displays a message on the confirmation screen D3 indicating that the PTO drive will not stop when work starts, prompting the operator to confirm.

[0077] When the operator presses the "OK" button on the confirmation screen D3, the setting processor 211 sets the mode to maintain the PTO drive state without stopping it when work starts ("PTO drive maintenance mode"). On the other hand, when the operator presses the "OFF" button on the PTO setting screen D2, the setting processor 211 sets the mode to stop the PTO drive when work starts ("PTO drive stop mode").

[0078] For example, when performing spraying work using the sprayer 14, the chemical solution in the storage tank 30 needs to be continuously stirred, so the operator sets the PTO setting screen D2 in advance to "PTO drive maintenance mode." As another example, when performing seeding work using a vacuum seed drill, it is necessary to apply vacuum pressure to keep the seeds adsorbed to the seeding plate, so the operator sets the PTO setting screen D2 in advance to "PTO drive maintenance mode." On the other hand, when performing tilling work using a cultivator, for example, even if the PTO drive stops at the start of work, the PTO can be restarted later without affecting work accuracy, so the operator sets the PTO setting screen D2 in advance to "PTO drive stop mode."

[0079] In this way, the setting processing unit 211 sets the PTO drive mode to either the "PTO drive maintenance mode" or the "PTO drive stop mode" in response to the setting operation by the operator. Note that the setting processing unit 211 may set the PTO drive mode when registering a new work machine, or may set the PTO drive mode when starting work.

[0080] In another embodiment, the setting processing unit 211 may set the "PTO drive stop mode" in the initial setting mode. In this case, the setting processing unit 211 may accept a setting operation from the operator only when the operator desires the "PTO drive maintenance mode."

[0081] Furthermore, when the setting processing unit 211 sets the PTO drive mode, it registers the PTO drive mode in association with the identification information of the work implement 14. As a result, from the next time onwards, the setting processing unit 211 sets the PTO drive mode corresponding to the work implement 14 based on the registered information.

[0082] [Example 2] The setting processing unit 211 according to the second embodiment sets the PTO drive mode based on the work content or the type of work implement 14. That is, the setting processing unit 211 according to the second embodiment sets whether or not to continue driving the work implement 14 from the time that driving of the work implement 14 starts until the time that automatic traveling of the work vehicle 10 starts, based on the work content or the type of work implement 14.

[0083] Specifically, when the work requires the PTO to be driven before the work starts and to be maintained in a driven state even when the work starts, the setting processing unit 211 sets the PTO drive mode to the "PTO drive maintenance mode." For example, when the work is spraying or sowing, the setting processing unit 211 sets the PTO drive mode to the "PTO drive maintenance mode."

[0084] On the other hand, if the work content is work that allows the PTO drive to be stopped at the start of the work, the setting processing unit 211 sets the PTO drive mode to the "PTO drive stop mode." For example, if the work content is plowing or reaping, the setting processing unit 211 sets the PTO drive mode to the "PTO drive stop mode."

[0085] For example, the setting processing unit 211 may set the PTO drive mode to "PTO drive maintenance mode" when the work implement 14 is a spreader or a vacuum seed drill, and may set the PTO drive mode to "PTO drive stop mode" when the work implement 14 is a tiller or a harvester.

[0086] The setting processing unit 211 may determine the type of work or the type of work machine 14 based on the work machine information registered in "Work Machine Registration" on the menu screen D1. The setting processing unit 211 may also determine the type of work machine 14 based on communication information when the work machine 14 is connected to the work vehicle 10. Furthermore, the setting processing unit 211 may identify the work machine 14 that appears in an image captured by a camera mounted on the work vehicle 10 and determine the type of work machine 14.

[0087] The setting processing unit 211 may also prompt the operator to confirm the setting of the PTO drive mode corresponding to the work content or the type of work implement 14. For example, if the setting processing unit 211 determines that the work content is spraying work or sowing work, it causes the operation terminal 20 to display a message inquiring whether it is okay to set the PTO drive mode to the "PTO drive maintenance mode." If the operator approves the message, the setting processing unit 211 sets the PTO drive mode to the "PTO drive maintenance mode," and if the operator disapproves the message, it sets the PTO drive mode to the "PTO drive stop mode."

[0088] [Example 3] The setting processing unit 211 according to the third embodiment sets the PTO drive mode based on the type of work or the type of work implement 14 and the selection operation by the operator. That is, the third embodiment may be configured by combining the first and second embodiments described above.

