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 move from the non-work position toward the work position at a position a first prescribed distance before the work start position on the target path. A vehicle speed control processing unit 113 decelerates the work vehicle 10 to a vehicle speed slower than the set vehicle speed at a position by a second prescribed distance before the work start position. A drive processing unit 114 starts the drive of the work machine 14 at the work start position or at a position on the traveling direction side of the work start 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 implement that can move between a non-work position and a work position along a target route, moving the work implement from the non-work position to the work position at a position on the target route that is a first predetermined distance before the work start position, slowing down the speed of the work vehicle to a speed slower than a predetermined set speed at a position that is a second predetermined distance before the work start position, and starting to drive the work implement at the work start position or a position further in the direction of travel than the work start position.

[0007] In addition, the automatic driving method of the present invention automatically drives a work vehicle equipped with a work machine that can move between a non-work position and a work position along a target route, decelerates the speed of the work vehicle to a speed slower than a predetermined set speed at a position on the target route a predetermined distance before the work start position, and when the vehicle speed after deceleration reaches a threshold value, engages a work clutch that transmits power to the work machine, thereby starting operation of the work machine after a predetermined time has elapsed from that point.

[0008] In addition, the automatic driving program of the present invention is a program that causes one or more processors to automatically drive a work vehicle equipped with a work implement that can move between a non-work position and a work position along a target route; move the work implement from the non-work position to the work position at a position a first predetermined distance before the work start position on the target route; slow down the speed of the work vehicle to a speed slower than a predetermined set speed at a position a second predetermined distance before the work start position; and start driving the work implement at the work start position or a position further in the direction of travel than the work start position.

[0009] The automated driving system according to the present invention includes a driving processing unit, a lifting / lowering processing unit, a vehicle speed control processing unit, and a drive processing unit. The driving processing unit automatically drives a work vehicle equipped with a work implement movable between a non-working position and a working position along a target route. The lifting / lowering processing unit moves the work implement from the non-working position to the working position at a position on the target route that is a first predetermined distance before the work start position. The vehicle speed control processing unit decelerates the speed of the work vehicle to a speed slower than a preset set speed at a position that is a second predetermined distance before the work start position. The drive processing unit starts driving the work implement at the work start position or at a position further in the traveling direction than the work start position. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide an automatic driving method, an automatic driving program, and an automatic driving system that can improve the work accuracy of a work vehicle that performs work while automatically driving. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. [Figure 2A] FIG. 2A is a side view showing an example of a work vehicle (rice transplanter) according to an embodiment of the present invention. [Figure 2B] FIG. 2B is a top view showing an example of the work vehicle (rice transplanter) according to an embodiment of the present invention. [Figure 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 another example of the operation timing of each process executed in the work vehicle according to the embodiment of the present invention. [Figure 8] FIG. 8 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 9] FIG. 9 is a diagram showing an example of a menu screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 10] FIG. 10 is a flowchart showing an example of the procedure of the automatic driving process executed by the automatic driving system according to the embodiment of the present invention. [Figure 11] FIG. 11 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

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

[0013] 1, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN.

[0014] 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.

[0015] 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.

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

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

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

[0019] 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.

[0020] [Work vehicle 10] 1, 2A, and 2B, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a vehicle body unit 13, a work implement 14, a communication unit 15, a positioning unit 16, an obstacle detection unit 17, 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.

[0021] 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.

[0022] An engine (drive unit) 131 is disposed inside a hood 134 disposed at the front of the vehicle body 13. Power generated by the engine 131 is transmitted to front wheels 132 and rear wheels 133 via a transmission case 135. The power transmitted via the transmission case 135 is also transmitted to the work implement 14 via a PTO shaft 37 disposed at the rear of the vehicle body 13. The PTO shaft 37 is configured to transmit power via a planting clutch 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.

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

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0037] 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.

[0038] 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.

[0039] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute the automatic driving process (see FIG. 10 ), which will be described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. The storage unit 12 may also store route data for a target route R generated in the operation terminal 20.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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 lowers the work implement 14 from the non-working position to the working position at a position that is a first 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), it maintains the work implement 14 in the non-working position and performs automatic traveling. Thereafter, when the work vehicle 10 reaches a position P1 that is a first predetermined distance 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.

