Autonomous running method, autonomous running system and work vehicle

Abstract

To provide an autonomous running method, an autonomous running system and a work vehicle capable of moving the work vehicle from a stop place when the work vehicle that is autonomously running through a running region stops the autonomous running during a work.SOLUTION: An autonomous running method executes: causing a work vehicle 10 to run in an aiming route running mode M1 in which the work vehicle 10 autonomously runs along a preset aiming route R based on positioning information on the work vehicle 10 at a farm field F; and causing the work vehicle 10 to run by changing from the aiming route running mode M1 to a crop sequence route running mode M2 in which the work vehicle 10 autonomously runs according to the position of crops V placed in the farm field F when the positioning precision of the work vehicle 10 is lower than a predetermined precision.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to an automatic driving method, an automatic driving system, and a work vehicle that automatically drives a work vehicle along a target route in a driving area. [Background technology]

[0002] There is a known system that automatically drives a work vehicle along a predetermined target route while using signals received from satellites (e.g., GNSS signals) to determine the position of the work vehicle in a work area such as a farm field or a farmland. In addition, a technology has been proposed for the system that stops the automatic driving of the work vehicle when the signal from the satellite is interrupted (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2015 / 119266 Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional system, if the signal from the satellite is lost while the work vehicle is autonomously traveling and performing a specified task, the work vehicle will stop at that point. For example, if the work vehicle stops in a place where there is not enough space around it, it can be difficult for the operator to return the work vehicle to the stopped place or to move the work vehicle to a larger space.

[0005] The object of the present invention is to provide an automatic driving method, an automatic driving system, and a work vehicle that can move a work vehicle from a stopped location when the work vehicle, which is automatically driving in a driving area, stops automatic driving during work. [Means for solving the problem]

[0006] The automatic driving method of the present invention is a method of causing a work vehicle to drive in a driving area in a first driving mode in which the work vehicle drives automatically according to a predetermined target route based on positioning information of the work vehicle, and when the positioning accuracy of the work vehicle is less than a predetermined accuracy, switching from the first driving mode to a second driving mode in which the work vehicle drives automatically according to the position of a work object placed within the driving area, and causing the work vehicle to drive.

[0007] The automated driving system according to the present invention includes a driving processing unit and a switching processing unit. The driving processing unit causes the work vehicle to travel in a travel area in a first driving mode in which the work vehicle travels automatically along a preset target route based on positioning information of the work vehicle. When the positioning accuracy of the work vehicle is less than a predetermined accuracy, the switching processing unit switches from the first driving mode to a second driving mode in which the work vehicle travels automatically according to the position of a work object located within the travel area.

[0008] The work vehicle according to the present invention has a first driving mode in which the work vehicle automatically travels along a preset target route based on positioning information of the work vehicle in a travel area, and a second driving mode in which the work vehicle automatically travels according to the position of a work object placed within the travel area. The work vehicle switches from the first driving mode to the second driving mode when the positioning accuracy of the work vehicle is less than a predetermined accuracy. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide an automatic driving method, an automatic driving system, and a work vehicle that can move a work vehicle from a stopped location when the work vehicle, which is automatically driving in a driving area, stops automatic driving during work. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram showing the overall configuration of an automated driving system according to an embodiment of the present invention. [Figure 2]FIG. 2 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. [Figure 3] FIG. 3 is an external view of the work vehicle according to the embodiment of the present invention as viewed from the left front side. [Figure 4A] FIG. 4A is a left side external view of the work vehicle according to the embodiment of the present invention as viewed from the left side. [Figure 4B] FIG. 4B is an external view of the right side of the work vehicle according to the embodiment of the present invention as viewed from the right side. [Figure 4C] FIG. 4C is a rear external view of the work vehicle according to the embodiment of the present invention as viewed from the rear side. [Figure 5] FIG. 5 is a diagram showing an example of a crop row according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of a target route according to an embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of a travel path in the crop row path travel mode according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram for explaining an outline of a traveling method in the crop row path traveling mode according to an embodiment of the present invention. [Figure 9A] FIG. 9A is a diagram for explaining a method for generating a target route according to an embodiment of the present invention. [Figure 9B] FIG. 9B is a diagram for explaining a method for generating a target route according to an 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 an external view of the manual traveling operation unit according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