[0089] Specifically, when the work content requires the PTO to be driven before the work starts and to be maintained in a driven state even when the work starts, the setting processing unit 211 displays the PTO setting screen D2 (see FIG. 7) and accepts a selection operation from the operator. For example, when the work content is spraying or sowing, the setting processing unit 211 displays the PTO setting screen D2. When the operator presses the "ON" button on the PTO setting screen D2 and then presses the "OK" button on the confirmation screen D3 (see FIG. 8), the setting processing unit 211 sets the PTO drive mode to the "PTO drive maintenance mode." On the other hand, when the operator presses the "OFF" button on the PTO setting screen D2, the setting processing unit 211 sets the drive mode to the "PTO drive stop mode."

[0090] On the other hand, if the work content is work in which the PTO drive can be stopped at the start of the work (for example, plowing, mowing, etc.), the setting processing unit 211 sets the PTO drive mode to "PTO drive stop mode" without displaying the PTO setting screen D2 (see Figure 7).

[0091] In addition, if the work implement 14 is a spreader or a vacuum seed drill, the setting processing unit 211 displays the PTO setting screen D2 and sets it to either the "PTO drive maintenance mode" or the "PTO drive stop mode" depending on the operator's selection operation, and if the work implement 14 is a tiller or a harvester, it sets it to the "PTO drive stop mode" without displaying the PTO setting screen D2.

[0092] As another configuration of Example 3, when the work implement 14 is a spreader or a vacuum seed drill and the PTO drive mode is not set to the "PTO drive maintenance mode", the setting processing unit 211 may notify the operator of a confirmation and prompt them to set it to the "PTO drive maintenance mode".

[0093] As shown in the above first to third embodiments, the setting processing unit 211 sets the PTO drive mode based on at least one of the operator's selection operation and the work content (or the type of work implement 14). Based on the set PTO drive mode, the work vehicle 10 starts automatic traveling and work according to the following procedures.

[0094] [Starting procedure] An example of the procedure for starting work on the work vehicle 10 will now be described. Here, spraying work using the sprayer 14 will be used as an example of the work. It is assumed that the PTO drive mode has been set in advance before the work start procedure described below.

[0095] For example, before starting work, the operator puts chemical solution into the storage tank 30 and then switches the PTO switch 313 (see FIG. 4A) on to drive the PTO. This drives the agitation unit of the sprayer 14 and starts the agitation operation. The operator then drives (manually steers) the work vehicle 10 to move it to the work start position S (automatic driving start position) in the field F. The operator also adjusts the position and orientation of the work vehicle 10 so that the work vehicle 10 meets the work start conditions (automatic driving start conditions), and prepares various settings (such as the reverser, brakes, clutch, and gear lever). The work vehicle 10 stops at a position that meets the work start conditions.

[0096] When the operation device 18 has finished checking each setting item, the operation terminal 20 displays the operation screen D4 shown in Fig. 9, and the operation device 18 displays the operation screen D11 shown in Fig. 10. When the work vehicle 10 meets the work start conditions, the "Status" button K1 on the operation screen D4 lights up green, and when the operator presses this "Status" button K1, the operation device 18 accepts the selection operation of the selection button K11 (see Fig. 10) that switches the autonomous driving mode to the ON state. Note that the operation device 18 may permit the acceptance of the selection operation of the selection button K11 on the condition that the "Status" button K1 on the operation screen D4 has been pressed.

[0097] When the operator presses the selection button K11 on the operation screen D11, the operation device 18 displays the automatic driving start guidance screen D12 shown in Fig. 11. If the PTO drive mode is set to the "PTO drive maintenance mode," the operation device 18 may display a warning message on the guidance screen D12, such as that the PTO will continue to drive when work starts and that the PTO will not stop driving. When the operator presses the selection button K11, the work vehicle 10 enters a state in which it is possible to start automatic driving.

[0098] Here, when the PTO drive mode is set to the "PTO drive maintenance mode," the vehicle control device 11 continues driving the PTO even when the operator presses the selection button K11 on the operation screen D11. On the other hand, when the PTO drive mode is set to the "PTO drive stop mode," the vehicle control device 11 stops driving the PTO when the operator presses the selection button K11 on the operation screen D11. In this case, the PTO switch 313 (see FIG. 4A) remains on, and the PTO drive is stopped.

[0099] When the work vehicle 10 is in a state where it can start autonomous driving, the operation terminal 20 causes the start button K2 (see FIG. 9) on the operation screen D4 to flash or light up, and permits the start button K2 to be selected and operated.