[0048] 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 an 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.

[0049] Furthermore, the vehicle speed control processing unit 113 changes the set vehicle speed of the work vehicle 10 based on the work start position on the target route R. Specifically, the vehicle speed control processing unit 113 reduces the vehicle speed of the work vehicle 10 to a speed slower than the preset set vehicle speed at a position a second predetermined distance before the work start position. For example, as shown in FIG. 4, the work vehicle 10 is automatically traveling at a set vehicle speed for straight-line travel with the work implement 14 maintained in the work position (see FIG. 4(b)). When the work vehicle 10 subsequently reaches a position P2 on the work route Ra that is a second predetermined distance before the work start position P0 (see FIG. 4(c)), the vehicle speed control processing unit 113 reduces the vehicle speed of the work vehicle 10 to a speed slower than the set vehicle speed. This allows the work vehicle 10 to level the rice field surface using the floats 36 while traveling at a low speed. At this point, the drive of the work implement 14 is still stopped, so no planting operation is performed. When the vehicle speed control processing unit 113 reduces the vehicle speed to 0 m / s, the work vehicle 10 stops. The vehicle speed control processing unit 113 may reduce the vehicle speed continuously (steplessly) or stepwise from the set vehicle speed.

[0050] As described above, by adopting a configuration in which the vehicle speed is reduced after the work implement 14 has descended to the work position, i.e., a configuration in which the distance from work start position P0 to position P1 (first predetermined distance of the present invention) is made longer than the distance from work start position P0 to position P2 (second predetermined distance of the present invention), the posture of the work implement 14 does not change while the work vehicle 10 is decelerating, thereby improving the traveling stability of the work vehicle 10. Note that, in another embodiment, the vehicle speed control processing unit 113 may reduce the vehicle speed while the work implement 14 is in a non-working position. In other words, the work implement 14 may start to be lowered after the work vehicle 10 has started to decelerate its speed. In this case, however, it is desirable to ensure a long deceleration period in consideration of the traveling stability of the work vehicle 10. In another embodiment, the timing at which the work vehicle 10 starts to decelerate its speed may be matched with the timing at which the work implement 14 starts to be lowered.

[0051] 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.

[0052] The drive processing unit 114 also starts driving the work implement 14 at 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).

[0053] 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.

[0054] Here, a predetermined time T0 (time lag) is required from when the planting clutch 5 is switched from "off" to "on" until the work implement 14 (planting unit 34) starts to operate. 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.

[0055] In this embodiment, the drive processing unit 114 starts driving the work implement 14 a predetermined time T0 (time lag) after engaging the planting clutch 5. Therefore, in order to start driving (planting operation) when the planting unit 34 reaches the work start position P0, the drive processing unit 114 simply engages the planting clutch 5 a predetermined time T0 before the planting unit 34 reaches the work start position P0. However, if the soil is not in good condition, for example, the wheels of the work vehicle 10 may slip, preventing the work vehicle 10 from traveling the intended distance. If such slippage occurs, for example, the planting unit 34 may not reach the work start position P0 after the predetermined time T0 has elapsed, resulting in the planting operation starting before the work start position P0.

[0056] The degree of slippage (slip ratio) correlates with vehicle speed, and the faster the vehicle speed, the more likely slippage occurs and the shorter the travel distance, while the slower the vehicle speed, the less likely slippage occurs and the longer the travel distance. Therefore, it is possible to calculate the travel distance of the work vehicle 10 from the slip ratio based on the vehicle speed.

