Automatic traveling method, automatic traveling program and automatic traveling system

Abstract

To provide an automatic traveling method, automatic traveling program and automatic traveling system capable of improving work accuracy in a work vehicle performing work while automatically traveling.SOLUTION: A travel processing unit 111 causes a work vehicle 10 including a work machine 14 capable of moving between a non-work position and a work position to automatically travel along a target path. A lifting / lowering processing unit 112 causes the work machine 14 to start moving from the non-work position toward the work position at a position a prescribed distance before the work start position on the target path. A drive processing unit 114 starts the drive of the work machine 14 after a prescribed time has elapsed since the work machine 14 starts moving or after a prescribed time has elapsed since the work machine 14 arrives at the work position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an automatic driving method, an automatic driving program, and an automatic driving system for causing a work vehicle to perform work while automatically driving. [Background technology]

[0002] There is a known system that automatically drives a work vehicle along a target route in a field and causes a work machine attached to the work vehicle to perform a predetermined task. For example, in a rice transplanter that automatically drives along a target route and plants seedlings, a technology is known in which the planting device is lowered into the field just before reaching the planting start position, thereby starting the planting operation just before the planting start position (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7249965 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the work device (planting device) is driven a predetermined distance before the preset work start position (planting start position), there is a risk that the work will not start correctly at the work start position due to variations in the stop position of the work device and delays in starting the drive due to rattles in the drive transmission system caused by aging. In this case, there will be variations in the position where the work actually starts compared to the work start position, resulting in a problem of 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 that performs work while automatically driving. [Means for solving the problem]

[0006] The automatic driving method of the present invention includes automatically driving a work vehicle equipped with a work machine that can move between a non-work position and a work position along a target route, causing the work machine to start moving from the non-work position toward the work position at a position on the target route that is a predetermined distance before the work start position, and starting to drive the work machine after a predetermined time has elapsed since the work machine started moving or after a predetermined time has elapsed since the work machine reached the work position.

[0007] In addition, the automatic driving program of the present invention is a program for causing one or more processors to automatically drive a work vehicle equipped with a work machine that can move between a non-work position and a work position along a target route, cause the work machine to start moving from the non-work position toward the work position at a position a predetermined distance before the work start position on the target route, and start driving the work machine after a predetermined time has elapsed since the work machine started moving or after a predetermined time has elapsed since the work machine reached the work position.

[0008] The present invention also provides an automated driving system that includes a driving processing unit, a lifting / lowering processing unit, and a drive processing unit. The driving processing unit automatically drives a work vehicle equipped with a work implement that can move between a non-working position and a working position along a target route. The lifting / lowering processing unit starts moving the work implement from the non-working position toward the working position at a position on the target route that is a predetermined distance before a work start position. The drive processing unit starts driving the work implement after a predetermined time has elapsed since the work implement started moving, or after a predetermined time has elapsed since the work implement reached the working position. [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 that performs work while automatically driving. [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 2A] FIG. 2A is a side view showing an example of a work vehicle (rice transplanter) according to an embodiment of the present invention. [Figure 2B] FIG. 2B is a top view showing an example of the work vehicle (rice transplanter) according to an embodiment of the present invention. [Figure 2C] FIG. 2C is a plan view showing a schematic configuration of a power transmission mechanism of the work vehicle (rice transplanter) according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of a farm field and a target route according to the embodiment of the present invention. [Figure 4] 4(a) to 4(d) are schematic diagrams showing an example of a traveling method of a work vehicle according to an embodiment of the present invention. [Figure 5] FIG. 5 is a diagram showing an example of the operation timing of each process executed in the work vehicle according to the embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing another example of the operation timing of each process executed in the work vehicle according to the embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of a menu screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart illustrating an example of the procedure of the automatic driving process executed by the automatic driving system according to the first embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart illustrating an example of a procedure of an automatic driving process executed by an automatic driving system according to the second embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of the operation timing of each process executed in the work vehicle according to the embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of the operation timing of each process executed in the work vehicle according to the embodiment of the present invention. [Figure 12]FIG. 12 is a diagram showing an example of a work setting screen displayed on the operation terminal according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

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

[0012] 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.

[0013] In this embodiment, the work vehicle 10 will be described as a rice transplanter. In other embodiments, the work vehicle 10 may be a tractor, a combine harvester, construction machinery, a snowplow, or the like. The work vehicle 10 is an autonomous vehicle configured to be able to travel automatically (autonomously) within a pre-registered field. For example, an operator (user) registers a field to be worked on and sets a travel route (target route) for the work vehicle 10 to travel automatically through the field. The work vehicle 10 travels automatically along a target route set in advance for the field based on position information of the current position of the work vehicle 10 calculated by the positioning unit 16. The work vehicle 10 is also capable of performing predetermined work (e.g., planting work) while traveling automatically within the field.

[0014] For example, the work vehicle 10 automatically travels according to a target route R in a field F shown in Fig. 3. The field F shown in Fig. 3 includes an inner area Fa and a headland area Fb (outer area). A target route R including a plurality of work routes is set in advance in the field F. For example, a work route Ra that travels back and forth in parallel from a travel start position S is set in the inner area Fa, and a work route Rb that travels in a spiral shape (circular travel) around the outer periphery toward a travel end position G is set in the headland area Fb.

[0015] The work vehicle 10 starts automatic travel from a travel start position S, and performs work while traveling back and forth along a work route Ra in the inner area Fa. The work vehicle 10 also performs work while traveling in a circle in the headland area Fb to a travel end position G along a work route Rb.

[0016] Here, the work path Rb in the headland area Fb is set based on the number of work strokes. Fig. 3 shows the work path Rb when the number of work strokes is two, but the number of work strokes on the work path Rb may also be one. On the work path Rb shown in Fig. 3, the work vehicle 10 performs work while traveling around the headland area Fb only two times. The width of the headland area Fb is set to a width according to the number of work strokes. Therefore, when the number of work strokes is two, the width of the headland area Fb is approximately twice the working width of the work vehicle 10.

[0017] The target route R is not limited to the route shown in Fig. 3, but is set appropriately depending on the shape of the field F, the work content, etc. For example, the target route R is set appropriately depending on the number of work strokes in the headland area Fb or the width of the headland area Fb.

[0018] However, in conventional technology that starts a work device (planting device) a predetermined distance before a preset work start position (planting start position), there is a risk that work will not start correctly at the work start position due to variations in the work device's stopping position and delays in starting the drive due to rattles in the drive transmission system caused by aging. In this case, there is a problem that the actual work start position varies from the work start position, reducing work accuracy. In response to this, the automated driving system 1 according to this embodiment is capable of improving the work accuracy of a work vehicle 10 that performs work while driving automatically, as described below. The specific configurations of the work vehicle 10 and the operation terminal 20 are described below.

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

[0020] First, a rice transplanter, which is an example of work vehicle 10, will be described with reference to Figures 2A to 2C. Figure 2A is a side view of work vehicle 10 (rice transplanter), Figure 2B is a plan view of work vehicle 10, and Figure 2C is a plan view showing the schematic configuration of the power transmission mechanism of work vehicle 10. Work vehicle 10 comprises a vehicle body section 13, a pair of left and right front wheels 132, a pair of left and right rear wheels 133, a work implement 14 (planting section), etc.

[0021] An engine (drive unit) 131 is disposed inside a hood 134 disposed at the front of the vehicle body 13. Power generated by the engine 131 is transmitted to front wheels 132 and rear wheels 133 via a transmission case 135. The power transmitted via the transmission case 135 is also transmitted to the work implement 14 via a PTO shaft 37 disposed at the rear of the vehicle body 13. The PTO shaft 37 is configured to transmit power via a planting clutch 5 (work clutch, PTO clutch) (see FIG. 2C). A driver's seat 138 for an operator to sit in is provided between the front wheels 132 and rear wheels 133 in the fore-and-aft direction of the vehicle body 13.