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

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

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

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

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

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

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

[0018] The positioning device 16 mounted on the work vehicle 10 performs positioning processing to calculate the current position (latitude, longitude, altitude) and current direction of the work vehicle 10 using GNSS signals transmitted from satellites 50. Specifically, the positioning device 16 locates the position of the work vehicle 10 using a method such as RTK (Real Time Kinematic), which locates the position of the work vehicle 10 based on positioning information (GNSS signals, etc.) received by two receivers (antenna 164 and base station 40) and correction information generated by the base station 40. As this positioning method is a well-known technique, a detailed description will be omitted. The work vehicle 10 is configured to be able to perform autonomous driving when the position accuracy (positioning accuracy) of the positioning of the work vehicle 10 is equal to or greater than a predetermined accuracy (threshold value).

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

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

[0021] As shown in Figures 1 to 4, work vehicle 10 includes vehicle control device 11, memory unit 12, traveling device 13, spraying device 14, communication unit 15, positioning device 16, obstacle detection device 17, manual traveling operation unit 18, etc. Vehicle control device 11 is electrically connected to memory unit 12, traveling device 13, spraying device 14, positioning device 16, obstacle detection device 17, manual traveling operation unit 18, etc. Note that vehicle control device 11 and positioning device 16 may be capable of wireless communication.

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

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

[0024] Here, work vehicle 10 is equipped with a gate-shaped vehicle body 100 that travels across crops V (fruit trees) planted in multiple rows in a farm field F. As shown in FIG. 4C , vehicle body 100 is formed in a gate shape with a left side section 100L, a right side section 100R, and a connecting section 100C that connects left side section 100L and right side section 100R, and a space 100S that allows crops V to pass through is secured inside left side section 100L, right side section 100R, and connecting section 100C.

[0025] Crawlers 101 are provided at the lower end of each of the left side 100L and right side 100R of the vehicle body 100. An engine (not shown), a battery (not shown), etc. are provided on the left side 100L. A storage tank 14A (see FIG. 4B) for the spraying device 14 is provided on the right side 100R. By distributing and arranging components on the left side 100L and right side 100R of the vehicle body 100 in this way, the work vehicle 10 is balanced left and right and has a low center of gravity. As a result, the work vehicle 10 can travel stably on slopes in the field F, etc.

[0026] The traveling device 13 is a drive unit that drives the work vehicle 10. The traveling device 13 includes an engine, crawlers 101, and the like.

[0027] The left and right crawlers 101 are driven by power from the engine in a state where independent speed changes are possible using a hydrostatic continuously variable transmission. As a result, the vehicle body 100 is in a forward state where it moves straight forward in the forward direction when the left and right crawlers 101 are driven at a constant speed in the forward direction, and in a reverse state where it moves straight backward in the reverse direction when the left and right crawlers 101 are driven at a constant speed in the reverse direction. The vehicle body 100 is in a forward turning state where it turns while moving forward when the left and right crawlers 101 are driven at unequal speeds in the forward direction, and in a reverse turning state where it turns while moving backward when the left and right crawlers 101 are driven at unequal speeds in the reverse direction. The vehicle body 100 is in a pivot turning state (pivot turning) when one of the left and right crawlers 101 is stopped and the other crawler 101 is driven, and in a spin turning state (pivot turning) when the left and right crawlers 101 are driven at a constant speed in both the forward and reverse directions. Furthermore, the vehicle body 100 is brought to a stopped state by stopping the driving of the left and right crawlers 101. The left and right crawlers 101 may be configured as an electrically driven type driven by an electric motor.

[0028] As shown in Figure 4C, the spraying device 14 includes a storage tank 14A for storing chemical liquid etc., a spraying pump (not shown) for pressurizing the chemical liquid etc., an electric spraying motor (not shown) for driving the spraying pump, spraying pipes 14B arranged in parallel, two on each side, in a vertical position on the back of the vehicle body 100, a total of 12 spraying nozzles 14C, three on each spraying pipe 14B, an electronically controlled valve unit (not shown) for changing the amount and spraying pattern of the chemical liquid etc., and a plurality of spraying pipes (not shown) connecting these.