[0057] Therefore, the drive processing unit 114 engages the planting clutch 5 at a first time point when the vehicle speed after deceleration reaches a threshold value Vth, thereby starting the drive of the work implement 14 after a predetermined time T0 has elapsed from the first time point. For example, when the vehicle speed of the work vehicle 10 is gradually decelerated from the set vehicle speed from position P2 and reaches a certain speed (threshold value Vth), the drive processing unit 114 engages the planting clutch 5. When the planting clutch 5 switches from "off" to "on," it enters a transmission state in which power is transmitted to the PTO shaft 37, and after a predetermined time T0 (time lag) has elapsed, the drive processing unit 114 starts driving the work implement 14 (planting unit 34). In addition, the drive processing unit 114 sets the threshold value Vth based on the predetermined time T0. For example, the drive processing unit 114 sets the threshold value Vth so that the position of the work vehicle 10 after the predetermined time T0 has elapsed coincides with the work start position P0 or is within a predetermined range from the work start position P0.

[0058] In another embodiment, the drive processing unit 114 may set the threshold value Vth in accordance with a setting operation by an operator. The drive processing unit 114 may set a lower limit value and an upper limit value of the threshold value Vth that can be set by an operator. For example, the lower limit value and the upper limit value may be set in accordance with a predetermined time T0. The setting operation of the threshold value Vth may be permitted to an unspecified number of users, or may be permitted only to predetermined users who have operation authority.

[0059] FIG. 5 shows an example of the control timing of each processing unit of the vehicle control device 11. For example, when the work vehicle 10 starts autonomous driving and travels straight toward the work route Ra and reaches position P1 (see FIG. 4(b)), the lifting / lowering processing unit 112 lowers the work implement 14 from the non-work position H2 to the work position H1. When the work implement 14 moves to the work position H1, the float 36 comes into contact with the ground. Thereafter, when the work vehicle 10 continues autonomous driving while leveling the ground with the float 36 and reaches position P2 (see FIG. 4(c)), the vehicle speed control processing unit 113 decelerates the set vehicle speed V1 for straight driving (e.g., 1.8 m / s). For example, the vehicle speed control processing unit 113 gradually decelerates the set vehicle speed V1 until the vehicle speed becomes 0 m / s. The vehicle speed control processing unit 113 also decelerates the set vehicle speed V1 so that the vehicle speed becomes 0 m / s at the work start position P0. The vehicle speed control processing unit 113 may set the acceleration during deceleration (the gradient of the straight line from the set vehicle speed V1 to the vehicle speed of 0 m / s in FIG. 5) based on the magnitude of the set vehicle speed V1.

[0060] When the work vehicle 10 decelerates from the set vehicle speed V1 and the vehicle speed reaches the threshold value Vth, the drive processing unit 114 engages the planting clutch 5. This transmits power to the work implement 14 via the PTO shaft 37. A predetermined time TO (time lag) is required from when the planting clutch 5 is switched from "off" to "on" until the work implement 14 starts to drive (the planting operation starts). Therefore, when the predetermined time TO has elapsed since the vehicle speed of the work vehicle 10 reached the threshold value Vth and the drive processing unit 114 engaged the planting clutch 5, the work implement 14 starts to drive and the planting operation begins.

[0061] Furthermore, in the above configuration, the timing (threshold Vth) for engaging the planting clutch 5 is adjusted so that the planting unit 34 reaches the work start position P0 when a predetermined time T0 has elapsed since the planting clutch 5 was switched from "off" to "on" (see (d) in FIG. 4). Here, if the threshold Vth is set to a high vehicle speed, wheel slippage is more likely to occur, and the distance traveled by the work vehicle 10 during the predetermined time T0 becomes shorter than the expected distance. As a result, as shown in FIG. 6, planting operation is more likely to start before the work start position P0. On the other hand, if the threshold Vth is set to a low vehicle speed, wheel slippage is less likely to occur, and the distance traveled by the work vehicle 10 during the predetermined time T0 approaches the expected distance. This makes it possible to start planting operation from or near the work start position P0. Therefore, it is desirable to set the threshold Vth to a small value (for example, a vehicle speed approximately one-third of the set vehicle speed V1). In this way, the drive processing unit 114 may set the threshold Vth based on the set vehicle speed V1. That is, the drive processing unit 114 may set the threshold value Vth based on at least one of the set vehicle speed V1 and the predetermined time T0.