[0100] The operator then removes the operation terminal 20, gets off the work vehicle 10, and after confirming that the surrounding area is safe, presses the start button K2 on the operation screen D4 of the operation terminal 20. When the vehicle control device 11 receives a work start instruction (automatic driving start instruction) from the operation terminal 20, it causes the work vehicle 10 to start automatic driving. If the PTO drive mode is set to the "PTO drive maintenance mode", the vehicle control device 11 starts automatic driving while maintaining PTO drive. If the PTO drive mode is set to the "PTO drive stop mode", the vehicle control device 11 restarts the stopped PTO to start automatic driving.

[0101] In addition, in a driving mode in which the work vehicle 10 is driven automatically while the operator remains on board the work vehicle 10 (manned automatic driving mode), the operator issues a work start command while on board the work vehicle 10. In addition, in the manned automatic driving mode, even if the PTO drive mode is set to the "PTO drive maintenance mode," the PTO drive may be stopped when the operator dismounts from the work vehicle 10.

[0102] As described above, the vehicle control device 11 starts driving the work implement 14 before starting the automatic driving of the work vehicle 10, and continues driving the work implement 14 from the time the drive of the work implement 14 starts until the time the automatic driving of the work vehicle 10 starts. For example, the PTO drive mode is set to "PTO drive maintenance mode." The vehicle control device 11 also continues driving the work implement 14 while the work vehicle 10 is stopped in a state where automatic driving can start. Furthermore, the vehicle control device 11 does not stop driving the work implement 14 if the mode is switched to automatic driving mode after the drive of the work implement 14 has started, or if the conditions for starting automatic driving (work start conditions) are met.

[0103] This configuration prevents the PTO from stopping when work begins. For example, in spraying work, the PTO is driven to start agitation before work begins, and then the PTO is kept driven without being stopped, allowing the chemical solution to continue to be agitated. This makes it possible to properly spray immediately after work begins. Furthermore, in sowing work, for example, the PTO is driven to start seed adsorption before work begins, and then the PTO is kept driven without being stopped, allowing the vacuum pressure to continue to be applied. This makes it possible to properly sow seeds immediately after work begins.

[0104] In addition, if the PTO switch remains off before work starts even though the PTO drive mode is set to the "PTO drive maintenance mode," the operation terminal 20 may prompt the operator to switch the PTO switch on.

[0105] Here, the vehicle control device 11 may stop the drive of the work implement 14 when the work vehicle 10 is stopped in a state where automatic driving can be started and a predetermined detection target (for example, a person, a vehicle, etc.) is detected while the work implement 14 continues to be driven. For example, if a person approaches the work vehicle 10 while the work implement 14 continues to be driven, the vehicle control device 11 stops the work implement 14 to ensure safety. To resume the drive of the work implement 14 after the work implement 14 has stopped, the operator turns the PTO switch 313 back on to resume PTO drive. In another embodiment, if the person approaching the work vehicle 10 is a pre-registered person (such as an operator who turned on the automatic driving mode or a supervisor), the vehicle control device 11 may continue the drive of the work implement 14 even when the person is detected. In other words, when the work vehicle 10 is stopped in a state where it can start automatic driving and the work equipment 14 continues to operate, the vehicle control device 11 may determine whether to stop or continue operating the work equipment 14 based on the person's attributes, registration information, etc., when it detects a person.

[0106] Furthermore, when the work vehicle 10 is stopped in a state where it is possible to start automatic traveling and an abnormality in the work implement 14 is detected while the work implement 14 continues to be driven, the vehicle control device 11 may stop the drive of the work implement 14. When the drive of the work implement 14 is to be resumed after the work implement 14 has stopped, the operator confirms that the work implement 14 has returned to a normal state, and then turns the PTO switch 313 back on to resume the drive of the PTO.

[0107] The operation terminal 20 may be able to access a website (agricultural support site) of the agricultural support service provided by the server via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit 21.

[0108] [Automatic driving processing] An example of the automatic driving process executed by the vehicle control device 11 of the work vehicle 10 will be described below with reference to FIG.

[0109] 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.

[0110] <Step S1> In step S1, the vehicle control device 11 determines whether the PTO switch 313 (see FIG. 4A) is in the ON state. For example, when the operator determines that it is necessary to drive the work implement 14 before starting work, the operator switches the PTO switch 313 ON. If the PTO switch 313 is in the ON state (S1: Yes), the vehicle control device 11 shifts the processing to step S2. The vehicle control device 11 waits until the PTO switch 313 is switched ON (S1: No).

[0111] <Step S2> In step S2, the vehicle control device 11 drives the PTO. For example, if the work implement 14 is a sprayer, the vehicle control device 11 drives the PTO to agitate the chemical solution introduced into the storage tank 30. For example, if the work implement 14 is a vacuum seeder, the vehicle control device 11 drives the PTO to apply vacuum pressure to adsorb seeds onto the seeding plate.