[0022] In front of the driver's seat 138, operating tools such as a steering wheel 137, a main speed change lever (not shown), and a planting clutch lever (not shown) are arranged. The steering wheel 137 is an operating tool for changing the steering angle of the work vehicle 10. The main speed change lever is configured to be able to select at least the positions of "forward," "reverse," "neutral," and "seedling clutch." When the main speed change lever is operated to the "forward" position, power is transmitted so that the front wheels 132 and rear wheels 133 rotate in a direction that moves the work vehicle 10 forward. When the main speed change lever is operated to the "reverse" position, power is transmitted so that the front wheels 132 and rear wheels 133 rotate in a direction that moves the work vehicle 10 backward. When the main speed change lever is operated to the "neutral" position, power transmission to the front wheels 132 and rear wheels 133 is cut off. When the main speed change lever is operated to the "seedling clutch" position, power transmission to the front wheels 132, rear wheels 133, and PTO shaft 37 is cut off. Furthermore, when the planting clutch lever is operated to the "ON" position, the planting clutch 5 enters a transmission state in which it transmits power to the PTO shaft 37 (i.e., the work implement 14), and when the planting clutch lever is operated to the "OFF" position, the planting clutch 5 enters a disconnection state in which it does not transmit power to the PTO shaft 37. In other words, when the planting clutch lever is set to the "ON" position, the work implement 14 begins to operate and the planting operation begins. When the planting clutch lever is set to the "OFF" position, the work implement 14 stops operating and the planting operation stops.

[0023] In this embodiment, the vehicle control device 11 switches the planting clutch 5 between "ON" and "OFF." When the vehicle control device 11 sets the planting clutch 5 to "ON," the drive of the work implement 14 begins and the planting operation begins. When the vehicle control device 11 sets the planting clutch 5 to "OFF," the drive of the work implement 14 stops and the planting operation stops. The vehicle control device 11 only needs to switch the planting clutch 5 between "ON" and "OFF" as an internal process, and does not need to move the position of the planting clutch lever.

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

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

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

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

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

[0029] As shown in FIG. 2C, a transmission 130 is disposed behind the engine 131. Front axles 132b are disposed on the left and right of the transmission 130, and front wheels 132 (see FIG. 2A) are attached to front wheel shafts 132a provided on the front axles 132b and are driven by driving force transmitted from the transmission 130. A rear axle 6 is disposed behind the transmission 130 via a joint member 3, and a rear-wheel drive shaft 2 is disposed along the joint member 3. The rear-wheel drive shaft 2 transmits driving force from the transmission 130 to the rear axle 6. Rear wheels 133 (see FIG. 2A) are attached to rear wheel shafts 133a provided on the rear axle 6 and are driven by driving force transmitted from the transmission 130 via the rear-wheel drive shaft 2.

[0030] A planting clutch 5 is disposed behind the transmission 130 via a joint member 51. The planting clutch 5 switches the power transmission state of the driving force transmitted from the transmission 130 via the joint member 51 between a connected state ("ON") and a disconnected state ("OFF"). The PTO shaft 37 is connected to a universal joint 7, which is connected to an input shaft 8 of the center case 9. The output shaft 9a of the center case 9 is disposed along the guide rail 40. Planting transmission cases 41 are disposed at approximately equal intervals at multiple locations (four locations in this embodiment, for example) in the left-right direction behind the guide rail 40. The planting transmission cases 41 are connected to the output shaft 9a of the center case 9. A pair of planting units 34 are disposed on the left and right of the planting transmission case 41. The driving force generated by the motor is transmitted to the planting units 34 via the PTO shaft 37, the center case 9, and the planting transmission case 41.

[0031] The spare seedling trays 19 are positioned on the outer side of the hood 134 in the vehicle width direction, and can carry seedling boxes containing spare mat seedlings. The upper parts of the pair of left and right spare seedling trays 19 are connected to each other by a connecting frame 18 that extends vertically and in the vehicle width direction. A positioning unit 16 is located in the center of the connecting frame 18 in the vehicle width direction.

[0032] The positioning unit 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164 (see FIG. 1). For example, the positioning unit 16 is provided at the upper center of the front of the work vehicle 10, as shown in FIGS. 2A and 2B. The installation location of the positioning unit 16 is not limited. Furthermore, the positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning unit 16 may be disposed in different locations on the work vehicle 10. A battery is connected to the positioning unit 16, and the positioning unit 16 can operate even when the engine 131 is stopped. Furthermore, the positioning unit 16 may be substituted with, for example, a mobile phone terminal, a smartphone, a tablet terminal, a quantum compass, or the like.

[0033] 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.

[0034] 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.

[0035] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0036] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received from satellites by the positioning antenna 164. For example, when the work vehicle 10 is autonomously traveling within a field F, the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites, and the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs autonomous traveling using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or may be a position displaced from the positioning position (for example, the planting operation position of the planting unit 34). The positioning control unit 161 may calculate (position) the current position of the work vehicle 10 using a quantum compass.

[0037] An obstacle detection unit 17 is provided at the front of the vehicle body 13. The obstacle detection unit 17 is configured with a sensor that detects obstacles in a predetermined detection area using, for example, infrared rays, ultrasound, or the like. For example, the obstacle detection unit 17 may be a lidar sensor (distance sensor) that uses lasers to measure the distance to a measurement object (obstacle) in three dimensions, or a sonar sensor with multiple sonars that uses ultrasound to measure the distance to a measurement object. Examples of the obstacle include a ridge, a water intake, a utility pole, materials temporarily placed in the field F, and a person. When the obstacle detection unit 17 detects the obstacle, it transmits the detection result (measurement information) to the vehicle control device 11. When the obstacle detection unit 17 detects an obstacle in the detection area, the vehicle control device 11 slows down or stops the work vehicle 10. Note that the obstacle detection units 17 may be provided at the front, rear, left side, and right side. In this case, the vehicle control device 11 controls the travel of the work vehicle 10 based on the detection results of each obstacle detection unit 17.

[0038] 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 FIGS. 8 and 9) 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 for a target route R generated in the operation terminal 20.

[0039] The vehicle control device 11 has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are pre-stored. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as temporary storage memory (work area) for the various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by having the CPU execute various control programs pre-stored in the ROM or storage unit 12.

[0040] The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. The vehicle control device 11 also executes automatic driving processing for the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning unit 16 and a target route R that is set in advance.

[0041] As shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111, an elevation processing unit 112, a vehicle speed control processing unit 113, and a drive processing unit 114. 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. 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.

[0042] The driving processing unit 111 controls the driving of the work vehicle 10. Specifically, the driving processing unit 111 causes the work vehicle 10 to automatically drive according to a target route R set in the field F. For example, the driving processing unit 111 causes the work vehicle 10 to start automatic driving when it receives a driving start instruction from the operation terminal 20. For example, when the current position of the work vehicle 10 is in a position that satisfies the driving start conditions, and the operator presses the start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a driving start instruction to the work vehicle 10. When the driving processing unit 111 receives the driving start instruction from the operation terminal 20, it causes the work vehicle 10 to start automatic driving according to the target route R. For example, the driving processing unit 111 causes the work vehicle 10 to drive straight from the start end to the end end of each work route, and to drive in a turn from the start end to the end end of each turning route.

[0043] Furthermore, the driving processing unit 111 stops the automatic driving of the work vehicle 10 when it receives a driving stop instruction from the operation terminal 20. For example, when the operator presses the pause button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a driving stop instruction to the work vehicle 10.

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

[0045] The lifting / lowering processing unit 112 controls the position (posture) of the working implement 14. Specifically, the lifting / lowering processing unit 112 changes the height of the working implement 14 between a working position (working height) where planting work is performed by lowering the working implement 14, and a non-working position (non-working height) where planting work is not performed by raising the working implement 14. The lifting / lowering processing unit 112 also lowers the working implement 14 to the working position when leveling the rice field surface with a float 36 (see FIG. 2A). The lifting / lowering processing unit 112 inputs a control signal to the lifting / lowering cylinder 32 to extend and retract the lifting / lowering cylinder 32, thereby lifting and lowering the working implement 14.

[0046] The lifting / lowering processing unit 112 also controls the lifting / lowering of the work implement 14 based on the position information of the work vehicle 10. Specifically, the lifting / lowering processing unit 112 starts lowering the work implement 14 from the non-working position toward the working position at a position a predetermined distance before the work start position on the target route R. For example, as shown in FIG. 4(a), when the work vehicle 10 starts automatic traveling at the traveling start position S (see FIG. 3), the work vehicle 10 maintains the work implement 14 at the non-working position and continues automatic traveling. Thereafter, when the work vehicle 10 reaches a position P1 that is a predetermined distance L1 before the work start position P0 on the work route Ra (see FIG. 4(b)), the lifting / lowering processing unit 112 lowers the work implement 14 from the non-working position to the working position. When the work implement 14 moves to the working position, the float 36 comes into contact with the ground. When the traveling processing unit 111 causes the work vehicle 10 to automatically travel in this state, the float 36 can level the rice field surface. At this point, the drive of the work implement 14 has stopped, so no planting operation is performed.