[0062] If the threshold value Vth is too small, the planting unit 34 will be more likely to deviate from the work start position P0 in the direction of travel after the predetermined time T0 has elapsed (see FIG. 7), so the threshold value Vth may be set to a value greater than 0 m / s. Also, if planting operation is permitted to start from the work start position P0 in the direction of travel, the threshold value Vth may be set to approximately 0 m / s.

[0063] In this way, in this embodiment, the drive (planting operation) of the work implement 14 may be started at the work start position P0 or at a position further forward in the traveling direction than the work start position P0. This allows the seedlings to be planted from an appropriate position and also reduces the waste of seedlings.

[0064] In another embodiment, when the vehicle speed reaches 0 m / s at the work start position P0 and the work vehicle 10 stops, the work vehicle 10 may be stopped at the work start position P0 until a predetermined time T0 has elapsed. This makes it possible to reliably start the planting operation at the work start position P0. Note that, because work efficiency decreases if the work vehicle 10 remains stopped for a long period of time, an upper limit may be set on the stop time. Also, for example, when the operator sets the operation terminal 20 to a mode that prioritizes work accuracy (work accuracy priority mode), a stop time may be set and processing may be executed to stop the work vehicle 10 at the work start position P0 until the predetermined time T0 has elapsed. However, when the operator sets the operation terminal 20 to a mode that prioritizes work efficiency (workability priority mode), processing may be executed without setting the stop time (resuming travel immediately after stopping at the work start position P0, or not stopping at the work start position P0 (see FIG. 8)).

[0065] After the planting operation has begun, the vehicle speed control processing unit 113 gradually increases the vehicle speed of the work vehicle 10 until it reaches the set vehicle speed V1. The vehicle speed control processing unit 113 may set the acceleration during acceleration (the slope of the line from a vehicle speed of 0 m / s to the set vehicle speed V1 in FIG. 5) based on the magnitude of the set vehicle speed V1. The vehicle speed control processing unit 113 may set the acceleration during acceleration to be the same as or different from the acceleration during deceleration. In this way, after the planting operation has begun, the vehicle speed control processing unit 113 sets the vehicle speed for a section of a predetermined distance from the work start position P0 in the direction of travel to be equal to or lower than the threshold value Vth, and after the work vehicle 10 has traveled through that section, the vehicle speed is increased continuously or in stages to the set vehicle speed V1 (see FIG. 5).

[0066] FIG. 8 shows another example of the control timing of each processing unit. In the example shown in FIG. 8, the work vehicle 10 continues autonomous driving without stopping at the work start position P0. Specifically, when the work vehicle 10 continues autonomous driving and reaches position P2 with the work implement 14 lowered to work position H1 (see FIG. 4(c)), the vehicle speed control processing unit 113 gradually decelerates the set vehicle speed V1 for straight-line driving (e.g., 1.8 m / s) until it reaches the threshold value Vth, and continues autonomous driving while maintaining the vehicle speed at the threshold value Vth. Furthermore, when the vehicle speed of the work vehicle 10 reaches the threshold value Vth, the drive processing unit 114 engages the planting clutch 5. As a result, when a predetermined time T0 has elapsed since the drive processing unit 114 engaged the planting clutch 5, the work implement 14 begins to be driven and the planting operation begins.

[0067] According to the example shown in FIG. 8, the work vehicle 10 continues traveling without stopping, thereby improving work efficiency. In the example shown in FIG. 8, the drive processing unit 114 switches the planting clutch 5 from "off" to "on" when the vehicle speed reaches the threshold Vth. However, in another embodiment, the drive processing unit 114 may switch the planting clutch 5 from "off" to "on" a predetermined time after the vehicle speed reaches the threshold Vth. This maintains a constant vehicle speed of the work vehicle 10 after the planting clutch 5 is engaged, thereby reducing fluctuations in the travel distance due to slippage while the work vehicle 10 is traveling during the predetermined time T0. This makes it easier to align the start position of the planting operation with the work start position P0.