[0112] <Step S3> In step S3, the vehicle control device 11 determines whether the work vehicle 10 satisfies the work start conditions (automatic driving start conditions). For example, the vehicle control device 11 confirms that the position of the work vehicle 10 is within a predetermined distance from the work start position S, and that the orientation of the work vehicle 10 is within a predetermined angle with respect to the orientation of the work route. The vehicle control device 11 also confirms the setting status of the reverse lever, parking brake, clutch, gear lever, etc. If the work vehicle 10 satisfies the work start conditions (S3: Yes), the vehicle control device 11 transitions the processing to step S4. The vehicle control device 11 accepts adjustment operations by the operator until the work vehicle 10 satisfies the work start conditions (S3: No).

[0113] <Step S4> In step S4, the vehicle control device 11 determines whether or not an operation to turn on the automatic driving mode has been accepted. Specifically, when the work start conditions are satisfied, the vehicle control device 11 displays the operation screen D11 (see FIG. 10) on the operation device 18 and accepts an operation to set (turn on) the automatic driving mode from the operator. When setting the automatic driving mode, the operator presses the selection button K11 on the operation screen D11. When the vehicle control device 11 accepts an operation to turn on the automatic driving mode from the operator (S4: Yes), it shifts the processing to step S5. The vehicle control device 11 waits until an operation to turn on the automatic driving mode is accepted from the operator (S4: No).

[0114] <Step S5> In step S5, the vehicle control device 11 determines whether the PTO drive mode is set to the "PTO drive maintenance mode." Specifically, the operation terminal 20 sets the PTO drive mode to the "PTO drive maintenance mode" or the "PTO drive stop mode" based on at least one of the operator's selection operation and the work content (or the type of work implement 14) (Examples 1 to 3 described above). If the PTO drive mode is set to the "PTO drive maintenance mode" (S5: Yes), the vehicle control device 11 shifts the processing to step S6. On the other hand, if the PTO drive mode is set to the "PTO drive stop mode" (S5: No), the vehicle control device 11 shifts the processing to step S51.

[0115] <Step S6> In step S6, the vehicle control device 11 determines whether or not a work start instruction (automatic driving start instruction) has been received from the operation terminal 20. For example, when the operator sets the automatic driving mode, he or she removes the operation terminal 20, gets off the work vehicle 10, checks the safety of the surrounding area, and then presses the start button K2 on the operation screen D4 of the operation terminal 20 (see FIG. 9). When the operator presses the start button K2, the vehicle control device 11 acquires a work start instruction from the operation terminal 20. When the vehicle control device 11 receives a work start instruction from the operation terminal 20 (S6: Yes), it transitions the processing to step S7. The vehicle control device 11 waits until it receives a work start instruction from the operation terminal 20 (S6: No).

[0116] The vehicle control device 11 may stop the drive of the PTO if it detects an obstacle before receiving a work start command from the operation terminal 20. Furthermore, if the detected obstacle is a person registered in advance (such as an operator who has turned on the automatic driving mode or a supervisor), the vehicle control device 11 may continue the drive of the PTO even when the person is detected. Furthermore, the vehicle control device 11 may stop the drive of the PTO if it detects an abnormality in the work implement 14 before receiving a work start command from the operation terminal 20.

[0117] In another embodiment, the vehicle control device 11 may stop the drive of the PTO if a work start command is not received within a predetermined time after the operator dismounts from the work vehicle 10. The predetermined time may be set by the operator. Also, the operator may be able to set in advance whether to enable or disable the process of stopping the drive of the PTO if a work start command is not received within the predetermined time.

[0118] <Step S51> If the PTO drive mode is set to the "PTO drive stop mode" (S5: No), the vehicle control device 11 stops the drive of the PTO in step S51. That is, even if the PTO switch 313 is switched on and the PTO is driven, if the PTO drive mode is set to the "PTO drive stop mode," the vehicle control device 11 stops the drive of the PTO when the automatic driving mode is set on. Note that the vehicle control device 11 may stop the drive of the PTO when the selection button K11 on the operation screen D11 is pressed (when the automatic driving mode is turned on), or may stop the drive of the PTO when the operator gets off the work vehicle 10 after the selection button K11 is pressed (when the seat switch is turned off).

[0119] <Step S52> In step S52, the vehicle control device 11 determines whether or not a work start instruction has been received from the operation terminal 20. When the vehicle control device 11 receives a work start instruction from the operation terminal 20 (S52: Yes), the vehicle control device 11 shifts the processing to step S53. The vehicle control device 11 waits until a work start instruction is received from the operation terminal 20 (S52: No).