[0047] The drive processing unit 114 controls the drive of the work implement 14. Specifically, the drive processing unit 114 starts the drive of the work implement 14 to start the planting operation (the operation of the planting unit 34 planting seedlings in the rice field surface). Specifically, the drive processing unit 114 switches the planting clutch 5 between "on" and "off" to switch between driving and stopping the work implement 14. For example, the drive processing unit 114 sets the planting clutch 5 to "on" to start driving the work implement 14 and cause the planting unit 34 to start the planting operation. The drive processing unit 114 also sets the planting clutch 5 to "off" to stop the drive of the work implement 14 and cause the planting unit 34 to stop the planting operation.

[0048] The drive processing unit 114 also starts driving the work implement 14 before the work start position P0. Specifically, the drive processing unit 114 controls the timing of engaging the planting clutch 5 so that the planting operation of the planting unit 34 begins when the work vehicle 10 reaches the work start position P0, i.e., when the planting unit 34 reaches the work start position P0 (see (d) in Figure 4).

[0049] In addition, since the distance between the positioning antenna 164 and the planting unit 34 in the work vehicle 10 is a fixed value, the drive processing unit 114 can calculate the position of the planting unit 34 by obtaining the position of the positioning antenna 164.

[0050] Here, a predetermined time T0 (time lag) is required from when the planting clutch 5 is switched from "off" to "on" until the operation (planting operation) of the work implement 14 (planting unit 34) begins. The predetermined time T0 (time lag) includes a structural delay time, a delay time due to deterioration over time, and the like. For example, the structural delay time is a time specific to the work implement 14 and varies depending on individual differences in the work implement 14. Furthermore, the delay time due to deterioration over time increases depending on the length of the operation period of the work implement 14.

[0051] In this embodiment, the operation (planting operation) of the work implement 14 begins a predetermined time T0 (time lag) after the drive processing unit 114 engages the planting clutch 5 (starts driving). Therefore, in order to start the planting operation when the planting unit 34 reaches the work start position P0, the drive processing unit 114 needs to engage the planting clutch 5 the predetermined time T0 before the planting unit 34 reaches the work start position P0.

[0052] Therefore, the drive processing unit 114 starts driving the work implement 14 (switches the planting clutch 5 from "off" to "on") when a predetermined time T1 has elapsed since the work implement 14 began to descend from the non-working position to the working position. For example, as shown in FIG. 4, when a predetermined time T1 has elapsed (position P2) since the work vehicle 10 reached position P1 and began to descend the work implement 14 (the timing when a command to lower the work implement 14 was output), the planting clutch 5 is set to "on" and driving of the work implement 14 is started (corresponding to Example 1 described below).

[0053] In another embodiment, the drive processing unit 114 sets the planting clutch 5 to "ON" and starts driving the work implement 14 when a predetermined time T3 has elapsed since the work implement 14 reached the work position (corresponding to Example 2 described below).

[0054] The drive processing unit 114 also takes into account a predetermined time T0 (time lag) when determining the drive timing of the planting clutch 5. In other words, the drive processing unit 114 determines the drive timing of the planting clutch 5 (the timing at which the planting clutch 5 is set to "ON") so that the work vehicle 10 can reach the work start position P0 and begin planting operations when the predetermined time T0 has elapsed since the planting clutch 5 was set to "ON."

[0055] As described above, the working implement 14 starts moving from the non-working position toward the working position at a position a predetermined distance before the work start position P0, and then the working implement 14 starts to be driven (the planting clutch 5 is set to "ON") after a predetermined time has passed since the working implement 14 started to move, or after a predetermined time has passed since the working implement 14 reached the working position. In this way, the operation of the working implement 14 is controlled taking into account the movement time of the working implement 14 and the time lag in driving, so that the planting operation can be started at the appropriate time.

[0056] The vehicle speed control processing unit 113 controls the vehicle speed of the work vehicle 10 during automatic traveling. Specifically, the vehicle speed control processing unit 113 switches the vehicle speed of the work vehicle 10 based on setting information that is set in advance in the operation terminal 20. For example, when the operator sets the vehicle speed for straight traveling and the vehicle speed for turning traveling in the operation terminal 20, the vehicle speed control processing unit 113 switches the vehicle speed (set vehicle speed) of the work vehicle 10 according to the traveling route (straight route, turning route, etc.). For example, the vehicle speed control processing unit 113 switches to the set vehicle speed for straight traveling when the work vehicle 10 is traveling on a straight route, and switches to the set vehicle speed for turning traveling when the work vehicle 10 is traveling on a turning route. The vehicle speed control processing unit 113 may also change (decrease or increase) the vehicle speed before and after the work start position P0 (see FIG. 4) (details will be described later).

[0057] [Example 1] 5 shows an example of the control timing of each processing unit of the vehicle control device 11 according to the first embodiment. For example, when the work vehicle 10 that has started autonomous traveling travels straight toward the work route Ra at a predetermined vehicle speed (set vehicle speed) and reaches position P1 (see (b) of FIG. 4), the lifting / lowering processing unit 112 outputs an instruction (lowering instruction) to the work implement 14 to lower the work implement 14 from the non-working position H2 to the working position H1. That is, the lifting / lowering processing unit 112 starts lowering the work implement 14 from the non-working position H2 toward the working position H1 at position P1 that is a predetermined distance L1 before the work start position P0.

[0058] When the work implement 14 receives the lowering command at position P1, it starts the lowering operation from non-work position H2 to work position H1 (time t1 in FIG. 5). The work vehicle 10 continues automatic traveling at the set vehicle speed while the work implement 14 is being lowered (time T2). Therefore, the work vehicle 10 travels a predetermined distance according to the set vehicle speed while the work implement 14 moves from non-work position H2 to work position H1.

[0059] The drive processing unit 114 engages the planting clutch 5 (time t2) when a predetermined time T1 has elapsed since the work implement 14 began to descend (time t1). This causes power to be transmitted to the work implement 14 via the PTO shaft 37, and the work implement 14 begins to drive. The drive processing unit 114 also engages the planting clutch 5 before the work implement 14 reaches the work position H1 (time t3).

[0060] Here, a predetermined time TO (time lag) is required from when the planting clutch 5 is switched from "off" to "on" until the planting operation by the work implement 14 begins. Therefore, the drive of the work implement 14 begins when the drive processing unit 114 engages the planting clutch 5 (time t2), and then the planting operation by the work implement 14 begins when the predetermined time TO has elapsed (time t4).

[0061] After the drive processing unit 114 engages the planting clutch 5 at time t2 to start driving the work implement 14, the work vehicle 10 continues automatic travel at the set vehicle speed for a predetermined time T0. When the work implement 14 reaches work position H1 within the predetermined time T0 (time t3), the float 36 comes into contact with the ground, and the work vehicle 10 continues automatic travel while leveling the ground with the float 36. Thereafter, when the work vehicle 10 reaches work start position P0 (time t4), the work implement 14 begins planting operation.

[0062] In the above configuration, for example, to align the start position of the planting operation of the work implement 14 with the work start position P0, it is necessary to control the timing of engaging the planting clutch 5 taking into account the predetermined time T0. Therefore, for example, the drive processing unit 114 determines the timing (time t2) of engaging the planting clutch 5 so that the work vehicle 10 reaches the work start position P0 when the predetermined time T0 has elapsed since the planting clutch 5 was engaged. That is, the drive processing unit 114 determines the timing of engaging the planting clutch 5 (the timing of starting to drive the work implement 14) based on the predetermined time T0 calculated in advance and the predicted distance the work vehicle 10 will travel during the predetermined time T0. The drive processing unit 114 also sets the timing (predetermined time T1) of engaging the planting clutch 5 based on the required time T2 required for the work implement 14 to move from the non-work position H2 to the work position H1.

[0063] The vehicle control device 11 also sets the predetermined distance L1 (see FIG. 4) based on the required time T2 required for the work implement 14 to move from the non-work position H2 to the work position H1 and the predetermined time T0 from when the work implement 14 starts to be driven until the planting operation by the work implement 14 begins. Specifically, in Example 1, the vehicle control device 11 sets the predetermined distance L1 to a distance that is shorter than the total distance of a first distance traveled by the work vehicle 10 during the required time T2 and a second distance traveled by the work vehicle 10 during the predetermined time T0, but is longer than both the first distance and the second distance.