[0068] In the example shown in FIG. 8, after the planting operation starts, the vehicle speed control processing unit 113 maintains the vehicle speed of the work vehicle 10 at the threshold value Vth for a predetermined time, and then gradually increases the vehicle speed to the set vehicle speed V1 after the predetermined time has elapsed. As a result, the work vehicle 10 travels a certain distance while performing the planting operation before increasing its speed, thereby improving work accuracy and driving stability. In this way, after the planting operation starts, the vehicle speed control processing unit 113 sets the vehicle speed for a predetermined distance from the work start position P0 in the traveling direction to the threshold value Vth, and after the work vehicle 10 has traveled this distance, the vehicle speed is increased continuously or in stages to the set vehicle speed V1 (see FIG. 8). Note that in the example shown in FIG. 8, the minimum vehicle speed is set to the threshold value Vth, but in other embodiments, the minimum speed may be set to a speed faster than 0 m / s but slower than the threshold value Vth.

[0069] In each of the above configurations, the vehicle control device 11 may determine the distance from the work start position P0 to position P2 (the second predetermined distance of the present invention), i.e., the position at which deceleration of the set vehicle speed V1 begins, based on, for example, a predetermined time T0 (time lag). Specifically, the vehicle control device 11 sets the distance (second predetermined distance) longer as the predetermined time T0 becomes longer, and sets the distance shorter as the predetermined time T0 becomes shorter.

[0070] [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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.).

[0081] 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.

[0082] 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.

[0083] 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.

[0084] For example, the setting processing unit 211 causes the operation display unit 23 to display the menu screen D1 shown in Fig. 9. The worker selects, for example, "Work machine registration" on the menu screen D1 to register work machine information related to the work machine 14.

[0085] 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.

[0086] 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).

[0087] 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.

[0088] 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.

[0089] Furthermore, the setting processing unit 211 sets the vehicle speed during straight traveling and cornering in accordance with, for example, a setting operation by the operator. For example, the operator sets a set vehicle speed V1 for straight traveling (see FIG. 5, etc.). The setting processing unit 211 may set 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. 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 the operator can set for the vehicle speed after deceleration (for example, a threshold value Vth, a vehicle speed equal to or less than the threshold value Vth, etc.). This allows the operator to set the vehicle speed within a range from the lower limit vehicle speed to the upper limit vehicle speed, thereby preventing an unexpected vehicle speed from being set.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the automatic driving system 1 will be described with reference to FIG.

[0097] 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.

[0098] 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).

[0099] 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).

[0100] 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 V1). Therefore, the work vehicle 10 starts automatic traveling with the work implement 14 raised (non-driven state) and at the set speed V1.

[0101] 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 first predetermined distance 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 V1 until the work vehicle 10 reaches position P1.

[0102] In step S4, the vehicle control device 11 lowers the work implement 14 to the working position H1 (see (b) of FIG. 4). Specifically, when the work vehicle 10 reaches position P1, the vehicle control device 11 inputs a control signal to the lift cylinder 32 to drive the lift cylinder 32, thereby lowering the work implement 14 from the non-working position H2 to the working position H1 (see FIG. 5).

[0103] Next, in step S5, the vehicle control device 11 determines whether the work vehicle 10 has reached position P2 (see (c) of Figure 4), which is a second predetermined distance 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 P2 (S5: Yes), it transitions the processing to step S6. The vehicle control device 11 waits until the work vehicle 10 reaches position P2 (S5: No). The vehicle control device 11 continues automatic traveling with the work implement 14 lowered at the set vehicle speed V1 until the work vehicle 10 reaches position P2. By traveling with the work implement 14 lowered, the float 36 can level the rice field surface.

[0104] In step S6, the vehicle control device 11 reduces the vehicle speed of the work vehicle 10. Specifically, the vehicle control device 11 reduces the vehicle speed of the work vehicle 10 continuously (steplessly) or stepwise from the set vehicle speed V1. The vehicle control device 11 may reduce the set vehicle speed V1 to a vehicle speed of 0 m / s (see FIG. 5), or may reduce the vehicle speed to a predetermined vehicle speed (for example, a threshold value Vth) (see FIG. 8). The vehicle control device 11 also controls the vehicle speed so that the vehicle speed is equal to or less than the threshold value Vth at the work start position P0, or so that the work vehicle 10 stops at the work start position P0.