[0120] <Step S53> In step S53, the vehicle control device 11 drives the PTO. That is, the vehicle control device 11 stops driving the PTO when it receives an operation to turn on the automatic driving mode from the operator, but then restarts driving the PTO when it receives an instruction to start work from the operator. After step S53, the vehicle control device 11 transitions the process to step S7.

[0121] <Step S7> In step S7, the vehicle control device 11 causes the work vehicle 10 to start automatic traveling. The vehicle control device 11 also causes the work implement 14 to perform work. As a result, for example, if the PTO drive mode is set to the "PTO drive maintenance mode," the work vehicle 10 drives the PTO before the work start position S, maintains driving without stopping the PTO even at the work start position S, and starts automatic traveling and work from the work start position S. In contrast, if the PTO drive mode is set to the "PTO drive stop mode," the work vehicle 10 drives the PTO before the work start position S, stops the PTO once at the work start position S, and then drives the PTO again to start automatic traveling and work from the work start position S.

[0122] As other embodiments of steps S51 to S7, the vehicle control device 11 may apply the following first to third configuration examples. In the first configuration example, when the vehicle control device 11 receives a work start instruction while the PTO is stopped (S52: Yes), the vehicle control device 11 drives the PTO and then starts automatic traveling. In the second configuration example, when the vehicle control device 11 receives a work start instruction while the PTO is stopped (S52: Yes), the vehicle control device 11 drives the PTO and starts automatic traveling at the same time. In the third configuration example, when the vehicle control device 11 receives a work start instruction while the PTO is stopped (S52: Yes), the vehicle control device 11 starts automatic traveling before driving the PTO, and drives the PTO after automatic traveling has started. Furthermore, the vehicle control device 11 may be able to set any of the first, second, and third configuration examples based on a selection operation by the operator, or may be able to set any of the first, second, and third configuration examples based on the work content or the type of work implement 14.

[0123] <Step S8> In step S8, the vehicle control device 11 determines whether or not an obstacle has been detected during automatic traveling. If the vehicle control device 11 detects an obstacle (S8: Yes), the vehicle control device 11 shifts the processing to step S81. If the vehicle control device 11 does not detect an obstacle (S8: No), the vehicle control device 11 shifts the processing to step S9.

[0124] <Step S81> In step S81, the vehicle control device 11 stops the automatic traveling of the work vehicle 10 and stops the drive of the PTO to stop work by the work implement 14. In this case, the PTO switch 313 (see FIG. 4A) remains on and the drive of the PTO is stopped. After step S81, the vehicle control device 11 transitions the processing to step S1.

[0125] Furthermore, when the work vehicle 10 detects an obstacle, the operation terminal 20 may display information that makes it possible to identify that an obstacle has been detected in the camera image on the operation screen D4.

[0126] When an obstacle is detected, the operator, for example, moves to the location of the work vehicle 10 and checks for the obstacle. Thereafter, when the operator wishes to resume automatic traveling, he or she turns the PTO switch 313 back on to resume PTO drive (steps S1 and S2). The vehicle control device 11 resumes automatic traveling and work when the work start conditions are met.

[0127] When the detected obstacle disappears, the vehicle control device 11 may resume the automatic driving and the work when the operation terminal 20 receives an instruction to resume the automatic driving from the operator.

[0128] Furthermore, the vehicle control device 11 may stop the driving of the PTO when the obstacle is a person. In this case, the vehicle control device 11 resumes automatic traveling and work when the PTO switch 313 is turned on again and the work start condition is satisfied.

[0129] On the other hand, if the obstacle is a movable object, the vehicle control device 11 may maintain the drive of the PTO. In this case, the vehicle control device 11 resumes automatic traveling and work when the obstacle is removed and the operation terminal 20 receives an instruction to resume automatic traveling from the operator.

[0130] If the work vehicle 10 is stopped (emergency stop) by a stop operation by the operator while the work vehicle 10 is autonomously traveling, the vehicle control device 11 may execute processing similar to steps S8 and S81. Furthermore, if the work vehicle 10 is temporarily stopped by a temporary stop operation by the operator while the work vehicle 10 is autonomously traveling, the vehicle control device 11 may continue driving the PTO if the PTO drive mode is set to the "PTO drive maintenance mode." In other words, while the work vehicle 10 is stopped, the vehicle control device 11 may start driving the work implement 14 before starting autonomous traveling of the work vehicle 10, and continue driving the work implement 14 from when driving of the work implement 14 starts until the time when autonomous traveling of the work vehicle 10 starts.