[0064] [Example 2] 6 shows an example of the control timing of each processing unit of the vehicle control device 11 according to the second embodiment. For example, when the work vehicle 10 that has started autonomous traveling travels straight toward the work route Ra at a predetermined vehicle speed (set vehicle speed) and reaches position P1 (see (b) of FIG. 4), the lifting / lowering processing unit 112 outputs an instruction (lowering instruction) to the work implement 14 to lower the work implement 14 from the non-working position H2 to the working position H1. That is, similar to the first embodiment, the lifting / lowering processing unit 112 starts lowering the work implement 14 from the non-working position H2 toward the working position H1 at position P1 that is a predetermined distance L1 before the work start position P0.

[0065] When the work implement 14 receives the lowering command at position P1, it starts the lowering operation from non-work position H2 to work position H1 (time t1 in FIG. 6). The work vehicle 10 continues automatic traveling at the set vehicle speed while the work implement 14 is being lowered (time T2). Therefore, the work vehicle 10 travels a predetermined distance according to the set vehicle speed while the work implement 14 moves from non-work position H2 to work position H1 (time T2 in FIG. 6).

[0066] When the work implement 14 reaches the work position H1, the drive processing unit 114 engages the planting clutch 5 when a predetermined time T3 has elapsed from the time the work implement 14 reached the work position H1 (time t21) (time t22). As a result, power is transmitted to the work implement 14 via the PTO shaft 37, and the work implement 14 begins to drive. In this way, in Example 2, the drive processing unit 114 engages the planting clutch 5 after the work implement 14 reaches the work position H1 (time t21).

[0067] After the drive processing unit 114 engages the planting clutch 5 at time t22 to start driving the work implement 14, the work vehicle 10 continues automatic travel at the set vehicle speed for a predetermined time T0 (time lag). Thereafter, when the work vehicle 10 reaches the work start position P0 (time t4), the work implement 14 begins planting operation.

[0068] In the above configuration, as in the first embodiment, for example, to align the start position of the planting operation of the work implement 14 with the work start position P0, it is necessary to determine the timing to engage the planting clutch 5 taking into account the predetermined time T0. Therefore, for example, the drive processing unit 114 determines the timing (time t22) to engage the planting clutch 5 so that the work vehicle 10 reaches the work start position P0 when the predetermined time T0 has elapsed since the planting clutch 5 was engaged. In other words, the drive processing unit 114 determines the timing to engage the planting clutch 5 (the timing to start driving the work implement 14) based on the predetermined time T0 and the distance traveled by the work vehicle 10 during the predetermined time T0. The drive processing unit 114 also sets the timing (predetermined time T3) to engage the planting clutch 5 based on the required time T2 required for the work implement 14 to move from the non-work position H2 to the work position H1.

[0069] Also, similar to Example 1, the vehicle control device 11 sets the predetermined distance L1 (see FIG. 4) based on the required time T2 required for the work implement 14 to move from the non-work position H2 to the work position H1 and the predetermined time T0 from when the work implement 14 starts to be driven until the planting operation by the work implement 14 begins. Specifically, in Example 2, the vehicle control device 11 sets the predetermined distance L1 to a distance that is longer than the total distance of the first distance traveled by the work vehicle 10 during the required time T2 and the second distance traveled by the work vehicle 10 during the predetermined time T0.

[0070] As described above, in Example 1, the drive processing unit 114 starts driving the work implement 14 (engages the planting clutch 5) while the work implement 14 is moving from non-work position H2 to work position H1, and starts the work implement 14's operation (planting operation) after the work implement 14 reaches work position H1. In Example 2, the drive processing unit 114 starts driving the work implement 14 (engages the planting clutch 5) after the work implement 14 reaches work position H1, and starts the work implement 14's operation (planting operation).

[0071] According to the configurations of Examples 1 and 2, the drive timing of the work implement 14 can be controlled taking into account the time lag (the time from when a drive start command is issued to the time when the planting operation starts) associated with the drive of the work implement 14, so that the planting operation can be started at an appropriate position. Furthermore, according to the configuration of Example 1, the drive of the work implement 14 can be started while the work implement 14 is descending, so the timing at which the work implement 14 starts to descend (time t1 in FIG. 5) can be delayed. Therefore, for example, the section during which the work implement 14 travels while maintaining the non-working position H2 can be extended, and the vehicle speed during this section can be increased to shorten travel time during non-working periods.

[0072] Furthermore, according to the configuration of Example 2, the working implement 14 can be started to be driven after it has descended, so that the working implement 14 can be driven while the working implement 14 is stable at the working position H1. This makes it easier to align the start position of the planting operation with the work start position P0.

[0073] The vehicle control device 11 may have the configurations of each of the first and second embodiments and may be switchable in response to an operation by an operator. For example, the vehicle control device 11 may have a first drive mode corresponding to the configuration of the first embodiment and a second drive mode corresponding to the configuration of the second embodiment, and may switch between the first drive mode and the second drive mode in response to an operation (selection operation, switching operation) by the operator on the operation terminal 20.

[0074] Here, in each of the configurations of Example 1 and Example 2, the operator may be able to set the predetermined time that defines the timing to start driving the work machine 14. For example, in Example 1, when the operator inputs a desired time into the operation terminal 20, the vehicle control device 11 sets the input time as the predetermined time T1 (see FIG. 5). Similarly, for example, in Example 2, when the operator inputs a desired time into the operation terminal 20, the vehicle control device 11 sets the input time as the predetermined time T3 (see FIG. 6). Note that a lower limit (lower limit time) and an upper limit (upper limit time) of the time that the operator can set (input) may be set. This allows the operator to input a time within the range from the lower limit time to the upper limit time, thereby preventing an unexpected time from being set as the predetermined time.

[0075] Furthermore, in each of the configurations of Example 1 and Example 2, the operator may be able to set the predetermined distance L1 (the distance from position P1 to P0) (see FIG. 4) that defines the timing to start lowering the work implement 14. For example, when the operator inputs a desired distance into the operation terminal 20, the vehicle control device 11 sets the input distance as the predetermined distance L1. Note that a lower limit value (lower limit distance) and an upper limit value (upper limit distance) of the distance that the operator can set (input) may also be set. This allows the operator to input a distance within the range from the lower limit distance to the upper limit distance, thereby preventing an unexpected distance from being set as the predetermined distance L1.

[0076] [Operation terminal 20] 1, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone.

[0077] 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.

[0078] The operation display unit 23 is a user interface that includes a display unit such as a liquid crystal display or organic EL display that displays various types of information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit on the operation screen displayed on the display unit to register various types of information (such as work vehicle information, field information, and work information, which will be described later). For example, the operator operates the operation unit to register the field F to be worked on.

[0079] The operator can also operate the operation unit to give instructions to start and stop traveling to the work vehicle 10. Furthermore, the operator can grasp the traveling status of the work vehicle 10, which is automatically traveling through the field F according to the target route R, from the traveling trajectory displayed on the operation terminal 20, while in a location away from the work vehicle 10.

[0080] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 22 stores 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, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The control program may be downloaded to the operation terminal 20 from a server (not shown) via the communication network N1 and stored in the storage unit 22.

[0081] Furthermore, a dedicated application for automatically driving the work vehicle 10 is installed in the memory unit 22. The operation control unit 21 starts up the dedicated application to perform processing for setting various information related to the work vehicle 10, processing for generating a target route R for the work vehicle 10, and issuing instructions for automatic driving to the work vehicle 10.

[0082] The storage unit 22 also stores data such as work vehicle information, which is information relating to the work vehicle 10, and target route information, which is information relating to the target route R. The work vehicle information includes information such as the vehicle number and model for each work vehicle 10. The vehicle number is identification information for the work vehicle 10. The model is the model of the work vehicle 10.

[0083] Furthermore, the storage unit 22 may store the work vehicle information for one work vehicle 10, or may store the work vehicle information for multiple work vehicles 10. For example, if a specific operator owns multiple work vehicles 10, the work vehicle information for each work vehicle 10 is stored in the storage unit 22.

[0084] The target route information includes information such as the route name, field name, address, field area, and work time for each target route R. The route name is the route name of the target route R generated in the operation terminal 20. The field name is the name of the field F that is the work target for which the target route R is set. The address is the address of the field F, and the field area is the area of ​​the field F. The work time is the time required for the work vehicle 10 to work in the field F.

[0085] Furthermore, the storage unit 22 may store the target route information for one target route R, or may store the target route information for multiple target routes R. For example, if a specific operator generates multiple target routes R for one or multiple fields F that he or she owns, the target route information for each target route R is stored in the storage unit 22. Note that one target route R, or multiple target routes R, may be set for one field F.