[0029] Each spray nozzle 14C is attached to the corresponding spray pipe 14B so that its position can be changed in the vertical direction. This allows the spacing between adjacent spray nozzles 14C and the height position of each spray nozzle 14C relative to the spray pipe 14B to be changed depending on the object to be sprayed (crop V). Furthermore, each spray nozzle 14C is attached so that its height position and left / right position relative to the vehicle body 100 can be changed depending on the object to be sprayed.

[0030] In the spraying device 14, the number of spray nozzles 14C provided on each spray pipe 14B can be changed in various ways depending on the type of crop V, the length of each spray pipe 14B, and the like.

[0031] As shown in FIG. 4C , of the multiple spray nozzles 14C, three spray nozzles 14C provided on the leftmost spray pipe 14B spray the chemical solution leftward toward the crop Va located on the outer left side of the vehicle body 100. Of the multiple spray nozzles 14C, three spray nozzles 14C provided on the left inner spray pipe 14B adjacent to the leftmost spray pipe 14B spray the chemical solution rightward toward the crop Vb located in the space 100S in the center of the left and right sides of the vehicle body 100. Of the multiple spray nozzles 14C, three spray nozzles 14C provided on the rightmost spray pipe 14B spray the chemical solution rightward toward the crop Vc located on the outer right side of the vehicle body 100. Of the multiple spray nozzles 14C, the three spray nozzles 14C provided on the right inner spray pipe 14B adjacent to the rightmost spray pipe 14B spray the chemical solution leftward toward the crops Vb located in the space 100S.

[0032] With the above-described configuration, in the spraying device 14, the two spraying pipes 14B and six spraying nozzles 14C provided on the left side 100L of the vehicle body 100 function as the left spraying section 14L. Furthermore, the two spraying pipes 14B and six spraying nozzles 14C provided on the right side 100R of the vehicle body 100 function as the right spraying section 14R. The left and right spraying sections 14L, 14R are arranged at the rear of the vehicle body 100 with a lateral distance that allows the crop Vb to pass through (space 100S) between the left and right spraying sections 14L, 14R, while allowing spraying in the lateral direction.

[0033] In the spraying device 14, the spraying patterns by the spraying units 14L, 14R include a four-way spraying pattern in which each of the spraying units 14L, 14R sprays the chemical solution in both the left and right directions, and a directional limited spraying pattern in which the spraying direction by the spraying units 14L, 14R is limited. The direction-limited spray patterns include a left-side three-way spray pattern in which spraying unit 14L sprays the chemical solution in both the left and right directions and spraying unit 14R sprays the chemical solution only in the left direction; a right-side three-way spray pattern in which spraying unit 14L sprays the chemical solution only in the right direction and spraying unit 14R sprays the chemical solution in both the left and right directions; a two-way spray pattern in which spraying unit 14L sprays the chemical solution only in the right direction and spraying unit 14R sprays the chemical solution only in the left direction; a left-side one-way spray pattern in which spraying unit 14L sprays the chemical solution only in the left direction and spraying unit 14R does not spray the chemical solution; and a right-side one-way spray pattern in which spraying unit 14R sprays the chemical solution only in the right direction and spraying unit 14L does not spray the chemical solution.

[0034] The vehicle body 100 is equipped with an automatic travel control unit that automatically travels the vehicle body 100 along a target route R in the field F based on positioning information acquired from the positioning device 16, an engine control unit that controls the engine, an HST (Hydro-Static Transmission) control unit that controls the hydrostatic continuously variable transmission, and an implement control unit that controls implements such as the spraying device 14. Each control unit is constructed by an electronic control unit equipped with a microcontroller or the like, and various types of information and control programs stored in a non-volatile memory (for example, an EEPROM such as a flash memory) of the microcontroller. The various types of information stored in the non-volatile memory may include a target route R that has been generated in advance. In this embodiment, each control unit is collectively referred to as a "vehicle control device 11" (see FIG. 2).