[0131] <Step S9> In step S9, the vehicle control device 11 determines whether the work vehicle 10 has reached the work end position G. If the work vehicle 10 has reached the work end position G (S9: Yes), the vehicle control device 11 ends the automatic driving process. If the work vehicle 10 has not reached the work end position G (S9: No), the vehicle control device 11 transitions the process to step S8.

[0132] Here, when the work vehicle 10 reaches the work end position G, the vehicle control device 11 may stop or maintain the drive of the PTO. For example, the vehicle control device 11 may control the drive of the PTO at the end of work in accordance with preset settings.

[0133] 13 shows an example of a PTO setting screen D5 that accepts setting operations related to PTO drive at the end of work. For example, the operator selects the "ON" button if he or she wishes to maintain the PTO drive state without stopping it at the end of work. On the other hand, the operator selects the "OFF" button if he or she allows the PTO drive to stop at the end of work. When the "ON" button on the PTO setting screen D2 is pressed, the setting processing unit 211 displays a message on the confirmation screen, similar to the confirmation screen D3 shown in FIG. 8, indicating that the PTO drive will not stop at the end of work, prompting the operator to confirm.

[0134] When the operator presses the "OK" button on the confirmation screen, the setting processor 211 sets the mode in which the PTO drive is not stopped at the end of work but is maintained in a driven state ("PTO drive maintenance mode at end"). On the other hand, when the operator presses the "OFF" button on the PTO setting screen D5, the setting processor 211 sets the mode in which the PTO drive is stopped at the end of work ("PTO drive stop mode at end"). The operator may set different PTO drive modes at the start and end of work.

[0135] Furthermore, the setting processing unit 211 may set the PTO drive mode at the end of work based on the type of work or the type of work implement 14, in the same way as at the start of work.

[0136] According to the above configuration, for example, in spraying work, by setting the "PTO drive maintenance mode at end," when spraying work in one field is finished and spraying work in another field is started, the PTO drive can be continued to be driven and the chemical solution can be continued while moving between fields. Also, in seeding work, the PTO drive can be stopped at the work end position, preventing seeds adsorbed on the seeding plate from being unnecessarily discharged at the end of the work path.

[0137] In this manner, the vehicle control device 11 executes the automatic driving process based on the preset PTO drive modes ("PTO drive maintaining mode" and "PTO drive stopping mode").

[0138] As described above, the automatic driving system 1 according to this embodiment is a system for automatically driving a work vehicle 10 equipped with a work implement 14 that performs a predetermined task, and starts driving the work implement 14 (driving the PTO) before the work vehicle 10 starts automatic driving (before work starts), and continues driving the work implement 14 from the time driving of the work implement 14 starts until the time when automatic driving of the work vehicle 10 starts (the time when work starts). For example, the automatic driving system 1 continues driving the work implement 14 while the work vehicle 10 is stopped in a state where automatic driving can start. Furthermore, the automatic driving system 1 starts driving the work implement 14 before the work start position, and causes the work implement 14 to start working from the work start position.

[0139] With the above configuration, for example, in spraying work, the PTO is driven before the automatic travel starts to start the chemical solution stirring operation, and then the stirring operation continues without stopping even when the automatic travel starts, so that automatic travel and spraying work can be started while the stirring operation is maintained. Therefore, spraying work can be performed appropriately immediately after the automatic travel starts (work starts), which makes it possible to improve the work accuracy at the start of work.

[0140] It should be noted that the automatic driving start position where automatic driving begins within the field F may differ from the work start position where work actually begins. For example, the automatic driving start position may be set near the entrance to the field F, and the work start position (start position of the work route) may be set at a position away from the automatic driving start position. In this case, the automatic driving system 1 does not need to drive the PTO at the automatic driving start position. That is, the automatic driving system 1 may start driving the PTO before the work start position and continue driving the PTO when automatic driving begins at the work start position. It should be noted that when the automatic driving system 1 causes the work vehicle 10 to automatically drive from the automatic driving start position to the work start position, it may start driving the PTO between the automatic driving start position and the work start position.

[0141] [Other embodiments] The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

[0142] In the above-described embodiment (for example, Example 1), the operator sets the PTO drive mode ("PTO drive maintenance mode" and "PTO drive stop mode") on the operation terminal 20 (see FIGS. 7 and 8). However, in another embodiment, the operator may set the PTO drive mode on the operation device 18. For example, when the operator performs an operation to turn on the automatic driving mode (presses the selection button K11) on the operation screen D11 (see FIG. 10), the operation device 18 displays the setting screen D13 shown in FIG. 14. When the operator presses the selection button K13 on the setting screen D13, the setting processing unit 211 sets the PTO drive mode to the "PTO drive maintenance mode," and when the operator presses the selection button K14, the setting processing unit 211 sets the PTO drive mode to the "PTO drive stop mode."