[0086] In another embodiment, some or all of the information such as the work vehicle information and the target route information may be stored in a server accessible from the operation terminal 20. The operator may perform an operation to register the work vehicle information and the target route information in the server (for example, a personal computer, a cloud server, etc.).

[0087] The operation control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as temporary storage memory for the various types of processing executed by the CPU. The operation control unit 21 controls the operation terminal 20 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 22.

[0088] 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.

[0089] The setting processing unit 211 sets various setting information for causing the work vehicle 10 to perform autonomous driving. Specifically, the setting processing unit 211 sets information relating to the work vehicle 10 (hereinafter referred to as work vehicle information). The setting processing unit 211 sets information such as the type (model) of the work vehicle 10, the position where the positioning antenna 164 is attached on the work vehicle 10, the type of work implement 14, the size and shape of the work implement 14, the position of the work implement 14 relative to the work vehicle 10, the vehicle speed (straight-line vehicle speed) and engine rotation speed of the work vehicle 10 while working, and the vehicle speed (turning vehicle speed) and engine rotation speed of the work vehicle 10 while turning by having the operator perform a registration operation on the operation terminal 20.

[0090] For example, the setting processing unit 211 causes the operation display unit 23 to display the menu screen D1 shown in Fig. 7. The worker selects, for example, "Work machine registration" on the menu screen D1 to register work machine information related to the work machine 14.

[0091] The setting processing unit 211 also sets information relating to the field F (hereinafter referred to as field information). The setting processing unit 211 sets information such as the position and shape of the field F, the travel start position S where automatic travel begins and the travel end position G where automatic travel ends (see FIG. 3), the work direction, etc., by performing a registration operation on the operation terminal 20. For example, the operator registers the field information by selecting "Register field" on the menu screen D1.

[0092] 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 perimeter of the field F, and recording the progress of information on a specific position (for example, the position of the side end of the work vehicle 10) based on the positioning information of the work vehicle 10 at that time. The position and shape of the field F can also be obtained based on a polygon obtained by an operator operating the operation terminal 20 while a map is displayed on the operation terminal 20 and specifying multiple points on the map. 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).

[0093] The setting processing unit 211 also sets information relating to how the work will be carried out specifically (hereinafter referred to as work information). The setting processing unit 211 is configured to be able to set, as work information, whether or not cooperative work will occur between an unmanned work vehicle 10 and a manned work vehicle 10, the number of skips which is the number of work routes the work vehicle 10 will skip when turning on a headland, the width of the headland, and the width of the non-cultivated land. For example, the worker registers work information by selecting "Register work area" on the menu screen D1.

[0094] The setting processing unit 211 also generates a target route R, which is a route along which the work vehicle 10 will automatically travel, based on each of the setting information. The target route R is, for example, a travel route from a travel start position S to a travel end position G (see FIG. 3). The target route R shown in FIG. 3 includes a work route, which is a straight route along which the work vehicle 10 travels back and forth in parallel in the inner area Fa of the field F, and a turning route connecting the work routes, and also includes a work route, which is a straight route along which the work vehicle 10 travels in a circular motion in the headland area Fb, and a turning route connecting the work routes. The setting processing unit 211 generates and stores the target route R for the work vehicle 10 based on each of the setting information. For example, the worker selects "Create route" on the menu screen D1 to issue an instruction to generate the target route R. The setting processing unit 211 is capable of generating and storing multiple target routes R for one field F according to the work content.

[0095] Furthermore, the setting processing unit 211 sets the vehicle speed when traveling straight and when traveling around corners, for example, in accordance with a setting operation by the operator. For example, the operator sets a set vehicle speed for traveling straight. The setting processing unit 211 may also set a lower limit value (lower limit vehicle speed) and an upper limit value (upper limit vehicle speed) of the vehicle speed that can be set by the operator.

[0096] The output processing unit 212 outputs route data of the target route R to the work vehicle 10. For example, when the operator selects the desired target route R on the operation screen and issues a command to start work, the output processing unit 212 outputs the route data of the selected target route R to the work vehicle 10.

[0097] The work vehicle 10 is configured so that route data of the target route R generated in the operation terminal 20 is transferred to the work vehicle 10 and stored in the memory unit 12, and the current position of the work vehicle 10 is detected by the positioning antenna 164, allowing the work vehicle 10 to travel autonomously along the target route R. The current position of the work vehicle 10 may or may not coincide with the position of the positioning antenna 164.

[0098] When predetermined start conditions are met and the operator presses the work start button on the operation screen to give a work start instruction, the work vehicle 10 starts automatic driving by the driving processing unit 111 of the work vehicle 10 and starts planting operations by the work implement 14. For example, the operation control unit 21 allows the work vehicle 10 to drive automatically on the condition that the current position of the work vehicle 10 is within a predetermined distance from the driving start position S and the vehicle heading is within a predetermined heading. Note that the start conditions for allowing the work vehicle 10 to drive automatically are not limited to the above conditions.

[0099] The driving processing unit 111 of the work vehicle 10 automatically drives the work vehicle 10 from the driving start position S to the driving end position G according to the target route R acquired from the operation terminal 20.

[0100] Furthermore, when the operation control unit 21 acquires a detection result indicating that an obstacle has been detected from the work vehicle 10, it may cause the operation terminal 20 to display the detected position of the obstacle on an image captured by the camera.

[0101] The operation terminal 20 may be able to access a website (agricultural support site) for an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit 21. The server is provided with the above-mentioned processing units and executes each process.

[0102] [Automatic driving processing] An example of the automatic driving process executed by the automatic driving system 1 will be described below with reference to Fig. 8 and Fig. 9. Fig. 8 shows an example of the automatic driving process corresponding to the first embodiment, and Fig. 9 shows an example of the automatic driving process corresponding to the second embodiment. 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.

[0103] [Example 1 (see Figure 8)] In step S1, the vehicle control device 11 determines whether the work vehicle 10 is in a state where it can drive autonomously. When the work vehicle 10 satisfies the conditions for starting autonomous driving at the driving start position S (see FIG. 3) (S1: Yes), the vehicle control device 11 transitions the processing to step S2. The vehicle control device 11 waits until the work vehicle 10 satisfies the conditions for starting autonomous driving (S1: No).

[0104] In step S2, the vehicle control device 11 causes the work vehicle 10 to start automatic traveling. For example, when the operator issues a traveling start instruction on the operation screen of the operation terminal 20, the operation control unit 21 outputs the traveling start instruction to the work vehicle 10. When the vehicle control device 11 receives the traveling start instruction from the operation terminal 20, it causes the work vehicle 10 to start automatic traveling. As a result, the work vehicle 10 starts automatic traveling in the field F from the traveling start position S according to the target route R (see FIG. 3).

[0105] At the start of automatic traveling, the position of the work implement 14 is set to the non-working position H2 (see FIG. 5), the planting clutch 5 is set to "off," and the speed of the work vehicle 10 is set to a preset speed (set speed). Therefore, the work vehicle 10 starts automatic traveling with the work implement 14 raised (non-driven state) and at the set speed.

[0106] In step S3, the vehicle control device 11 determines whether the work vehicle 10 has reached position P1 (see FIG. 4(b)), which is a predetermined distance L1 before the work start position P0 on the work route Ra. If the vehicle control device 11 determines that the work vehicle 10 has reached position P1 (S3: Yes), the process proceeds to step S4. The vehicle control device 11 waits until the work vehicle 10 reaches position P1 (S3: No). The vehicle control device 11 continues automatic traveling with the work implement 14 raised (non-driven state) at the set vehicle speed until the work vehicle 10 reaches position P1.

[0107] In step S4, the vehicle control device 11 starts moving (lowering) the work implement 14 to the work position H1 (see (b) of FIG. 4). Specifically, when the work vehicle 10 reaches position P1, the vehicle control device 11 outputs a control signal to the work implement 14 to instruct it to lower from the non-work position H2 to the work position H1 (time t1 in FIG. 5). The control signal is input to the lift cylinder 32, which drives the lift cylinder 32, thereby starting the lowering operation of the work implement 14 to the work position H1 (see FIG. 5).