[0105] Next, in step S7, the vehicle control device 11 determines whether the vehicle speed of the work vehicle 10 has reached the threshold value Vth. If the vehicle control device 11 determines that the vehicle speed of the work vehicle 10 has reached the threshold value Vth (S7: Yes), the process proceeds to step S8. The vehicle control device 11 waits until the vehicle speed of the work vehicle 10 reaches the threshold value Vth (S7: No). The vehicle control device 11 continues automatic driving while decelerating the vehicle speed until the vehicle speed of the work vehicle 10 reaches the threshold value Vth.

[0106] In step S8, the vehicle control device 11 switches the planting clutch 5 from "off" to "on" (see FIG. 5). For example, the vehicle control device 11 outputs a switching signal to switch the planting clutch 5 from "off" to "on."

[0107] Next, in step S9, 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 (S9: Yes), it transitions the processing to step S10. The vehicle control device 11 waits until the predetermined time T0 has elapsed (S9: No). The vehicle control device 11 continues the automatic traveling of the work vehicle 10 until the predetermined time T0 has elapsed (see FIGS. 5 and 8).

[0108] In step S10, the vehicle control device 11 starts the planting operation of the planting unit 34. As a result, the planting operation starts when a predetermined time T0 has elapsed since the planting clutch 5 was switched from "off" to "on" (see Figures 5 and 8).

[0109] Next, in step S11, the vehicle control device 11 increases the vehicle speed of the work vehicle 10. Specifically, the vehicle control device 11 increases the vehicle speed of the work vehicle 10 continuously (steplessly) or stepwise to a set vehicle speed V1 (see FIGS. 5 and 8).

[0110] Next, in step S12, 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 (S12: Yes), the process proceeds to step S13. The vehicle control device 11 continues automatic travel and planting work on the work route Ra until the work vehicle 10 reaches the work end position on the work route Ra (S12: No).

[0111] In step S13, 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.

[0112] Next, in step S14, 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 (S14: 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 (S14: 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 vehicle speed (set vehicle speed V1). Therefore, the work vehicle 10 continues automatic travel with the work implement 14 raised (non-driven state) and at the set vehicle speed V1. The vehicle control device 11 repeatedly executes the processing of steps S3 to S13 until the work vehicle 10 reaches the travel end position G.

[0113] 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, moves the work implement 14 from the non-work position H2 to the work position H1 at a position P1 that is a first predetermined distance before the work start position P0 on the target route R, reduces the vehicle speed of the work vehicle 10 to a vehicle speed slower than the set vehicle speed V1 at a position P2 that is a second predetermined distance before the work start position P0, and starts driving the work implement 14 at the work start position P0 or a position further in the direction of travel than the work start position P0.

[0114] 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 while the work vehicle 10 is at a low speed or stopped, and the planting operation can be started at the work start position P0 or a position further in the travel direction than the work start position P0. In addition, by slowing down the vehicle speed, the effects of wheel slippage can be reduced. Therefore, the planting operation can be started from an appropriate position, which improves work accuracy.

[0115] Furthermore, by lowering the work implement 14 to the work position at a position before the work start position P0, it is possible to stabilize the longitudinal balance of the work vehicle 10. This improves driving stability, reduces the effects of wheel slippage, and allows planting operations to begin from an appropriate position.

[0116] In addition, the automatic driving system 1 according to this embodiment automatically drives the work vehicle 10 along the target route R, decelerates the vehicle speed of the work vehicle 10 to a vehicle speed slower than a preset set vehicle speed V1 at a position P1 a predetermined distance before the work start position P0 on the target route R, and when the vehicle speed after deceleration reaches a threshold value Vth, engages a work clutch (planting clutch 5) that transmits power to the work implement 14, thereby starting operation of the work implement 14 after a predetermined time T0 has elapsed from that point.

[0117] In this way, by engaging the work clutch after slowing down the speed of the work vehicle 10, fluctuations due to wheel slip can be suppressed in the time lag (predetermined time T0) until the work implement 14 starts operating, making it possible to start the planting operation from an appropriate position.