[0143] In addition, if the work implement 14 is a spreader or a vacuum seed drill and the PTO drive mode is not set to the "PTO drive maintenance mode", the setting processing unit 211 may notify the operator of a confirmation and prompt them to set it to the "PTO drive maintenance mode".

[0144] In another embodiment, as shown in Fig. 15, a physical switch (PTO drive maintaining switch 51) for setting the PTO drive mode may be installed inside the cabin 138. The operator may switch the "PTO drive maintaining mode" on and off using the PTO drive maintaining switch 51. The PTO drive maintaining switch 51 may be a toggle switch or a push button switch.

[0145] In another embodiment, when the PTO drive mode is set to the "PTO drive maintenance mode," the vehicle control device 11 may turn on the automatic brake (safety brake, parking brake, etc.) when automatic driving begins. This reliably prevents the work vehicle 10 from starting to drive with the PTO in operation before receiving an automatic driving start command. Furthermore, the vehicle control device 11 may permit an operation to set the "PTO drive maintenance mode" to on, provided that the automatic brake is in the on state. In this case, the vehicle control device 11 may set the "PTO drive stop mode" when the automatic brake is in the off state.

[0146] In each of the above-described embodiments, the setting processing unit 211 may be able to switch the PTO drive mode after the work vehicle 10 has started autonomous driving. In this case, the setting processing unit 211 may notify the operator when switching the PTO drive mode to prompt confirmation. For example, if the PTO drive mode is switched to the "PTO drive stop mode" during autonomous driving (if the "PTO drive maintenance mode" is switched off), the vehicle control device 11 does not stop the drive of the PTO during autonomous driving, but stops the drive of the PTO when the work vehicle 10 temporarily stops. Furthermore, if the mode is switched to the "PTO drive stop mode" while the work vehicle 10 is stopped, the vehicle control device 11 may stop the drive of the PTO at that time.

[0147] The automated driving system of the present invention may be configured as a single work vehicle 10, or may be configured as a work vehicle 10 and an operation terminal 20. The automated driving system may also be configured as a server equipped with each processing unit included in the work vehicle 10.

[0148] [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.

[0149] <Appendix 1> An automatic driving method for automatically driving a work vehicle equipped with a work machine that performs a predetermined work, comprising: starting the driving of the work implement before starting the automatic traveling of the work vehicle; continuing to drive the work implement from the time when driving of the work implement is started until the time when automatic traveling of the work vehicle is started; An automated driving method that performs the above.

[0150] <Appendix 2> Continue driving the work implement while the work vehicle is stopped in a state where automatic traveling can be started. 1. The automated driving method according to claim 1.

[0151] <Appendix 3> starting the driving of the work machine before a work start position, and causing the work machine to start the work from the work start position; 10. The automated driving method according to claim 1 or 2.

[0152] <Appendix 4> When the driving mode is switched to an automatic driving mode or when a condition for starting automatic driving is satisfied after the driving of the work machine has started, the driving of the work machine is not stopped. 4. The automatic driving method according to any one of appendices 1 to 3.

[0153] <Appendix 5> whether or not to continue driving the work implement from the time when driving of the work implement is started until the time when automatic traveling of the work vehicle is started is set based on a selection operation by a user; 5. The automatic driving method according to any one of appendices 1 to 4.

[0154] <Appendix 6> The selection operation of the user is accepted by a remote control terminal that can accept an operation to start automatic driving at a location away from the work vehicle, or by an operation unit that is installed on the work vehicle and can be operated by a user on board the work vehicle. 1. The automated driving method according to claim 5.

[0155] <Appendix 7> whether or not to continue driving the work implement from the time when driving of the work implement is started until the time when automatic traveling of the work vehicle is started is set based on the content of the work or the type of the work implement; 7. An automatic driving method according to any one of appendices 1 to 6.

[0156] <Appendix 8> If the work is a first work that requires the work machine to be driven before the work vehicle starts to travel automatically, or if the work machine is a first work machine that performs the first work, a first drive mode is set in which the work machine continues to be driven from the time the work machine starts to be driven until the time the work vehicle starts to travel automatically, If the work is a second work that does not require the work machine to be driven before the work vehicle starts automatic traveling, or if the work machine is a second work machine that performs the second work, a second drive mode is set in which the drive of the work machine is stopped at the time the work vehicle starts automatic traveling. 7. The automated driving method according to claim 7.