[0108] Next, in step S5, the vehicle control device 11 determines whether a predetermined time T1 has elapsed since the work implement 14 started to move (lower) to the work position H1. That is, the vehicle control device 11 determines whether the predetermined time T1 has elapsed since the lowering command was output to the work implement 14 (time t1 in FIG. 5). For example, the vehicle control device 11 starts measuring time when the lowering command is output to the work implement 14, and determines that the predetermined time T1 has elapsed when the measured time reaches the predetermined time T1. When the vehicle control device 11 determines that the predetermined time T1 has elapsed since the lowering command was output to the work implement 14 (S5: Yes), it transitions the processing to step S6. The vehicle control device 11 waits until the predetermined time T1 has elapsed (S5: No). Furthermore, the vehicle control device 11 continues the automatic traveling of the work vehicle 10 until the predetermined time T1 has elapsed.

[0109] In step S6, the vehicle control device 11 switches the planting clutch 5 from "off" to "on" (time t2 in FIG. 5). For example, the vehicle control device 11 outputs a switching signal to switch the planting clutch 5 from "off" to "on."

[0110] Next, in step S7, the vehicle control device 11 determines whether a predetermined time T0 has elapsed. Specifically, the vehicle control device 11 starts measuring time when the planting clutch 5 is switched from "off" to "on," and determines that the predetermined time T0 has elapsed when the measured time reaches the predetermined time T0. When the vehicle control device 11 determines that the predetermined time T0 has elapsed (S7: Yes), it proceeds to step S8. The vehicle control device 11 waits until the predetermined time T0 has elapsed (S7: No). The vehicle control device 11 also continues the automatic travel of the work vehicle 10 until the predetermined time T0 has elapsed. Note that the vehicle control device 11 moves the work implement 14 to the work position H1 between the time the planting clutch 5 is switched from "off" to "on" and the time the predetermined time T0 has elapsed (time t3 in FIG. 5).

[0111] In step S8, the vehicle control device 11 causes the planting unit 34 to start the planting operation. This causes the planting operation to start when a predetermined time TO has elapsed since the planting clutch 5 was switched from "off" to "on" (time t4 in Figure 5). Once the planting operation has started, the vehicle control device 11 causes the work vehicle 10 to perform the planting operation while automatically traveling at a set vehicle speed (work vehicle speed) along the target route (work route Ra).

[0112] Next, in step S9, the vehicle control device 11 determines whether the work vehicle 10 has reached the work end position on the work route Ra. If the vehicle control device 11 determines that the work vehicle 10 has reached the work end position on the work route Ra (S9: Yes), the process proceeds to step S10. The vehicle control device 11 continues automatic travel and planting operations on the work route Ra until the work vehicle 10 reaches the work end position on the work route Ra (S9: No).

[0113] In step S10, the vehicle control device 11 raises the work implement 14 to the non-working position H2. Specifically, when the work vehicle 10 reaches the end of the work route Ra, the vehicle control device 11 switches the planting clutch 5 from "on" to "off" and inputs a control signal to the lifting cylinder 32 to drive the lifting cylinder 32, thereby raising the work implement 14 from the working position H1 to the non-working position H2.

[0114] Next, in step S11, the vehicle control device 11 determines whether the work vehicle 10 has reached the travel end position G (see FIG. 3) in the field F. If the vehicle control device 11 determines that the work vehicle 10 has reached the travel end position G (S11: Yes), it ends the automatic travel processing. On the other hand, if the vehicle control device 11 determines that the work vehicle 10 has not reached the travel end position G (S11: No), it transitions the processing to step S3 and executes the above-mentioned processing again. Note that when the work vehicle 10 continues automatic travel and moves to the next work route Ra, the position of the work implement 14 is set to a non-work position H2, the planting clutch 5 is set to "disconnected," and the vehicle speed of the work vehicle 10 is set to a preset set vehicle speed. Therefore, the work vehicle 10 continues automatic travel with the work implement 14 raised (non-driven state) and at the set vehicle speed. The vehicle control device 11 repeatedly executes the processing of steps S3 to S10 until the work vehicle 10 reaches the travel end position G.

[0115] [Example 2 (see Figure 9)] The processing of steps S21 to S24 in the second embodiment is the same as the processing of steps S1 to S4 in the first embodiment (see FIG. 8).

[0116] In step S25, the vehicle control device 11 determines whether the work implement 14 has reached the work position H1. If the vehicle control device 11 determines that the work implement 14 has reached the work position H1 (time t21 in FIG. 6) (S25: Yes), it transitions the processing to step S26. The vehicle control device 11 waits until the work implement 14 reaches the work position H1 (S25: No). Furthermore, the vehicle control device 11 continues the automatic traveling of the work vehicle 10 until the work implement 14 reaches the work position H1.

[0117] In step S26, the vehicle control device 11 determines whether a predetermined time T3 has elapsed since the work implement 14 reached the work position H1. For example, the vehicle control device 11 starts measuring time when the work implement 14 reaches the work position H1, and determines that the predetermined time T3 has elapsed when the measured time reaches the predetermined time T3. When the vehicle control device 11 determines that the predetermined time T3 has elapsed since the work implement 14 reached the work position H1 (S26: Yes), it transitions the processing to step S27. The vehicle control device 11 waits until the predetermined time T3 has elapsed (S26: No). Furthermore, the vehicle control device 11 continues the automatic traveling of the work vehicle 10 until the predetermined time T3 has elapsed.

[0118] In step S27, the vehicle control device 11 switches the planting clutch 5 from "off" to "on" (time t22 in FIG. 6). For example, the vehicle control device 11 outputs a switching signal to switch the planting clutch 5 from "off" to "on."

[0119] Next, in step S28, the vehicle control device 11 determines whether or not a predetermined time T0 has elapsed. Specifically, the vehicle control device 11 starts measuring time when the planting clutch 5 is switched from "off" to "on," and determines that the predetermined time T0 has elapsed when the measured time reaches the predetermined time T0. When the vehicle control device 11 determines that the predetermined time T0 has elapsed (S28: Yes), it transitions the processing to step S29. The vehicle control device 11 waits until the predetermined time T0 has elapsed (S28: No). Furthermore, the vehicle control device 11 continues the automatic traveling of the work vehicle 10 until the predetermined time T0 has elapsed.

[0120] In step S29, the vehicle control device 11 causes the planting unit 34 to start the planting operation. This causes the planting operation to start when a predetermined time TO has elapsed since the planting clutch 5 was switched from "off" to "on" (time t4 in Figure 6). Once the planting operation has started, the vehicle control device 11 causes the work vehicle 10 to perform the planting operation while automatically traveling at a set vehicle speed (work vehicle speed) along the target route (work route Ra).

[0121] Next, in step S30, the vehicle control device 11 determines whether the work vehicle 10 has reached the work end position on the work route Ra. If the vehicle control device 11 determines that the work vehicle 10 has reached the work end position on the work route Ra (S30: Yes), the process proceeds to step S31. The vehicle control device 11 continues automatic travel and planting operations on the work route Ra until the work vehicle 10 reaches the work end position on the work route Ra (S30: No).

[0122] In step S31, the vehicle control device 11 raises the work implement 14 to the non-working position H2. Specifically, when the work vehicle 10 reaches the end of the work route Ra, the vehicle control device 11 switches the planting clutch 5 from "on" to "off" and inputs a control signal to the lifting cylinder 32 to drive the lifting cylinder 32, thereby raising the work implement 14 from the working position H1 to the non-working position H2.

[0123] Next, in step S32, the vehicle control device 11 determines whether the work vehicle 10 has reached the travel end position G (see FIG. 3) in the field F. If the vehicle control device 11 determines that the work vehicle 10 has reached the travel end position G (S32: Yes), it ends the automatic travel processing. On the other hand, if the vehicle control device 11 determines that the work vehicle 10 has not reached the travel end position G (S32: No), it transitions the processing to step S23 and executes the above-mentioned processing again. The vehicle control device 11 repeatedly executes the processing of steps S23 to S31 until the work vehicle 10 reaches the travel end position G.

[0124] As described above, the automatic driving system 1 of this embodiment automatically drives a work vehicle 10 equipped with a work implement 14 that can move between a non-work position H2 and a work position H1 along a target route R, causes the work implement 14 to start moving from the non-work position H2 toward the work position H1 at a position P1 that is a predetermined distance L1 before the work start position P0 on the target route R, and starts driving the work implement 14 after a predetermined time T1 (see Figure 5) has elapsed since the work implement 14 started moving, or after a predetermined time T3 (see Figure 6) has elapsed since the work implement 14 reached the work position H1.