[0118] [Other embodiments] The embodiments of the present invention are not limited to the above-described embodiments, and may be the following embodiments.

[0119] In another embodiment of the present invention, the vehicle control device 11 may set the distance from the work start position P0 to position P2 (the second predetermined distance of the present invention), i.e., the position at which deceleration of the set vehicle speed V1 begins, in response to an operation by the operator. For example, when the operator inputs the distance (second predetermined distance) at the operation terminal 20, the vehicle control device 11 sets the input distance as the timing for decelerating the vehicle speed. Note that the operation terminal 20 or the vehicle control device 11 may set a lower limit (lower limit distance) and an upper limit (upper limit distance) of the distance that the operator can input. For example, the lower limit is set according to a predetermined time T0. Note that the input operation of the distance (second predetermined distance) may be permitted to an unspecified number of users, or may be permitted only to predetermined users who have operation authority.

[0120] 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 "fast" regarding the timing for starting the planting operation on the setting screen D2 shown in FIG. 11. For example, if the operator selects "slow," the vehicle control device 11 sets the threshold value Vth to a small value (e.g., less than approximately 1 / 3 of the set vehicle speed V1) so that the planting operation starts later, i.e., closer to the work start position P0 in the traveling direction. If the operator selects "fast," the vehicle control device 11 sets the threshold value Vth to a large value (e.g., in the range of approximately 1 / 3 to approximately 2 / 3 of the set vehicle speed V1) so that the planting operation starts earlier, i.e., closer to the work start position P0. If the operator selects "normal," the vehicle control device 11 sets the threshold value Vth to, for example, approximately 1 / 3 of the set vehicle speed V1 so that the planting operation starts near the work start position P0. In another embodiment, the operator may be able to input the threshold value Vth. For example, the threshold value Vth (e.g., 0.6 m / s) corresponding to the "normal" level may be displayed as a default value on the setting screen, and the operator may be able to change the default value on the setting screen.

[0121] In another embodiment of the present invention, the vehicle control device 11 may set the timing for starting the planting operation to a threshold value Vth corresponding to the "slow" or "normal" when the operator sets the operation terminal 20 to a mode that prioritizes work accuracy (work accuracy priority mode), and may set the timing for starting the planting operation to a threshold value Vth corresponding to the "early" when the operator sets the operation terminal 20 to a mode that prioritizes work efficiency (workability priority mode).

[0122] 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.

[0123] [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.

[0124] <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; moving the work machine from the non-work position to the work position at a position a first predetermined distance before a work start position on the target route; decelerating the speed of the work vehicle to a speed slower than a set speed at a position a second predetermined distance before the work start position; starting the driving of the work machine at the work start position or at a position on the side of the work start position in a traveling direction; An automated driving method that performs the above.

[0125] <Appendix 2> the work machine is provided on the work vehicle via a work clutch that transmits power to the work machine, By engaging the work clutch at a first time point when the vehicle speed after deceleration reaches a threshold value, driving of the work machine is started after a predetermined time has elapsed from the first time point. 1. The automated driving method according to claim 1.

[0126] <Appendix 3> setting the threshold value based on the set vehicle speed; 2. The automated driving method described in Appendix 2.

[0127] <Appendix 4> the predetermined time period includes a structural delay time from when the work clutch engages until when the work machine starts to be driven, The threshold value is set based on at least one of the set vehicle speed and the predetermined time period. 4. The automated driving method according to claim 2 or 3.

[0128] <Appendix 5> The first predetermined distance is set to be longer than the second predetermined distance. 5. The automatic driving method according to any one of appendices 1 to 4.

[0129] <Appendix 6> Controlling the work vehicle so that the vehicle speed is equal to or less than the threshold value at the work start position, or so that the work vehicle stops at the work start position. 6. An automatic driving method according to any one of appendices 2 to 5.

[0130] <Appendix 7> After starting to drive the work implement, the vehicle speed in a section of a predetermined distance from the work start position in the traveling direction is set to be equal to or less than the threshold value; After the work vehicle has traveled through the section, the vehicle speed is increased continuously or stepwise to the set vehicle speed. An automatic driving method according to any one of Supplementary Notes 2 to 6.