[0157] <Appendix 9> When the work vehicle is stopped in a state where automatic traveling can be started and the work machine continues to be driven, if a predetermined detection object is detected or an abnormality in the work machine is detected, the drive of the work machine is stopped. An automatic driving method according to any one of appendices 1 to 8.

[0158] <Appendix 10> When the work vehicle is stopped, driving of the work implement is started before starting automatic traveling of the work vehicle, and driving of the work implement is continued from when driving of the work implement is started until when automatic traveling of the work vehicle is started. An automatic driving method according to any one of appendices 1 to 9.

[0159] <Appendix 11> In the case where the driving of the work implement is stopped at the time when the automatic traveling of the work vehicle is started, the driving of the work implement is started when an instruction to start the automatic traveling is received, and the automatic traveling and the work are started after a predetermined time has elapsed. An automatic driving method according to any one of appendices 1 to 10. [Explanation of symbols]

[0160] 1:Automated driving system 10: Work vehicle 11: Vehicle control device 14: Work equipment 17: Obstacle detection device 18:Operation device (operation unit) 20: Operation terminal (remote control terminal) 21: Operation control section 30: Storage tank 51: PTO drive maintenance switch 139: PTO shaft 211: Setting processing section 212: Output processing section 313: PTO switch F: Field R: Target route S:Work start position G: Work end position

Claims

1. An automatic driving method for automatically driving a work vehicle equipped with a work machine that performs a predetermined work, comprising: starting the driving of the work implement before starting the automatic traveling of the work vehicle; continuing to drive the work implement from the time when driving of the work implement is started until the time when automatic traveling of the work vehicle is started; An automated driving method that performs the above.

2. Continue driving the work implement while the work vehicle is stopped in a state where automatic traveling can be started. The automatic driving method according to claim 1 .

3. starting the driving of the work machine before a work start position, and causing the work machine to start the work from the work start position; The automatic driving method according to claim 1 .

4. When the driving mode is switched to an automatic driving mode or when a condition for starting automatic driving is satisfied after the driving of the work machine has started, the driving of the work machine is not stopped. The automatic driving method according to claim 1 .

5. whether or not to continue driving the work implement from the time when driving of the work implement is started until the time when automatic traveling of the work vehicle is started is set based on a selection operation by a user; The automatic driving method according to claim 1 .

6. The selection operation of the user is accepted by a remote control terminal that can accept an operation to start automatic driving at a location away from the work vehicle, or by an operation unit that is installed on the work vehicle and can be operated by a user on board the work vehicle. The automatic driving method according to claim 5.

7. whether or not to continue driving the work implement from the time when driving of the work implement is started until the time when automatic traveling of the work vehicle is started is set based on the content of the work or the type of the work implement; The automatic driving method according to claim 1 .

8. If the work is a first work that requires the work machine to be driven before the work vehicle starts to travel automatically, or if the work machine is a first work machine that performs the first work, a first drive mode is set in which the work machine continues to be driven from the time the work machine starts to be driven until the time the work vehicle starts to travel automatically, If the work is a second work that does not require the work machine to be driven before the work vehicle starts automatic traveling, or if the work machine is a second work machine that performs the second work, a second drive mode is set in which the drive of the work machine is stopped at the time the work vehicle starts automatic traveling. The automatic driving method according to claim 7.

9. When the work vehicle is stopped in a state where automatic traveling can be started and the work machine continues to be driven, if a predetermined detection object is detected or an abnormality in the work machine is detected, the drive of the work machine is stopped. The automatic driving method according to claim 2.

10. When the work vehicle is stopped, driving of the work implement is started before starting automatic traveling of the work vehicle, and driving of the work implement is continued from when driving of the work implement is started until when automatic traveling of the work vehicle is started. The automatic driving method according to claim 1 .

11. In the case where the driving of the work implement is stopped at the time when the automatic traveling of the work vehicle is started, the driving of the work implement is started when an instruction to start the automatic traveling is received, and the automatic traveling and the work are started after a predetermined time has elapsed. The automatic driving method according to any one of claims 1 to 10.

12. An automatic driving program for automatically driving a work vehicle equipped with a work machine that performs a predetermined work, starting the driving of the work implement before starting the automatic traveling of the work vehicle; continuing to drive the work implement from the time when driving of the work implement is started until the time when automatic traveling of the work vehicle is started; An automated driving program for executing the above on one or more processors.

13. An automated driving system for automatically driving a work vehicle equipped with a work machine that performs a predetermined task, starting the driving of the work implement before starting the automatic traveling of the work vehicle; An automatic driving system that continues driving the work machine from the time when driving of the work machine is started until the time when automatic driving of the work vehicle is started.

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