[0125] According to the above configuration, when a condition for starting drive of the work implement 14 is satisfied, the timing for starting drive of the work implement 14 can be controlled based on the time elapsed from the point in time when the condition is satisfied (predetermined time T1 or T3). Therefore, compared to a configuration in which the timing for starting drive of the work implement 14 is controlled based on the travel distance from the point in time when the condition is satisfied, for example, the timing for starting drive of the work implement 14 can be more appropriately set by taking into account the travel time (lowering time) of the work implement 14, the time lag in the operation of the work implement 14, and other times. Therefore, it is possible to reduce variation in the position where work actually starts relative to the work start position, and to improve work accuracy.

[0126] [Other embodiments] The embodiments of the present invention are not limited to the above-described embodiments, and may be the following embodiments.

[0127] In another embodiment of the present invention, the vehicle control device 11 may fix the speed of the work vehicle 10 to a predetermined speed (set speed) from the time the work implement 14 starts moving until the work implement 14 starts operating (planting operation) (first case). Furthermore, the vehicle control device 11 may change (decrease or increase) the speed of the work vehicle 10 before and after the work implement 14 starts operating (before and after the work start position P0) (second case).

[0128] For example, FIG. 10 illustrates a method for controlling the vehicle speed Va corresponding to the first case and a method for controlling the vehicle speed Vb corresponding to the second case.

[0129] In the first case, the vehicle control device 11 fixes the vehicle speed Va to the non-working vehicle speed V2 from when the work implement 14 starts to descend (time t1) until the work implement 14 starts planting (the period from time t1 to T4). Furthermore, after the work implement 14 starts planting (time t4: after work start position P0), the vehicle control device 11 increases the non-working vehicle speed V2 to the working vehicle speed V1 at a fixed rate of change (increase rate). According to the first case, by suppressing changes in vehicle speed before work, it becomes easier to accurately align the actual work start position with the work start position P0.

[0130] In the second case, the vehicle control device 11 increases the vehicle speed Vb from the non-working vehicle speed V2 to the working vehicle speed V1 at a predetermined rate of change (increase rate) from when the work implement 14 starts descending (time t1) until the work implement 14 starts planting (the period from time t1 to time t4). Specifically, the vehicle control device 11 increases the vehicle speed Vb from the non-working vehicle speed V2 to the working vehicle speed V1 during the period from when the work implement 14 reaches the work position H1 (time t3) until when the planting operation starts (time t4) (the period from time t3 to time t4). According to the second case, the vehicle speed Vb is set to the working vehicle speed V1 when the planting operation starts (time t4: work start position P0), and can be maintained at a constant working vehicle speed V1 from the work start position to the work end position on the work path. This reduces work variation associated with changes in vehicle speed, improving work accuracy.

[0131] As described above, the vehicle control device 11 may switch the vehicle speed of the work vehicle 10 to the work vehicle speed V1 after the work vehicle 10 reaches the work start position P0 (the first case), or may switch the vehicle speed of the work vehicle 10 to the work vehicle speed V1 before the work vehicle 10 reaches the work start position P0 (the second case).

[0132] In the examples of Case 1 and Case 2, the non-working vehicle speed V2 is set to be slower than the working vehicle speed V1, but in another embodiment, the non-working vehicle speed V2 may be set to be faster than the working vehicle speed V1. In this case, the vehicle control device 11 reduces the vehicle speed from the non-working vehicle speed V2 to the working vehicle speed V1 at a predetermined rate of change (rate of decrease).

[0133] In another embodiment, the vehicle control device 11 may set the work vehicle speed V1 in response to an input operation by the operator. Also, a lower limit value (lower limit vehicle speed) and an upper limit value (upper limit vehicle speed) of the vehicle speed that the operator can set (input) may be set. This allows the operator to input a vehicle speed within the range from the lower limit vehicle speed to the upper limit vehicle speed, thereby preventing an unexpected work vehicle speed V1 from being set. Similarly, the vehicle control device 11 may set the non-work vehicle speed V2 in response to an input operation by the operator.

[0134] In each of the above embodiments, there are cases where the work vehicle 10 reaches the work start position P0 before the predetermined time (predetermined time T1 in FIG. 5, predetermined time T3 in FIG. 6) has elapsed. For example, if the work vehicle 10 travels at a speed faster than the set speed due to the influence of the conditions of the field F, it is possible that the work vehicle 10 will reach the work start position P0 before the predetermined time has elapsed. In this case, the work vehicle 10 will start traveling along the work path before the planting operation has begun because the work implement 14 is not yet ready to perform the work (planting operation).

[0135] Therefore, if the work vehicle 10 reaches the work start position P0 before the predetermined time has elapsed, the vehicle control device 11 stops the work vehicle 10 at the work start position P0, and resumes traveling of the work vehicle 10 after the work implement 14 reaches the work position H1 and starts to be driven. Specifically, the vehicle control device 11 resumes traveling of the work vehicle 10 after a predetermined time T0 has elapsed since the work implement 14 reached the work position H1 and started to be driven (the planting clutch 5 was engaged). This makes it possible to reliably start planting operations from the work start position P0. Similarly, if the work vehicle 10 reaches the work start position P0 before the work implement 14 has reached the work position H1, or if the work vehicle 10 reaches the work start position P0 before the work implement 14 has started driving, the same problem occurs where the work vehicle 10 starts traveling along the work path before the planting operation has begun.In this case as well, the vehicle control device 11 stops the work vehicle 10 at the work start position P0, and resumes traveling of the work vehicle 10 after the work implement 14 has reached the work position H1 and started driving the work implement 14.

[0136] In another embodiment, the vehicle control device 11 may reduce the vehicle speed of the work vehicle 10 to a vehicle speed slower than a preset work vehicle speed at a position a predetermined distance before the work start position P0. For example, as shown in FIG. 11 , in Example 2 corresponding to Case 2 described above, the vehicle control device 11 reduces the vehicle speed Vc from the work vehicle speed V1 at a position Pc after the work implement 14 has descended to the work position H1. Note that position Pc is a position a predetermined distance before the work start position P0. Thereafter, the vehicle control device 11 engages the planting clutch 5 when the vehicle speed Vc reaches the threshold value Vth (time t22). The vehicle control device 11 continues to reduce the vehicle speed Vc until the work start position P0 is reached, and then increases the vehicle speed Vc to the work vehicle speed V1 after the work start position P0 is reached. In other words, the vehicle control device 11 switches the vehicle speed of the work vehicle 140 to the preset work vehicle speed V1 after the work implement 14 reaches the work position H1 and starts driving. Vehicle speed V2 may be 0 m / s or greater. Furthermore, the vehicle speed during the period before position Pc (e.g., the period of predetermined time T2) may be lower than work vehicle speed V1 or may be higher than work vehicle speed V1. Furthermore, vehicle speed Vc may be maintained constant (e.g., at threshold value Vth) during predetermined time T0 from when planting clutch 5 is engaged (when driving begins) until planting operation begins.

[0137] According to the above configuration, by slowing down the speed of the work vehicle 10 at a position before the work start position P0, the work implement 14 can be driven to start the planting operation at the work start position P0 while the work vehicle 10 is in a low-speed or stopped state. In addition, slowing down the vehicle speed can reduce the effects of wheel slippage. Therefore, the planting operation can be started from an appropriate position, which improves work accuracy.

[0138] In each of the above-described embodiments, the vehicle control device 11 sets the timing (time t1) for starting the descent of the work implement 14 and the predetermined time T1 or T3 so that the planting operation starts at the work start position P0. However, in other embodiments, the vehicle control device 11 may set the timing (time t1) for starting the descent of the work implement 14 and the predetermined time T1 or T3 so that the planting operation starts at a position shorter than the work start position P0, or may set the timing (time t1) for starting the descent of the work implement 14 and the predetermined time T1 or T3 so that the planting operation starts at a position further ahead than the work start position P0. The vehicle control device 11 may determine the start position of the planting operation based on the type of work, the operator's requests, etc., and set the timing (time t1) for starting the descent of the work implement 14 and the predetermined time T1 or T3 according to the determined start position.

[0139] In the above-described embodiments, planting work has been given as an example of work performed by the work implement 14, but the work of the present invention is not limited to planting work and may also be fertilizing work, spraying work, etc. In the case of fertilizing work, the on / off of the planting clutch 5 described above can be replaced with the on / off of a fertilizer applicator, and in the case of spraying work, the on / off of the planting clutch 5 described above can be replaced with the on / off of a sprayer.

[0140] Here, in a spraying operation, for example, if the spraying start timing is set later than the work start position P0, it is possible to prevent the same place from being sprayed twice. Also, for example, if the spraying start timing is set earlier than the work start position P0, it is possible to make it less likely that an unsprayed area will occur.