[0035] The positioning device 16 is a communication device that includes a positioning control unit 161, a memory unit 162, a communication unit 163, and an antenna 164. The antennas 164 are provided at the front and rear of the ceiling (connection unit 100C) of the vehicle body 100 (see FIG. 3). The ceiling of the vehicle body 100 is also provided with indicator lights 102 that display the traveling status of the work vehicle 10 (see FIG. 3). The battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine is stopped.

[0036] The communication unit 163 is a communication interface that connects the positioning device 16 to the communication network N1 by wire or wirelessly and performs data communication with an external device such as a base station 40 via the communication network N1 in accordance with a predetermined communication protocol.

[0037] The antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites. Because the antennas 164 are provided at the front and rear of the work vehicle 10, the current position and current orientation of the work vehicle 10 can be determined with high accuracy.

[0038] The positioning control unit 161 is a computer system equipped with one or more processors and storage memory such as non-volatile memory and RAM. The storage unit 162 is a non-volatile memory that stores a control program for causing the positioning control unit 161 to execute positioning processing, and data such as positioning information and movement information. The positioning control unit 161 determines the current position and current orientation of the work vehicle 10 using a predetermined positioning method (such as the RTK method) based on the GNSS signals received by the antenna 164 from satellites 50.

[0039] The obstacle detection device 17 includes a LIDAR sensor 171L provided on the front left side of the vehicle body 100 and a LIDAR sensor 171R provided on the front right side of the vehicle body 100 (see FIG. 3). Each LIDAR sensor measures the distance from the LIDAR sensor to each ranging point (measurement object) within the measurement range using, for example, a TOF (Time Of Flight) method, which measures the distance to a ranging point based on the round-trip time it takes for laser light emitted by the LIDAR sensor to reach the ranging point and return.

[0040] The measurement range of the lidar sensor 171L is set to a predetermined range on the front left side of the vehicle body 100, and the measurement range of the lidar sensor 171R is set to a predetermined range on the front right side of the vehicle body 100. Each lidar sensor transmits measurement information such as the measured distance to each ranging point and the scanning angle (coordinates) for each ranging point to the vehicle control device 11.

[0041] The obstacle detection device 17 also includes left and right ultrasonic sensors 172F (see FIG. 3) provided on the front side of the vehicle body 100, and left and right ultrasonic sensors 172R (see FIGS. 4A to 4C) provided on the rear side of the vehicle body 100. Each ultrasonic sensor measures the distance from the ultrasonic sensor to the object to be measured using a TOF method that measures the distance to a ranging point based on the round-trip time it takes for ultrasonic waves emitted by the ultrasonic sensor to reach the ranging point and return.

[0042] The front left ultrasonic sensor 172F has a measurement range set to a predetermined range on the front left side of the vehicle body 100, the front right ultrasonic sensor 172F has a measurement range set to a predetermined range on the front right side of the vehicle body 100, the rear left ultrasonic sensor 172R has a measurement range set to a predetermined range on the rear left side of the vehicle body 100, and the rear right ultrasonic sensor 172R has a measurement range set to a predetermined range on the rear right side of the vehicle body 100. Each ultrasonic sensor transmits measurement information including the measured distance to the measurement object and the direction of the measurement object to the vehicle control device 11.

[0043] The obstacle detection device 17 also includes left and right contact sensors 173F (see FIG. 3) provided on the front side of the vehicle body 100, and left and right contact sensors 173R (see FIGS. 4A and 4B) provided on the rear side of the vehicle body 100. The contact sensor 173F on the front side of the vehicle body 100 detects an obstacle when the obstacle comes into contact with the contact sensor 173F. A spraying device 14 is provided in front of the contact sensor 173R on the rear side of the vehicle body 100 (toward the rear of the work vehicle 10), and when an obstacle comes into contact with the spraying device 14, the contact sensor 173R detects the obstacle by causing the spraying device 14 to move rearward (toward the front of the work vehicle 10). Each contact sensor sends a detection signal to the vehicle control device 11 when it detects an obstacle.

[0044] 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.