[0131] <Appendix 8> The set vehicle speed is set in accordance with a setting operation by a user within a range from a lower limit vehicle speed to an upper limit vehicle speed. 7. The automated driving method according to claim 7.

[0132] <Appendix 9> The first predetermined distance is set in accordance with a setting operation by a user within a range from a lower limit distance to an upper limit distance. An automatic driving method according to any one of appendices 1 to 8.

[0133] <Appendix 10> The vehicle speed after deceleration is set in accordance with a setting operation by a user within a range from a lower limit vehicle speed to an upper limit vehicle speed. An automatic driving method according to any one of appendices 1 to 9. [Explanation of symbols]

[0134] 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 V1: Set vehicle speed Vth: Threshold voltage

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; moving the work machine from the non-work position to the work position at a position a first predetermined distance before a work start position on the target route; decelerating the speed of the work vehicle to a speed slower than a preset set speed at a position a second predetermined distance before the work start position; starting the driving of the work machine at the work start position or at a position on the side of the work start position in a traveling direction; An automated driving method that performs the above.

2. the work machine is provided on the work vehicle via a work clutch that transmits power to the work machine, By engaging the work clutch at a first time point when the vehicle speed after deceleration reaches a threshold value, driving of the work machine is started after a predetermined time has elapsed from the first time point. The automatic driving method according to claim 1 .

3. setting the threshold value based on the set vehicle speed or the predetermined time period; The automatic driving method according to claim 2.

4. the predetermined time period includes a structural delay time from when the work clutch engages until when the work machine starts to be driven, The threshold value is set based on at least one of the set vehicle speed and the predetermined time period. The automatic driving method according to claim 2.

5. The first predetermined distance is set to be longer than the second predetermined distance. The automatic driving method according to claim 1 .

6. Controlling the work vehicle so that the vehicle speed is equal to or less than the threshold value at the work start position, or so that the work vehicle stops at the work start position. The automatic driving method according to any one of claims 2 to 4.

7. After starting to drive the work implement, the vehicle speed in a section of a predetermined distance from the work start position in the traveling direction is set to be equal to or less than the threshold value; After the work vehicle has traveled through the section, the vehicle speed is increased continuously or stepwise to the set vehicle speed. The automatic driving method according to any one of claims 2 to 4.

8. The set vehicle speed is set in accordance with a setting operation by a user within a range from a lower limit vehicle speed to an upper limit vehicle speed. The automatic driving method according to claim 7.

9. The first predetermined distance is set in accordance with a setting operation by a user within a range from a lower limit distance to an upper limit distance. The automatic driving method according to any one of claims 1 to 5.

10. The vehicle speed after deceleration is set in accordance with a setting operation by a user within a range from a lower limit vehicle speed to an upper limit vehicle speed. The automatic driving method according to any one of claims 1 to 5.

11. 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; decelerating the speed of the work vehicle to a speed slower than a preset set speed at a position a predetermined distance before a work start position on the target route; When the vehicle speed after deceleration reaches a threshold value, a work clutch that transmits power to the work machine is engaged, thereby starting operation of the work machine after a predetermined time has elapsed from the time point. An automated driving method that performs the above.

12. 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; moving the work machine from the non-work position to the work position at a position a first predetermined distance before a work start position on the target route; decelerating the speed of the work vehicle to a speed slower than a preset set speed at a position a second predetermined distance before the work start position; starting the driving of the work machine at the work start position or at a position on the side of the work start position in a traveling direction; An automated driving program for executing the above on one or more processors.

13. 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 moves the work machine from the non-working position to the working position at a position a first predetermined distance before a work start position on the target route; a vehicle speed control processing unit that decelerates the speed of the work vehicle to a speed slower than a preset set vehicle speed at a position a second predetermined distance before the work start position; a drive processing unit that starts driving the work machine at the work start position or a position on the side of the work start position in a traveling direction; An autonomous driving system equipped with

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