[0141] In another embodiment of the present invention, the vehicle control device 11 may be configured to allow the operator to set the timing for starting the planting operation. For example, the operation control unit 21 of the operation terminal 20 displays selection buttons for "slow," "normal," and "early" regarding the timing for starting the planting operation on the setting screen D2 shown in FIG. 12. For example, if the operator selects "slow," the vehicle control device 11 sets the timing for starting the descent of the work implement 14 (time t1) and the predetermined time T1 or T3 so that the start timing of the planting operation is delayed, i.e., so that the planting operation starts further in the traveling direction than the work start position P0. On the other hand, if the operator selects "early," the vehicle control device 11 sets the timing for starting the descent of the work implement 14 (time t1) and the predetermined time T1 or T3 so that the start timing of the planting operation is accelerated, i.e., so that the planting operation starts before the work start position P0. Furthermore, if the operator selects "normal," the vehicle control device 11 sets the timing (time t1) for starting the descent of the work implement 14 and the predetermined time T1 or T3 so that the planting operation starts near the work start position P0.

[0142] In another embodiment of the present invention, when the operator sets the operation terminal 20 to a mode that prioritizes work accuracy (work accuracy priority mode), the vehicle control device 11 may set the timing to start the planting operation to the timing to start the descent of the work implement 14 and the predetermined time T1 or T3 corresponding to the ``slow'' or ``normal'' mode, and when the operator sets the operation terminal 20 to a mode that prioritizes work efficiency (workability priority mode), the vehicle control device 11 may set the timing to start the planting operation to the timing to start the descent of the work implement 14 and the predetermined time T1 or T3 corresponding to the ``fast'' mode.

[0143] In the above-described embodiment, the work vehicle 10 alone corresponds to the automated driving system according to the present invention, but the automated driving system according to the present invention may also be configured to include the work vehicle 10 and the operation terminal 20. Furthermore, each function of the vehicle control device 11 may be included in a server capable of communicating with the work vehicle 10.

[0144] [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.

[0145] <Appendix 1> automatically traveling a work vehicle equipped with a work implement that is movable between a non-work position and a work position along a target route; starting to move the work machine from the non-work position toward the work position at a position a predetermined distance before a work start position on the target route; starting the driving of the work machine after a predetermined time has elapsed since the work machine started to move or after a predetermined time has elapsed since the work machine reached the work position; An automated driving method that performs the above.

[0146] <Appendix 2> driving the work machine while the work machine is moving from the non-work position to the work position, and starting work by the work machine after the work machine has reached the work position; 1. The automated driving method according to claim 1.

[0147] <Appendix 3> After the working machine reaches the working position, driving of the working machine is started. 10. The automated driving method according to claim 1 or 2.

[0148] <Appendix 4> The predetermined time is set in response to an input operation by a user. 4. The automatic driving method according to any one of appendices 1 to 3.

[0149] <Appendix 5> The predetermined time is set based on a required time required for the working machine to move from the non-working position to the working position. 4. The automatic driving method according to any one of appendices 1 to 3.

[0150] <Appendix 6> setting the predetermined distance in response to an input operation by a user; 6. An automatic driving method according to any one of appendices 1 to 5.

[0151] <Appendix 7> The predetermined distance is set based on a required time required for the working machine to move from the non-working position to the working position and a required time required from when the working machine starts to be driven until when the working machine starts to work. 6. An automatic driving method according to any one of appendices 1 to 5.

[0152] <Appendix 8> The speed of the work vehicle is fixed at a predetermined speed from when the work machine starts to move until work by the work machine starts, or the speed of the work vehicle is changed before and after work by the work machine starts. An automatic driving method according to any one of appendices 1 to 7.

[0153] <Appendix 9> If the work vehicle reaches the work start position before the predetermined time has elapsed, the work vehicle is stopped; After the work implement reaches the work position and the drive of the work implement starts, the work vehicle resumes traveling. An automatic driving method according to any one of appendices 1 to 8.

[0154] <Appendix 10> After the work vehicle has reached the work start position, the speed of the work vehicle is switched to a preset work vehicle speed. An automatic driving method according to any one of appendices 1 to 9.

[0155] <Appendix 11> setting the work vehicle speed in response to an input operation by a user; 11. The automated driving method according to claim 10.

[0156] <Appendix 12> At a position the predetermined distance before the work start position, the speed of the work vehicle is reduced to a speed slower than a preset work vehicle speed. An automatic driving method according to any one of appendices 1 to 11.

[0157] <Appendix 13> After the work machine reaches the work position and starts to drive, the speed of the work vehicle is switched to a preset work vehicle speed. An automatic driving method according to any one of appendices 1 to 12. [Explanation of symbols]

[0158] 1:Automated driving system 10: Work vehicle 11: Vehicle control device 12: Storage section 13: Body 14: Work equipment 15: Communications Department 16: Positioning unit 17: Obstacle detection unit 20: Operation terminal 21: Operation control section 34: Planting unit 37: PTO shaft 5: Planting clutch (work clutch) 111: Driving processing unit 112: Lifting processing section 113: Vehicle speed control processing unit 114: Drive processing unit D1: Menu screen D2: Setting screen F: Field S: Travel start position G: End position of travel H1: Working position H2: Non-working position P0: Work start position R: Target route T0: Predetermined time (time lag) T1: Predetermined time T2: Predetermined time T3: Predetermined time

Claims

1. automatically traveling a work vehicle equipped with a work implement that is movable between a non-work position and a work position along a target route; starting to move the work machine from the non-work position toward the work position at a position a predetermined distance before a work start position on the target route; starting the driving of the work machine after a predetermined time has elapsed since the work machine started to move or after a predetermined time has elapsed since the work machine reached the work position; An automated driving method that performs the above.

2. driving the work machine while the work machine is moving from the non-work position to the work position, and starting work by the work machine after the work machine has reached the work position; The automatic driving method according to claim 1 .

3. After the working machine reaches the working position, driving of the working machine is started. The automatic driving method according to claim 1 .

4. The predetermined time is set in response to an input operation by a user. The automatic driving method according to any one of claims 1 to 3.

5. The predetermined time is set based on a required time required for the working machine to move from the non-working position to the working position. The automatic driving method according to any one of claims 1 to 3.

6. setting the predetermined distance in response to an input operation by a user; The automatic driving method according to any one of claims 1 to 3.

7. The predetermined distance is set based on a required time required for the working machine to move from the non-working position to the working position and a required time required from when the working machine starts to be driven until when the working machine starts to work. The automatic driving method according to any one of claims 1 to 3.

8. The speed of the work vehicle is fixed at a predetermined speed from when the work machine starts to move until work by the work machine starts, or the speed of the work vehicle is changed before and after work by the work machine starts. The automatic driving method according to any one of claims 1 to 3.

9. If the work vehicle reaches the work start position before the predetermined time has elapsed, if the work vehicle reaches the work start position without the work implement having reached the work position, or if the work vehicle reaches the work start position without the work implement having started to drive, the work vehicle is stopped, After the work implement reaches the work position and the drive of the work implement starts, the work vehicle resumes traveling. The automatic driving method according to any one of claims 1 to 3.

10. After the work vehicle has reached the work start position, the speed of the work vehicle is switched to a preset work vehicle speed. The automatic driving method according to any one of claims 1 to 3.

11. setting the work vehicle speed in response to an input operation by a user; The automatic driving method according to claim 10.

12. At a position the predetermined distance before the work start position, the speed of the work vehicle is reduced to a speed slower than a preset work vehicle speed. The automatic driving method according to any one of claims 1 to 3.

13. After the work machine reaches the work position and starts to drive, the speed of the work vehicle is switched to a preset work vehicle speed. The automatic driving method according to any one of claims 1 to 3.

14. automatically traveling a work vehicle equipped with a work implement that is movable between a non-work position and a work position along a target route; starting to move the work machine from the non-work position toward the work position at a position a predetermined distance before a work start position on the target route; starting the driving of the work machine after a predetermined time has elapsed since the work machine started to move or after a predetermined time has elapsed since the work machine reached the work position; An automated driving program for executing the above on one or more processors.

15. a driving processing unit that automatically drives a work vehicle equipped with a work implement that can move between a non-work position and a work position along a target route; a lifting / lowering processing unit that starts moving the work machine from the non-work position toward the work position at a position a predetermined distance before a work start position on the target route; a drive processing unit that starts driving the work machine after a predetermined time has elapsed since the work machine started to move or after a predetermined time has elapsed since the work machine reached the work position; An autonomous driving system equipped with

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