[0045] The vehicle control device 11 controls the traveling of the work vehicle 10. Specifically, as shown in FIG. 2, the vehicle control device 11 includes various processing units such as a judgment processing unit 111, a traveling processing unit 112, and a switching processing unit 113. The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the control program using the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

[0046] The determination processing unit 111 determines the positioning state of the work vehicle 10. Specifically, the determination processing unit 111 determines whether the positioning accuracy of the work vehicle is equal to or greater than a predetermined accuracy or less than a predetermined accuracy. More specifically, the positioning control unit 161 determines that the positioning state is a high-accuracy state when the number of satellites 50 from which GNSS signals can be received is equal to or greater than a predetermined number and the evaluation value of the GNSS signal quality is a predetermined value. The high-accuracy state refers to, for example, a state in which the positioning state is capable of RTK positioning. On the other hand, the positioning control unit 161 determines that the positioning state has deteriorated (a low-accuracy state) when the number of satellites 50 from which GNSS signals can be received is less than a predetermined number and the evaluation value of the GNSS signal quality is not a predetermined value. The low-accuracy state refers to, for example, a state in which the positioning state is not capable of RTK positioning. The positioning state fluctuates due to the influence of obstacles (windbreaks, buildings, etc.) around the work vehicle 10, abnormalities in the receiver (antenna 164 and base station 40), etc.

[0047] The determination processing unit 111 performs the determination process based on the positioning state determined by the positioning control unit 161. For example, when the positioning state is a high accuracy state, the determination processing unit 111 determines that the positioning accuracy of the work vehicle 10 is equal to or higher than a predetermined accuracy. On the other hand, when the positioning state has deteriorated from a high accuracy state, the determination processing unit 111 determines that the positioning accuracy of the work vehicle 10 is less than the predetermined accuracy.

[0048] The driving processing unit 112 executes driving processing to drive the work vehicle 10 based on the positioning state of the work vehicle 10. For example, if the determination processing unit 111 determines that the positioning accuracy of the work vehicle 10 is equal to or higher than a predetermined accuracy, the driving processing unit 112 drives the work vehicle 10 in a target route driving mode M1 (corresponding to the first driving mode of the present invention) that automatically drives the work vehicle 10 along a target route R based on positioning information including the position and orientation of the work vehicle 10 measured by the positioning device 16. For example, if the positioning state is a state in which RTK positioning is possible, the driving processing unit 112 starts automatic driving of the work vehicle 10 in the target route driving mode M1 based on the positioning information of the work vehicle 10 measured by the positioning device 16. As a result, the work vehicle 10 starts automatic driving along the target route R. Note that the positioning state being a state in which RTK positioning is possible (high accuracy state) is included in the conditions for starting automatic driving of the work vehicle 10 (automatic driving start condition).

[0049] Here, if the positioning accuracy decreases while the work vehicle 10 is automatically traveling along the target route R and becomes unable to perform RTK positioning (below a predetermined accuracy), the travel processing unit 112 will suspend automatic traveling and stop the work vehicle 10 because it will no longer be able to ensure the positioning accuracy of the work vehicle 10. For example, as shown in FIG. 7, if the positioning accuracy falls below a predetermined accuracy while the work vehicle 10 is performing spraying work while automatically traveling along a crop row Vr5 (an example of a first work route of the present invention), the work vehicle 10 will stop at that point (position Pe). The work vehicle 10 will also stop spraying at position Pe. In this case, because crops V are grown around the work vehicle 10, it will be difficult for the operator, for example, to go to the stopping location (position Pe) of the work vehicle 10 and perform work to return the work vehicle 10.

[0050] Therefore, in this embodiment, when the positioning accuracy of the work vehicle 10 falls below a predetermined accuracy, the switching processing unit 113 switches the driving mode of the work vehicle 10 from the target route driving mode M1 to a crop row path driving mode M2 ​​(corresponding to the second driving mode of the present invention) in which the work vehicle 10 travels according to the position of the crops V placed in the field F. The crop row path driving mode M2 ​​is a driving mode in which the work vehicle 10 travels along a crop row path R0 estimated based on, for example, the measurement results of the LIDAR sensors 171L, 171R.

[0051] When the positioning accuracy falls below the predetermined accuracy while the work vehicle 10 is traveling along a predetermined work route R1 among multiple work routes R1, the travel processing unit 112 causes the work vehicle 10 to travel to the end point of the work route R1. For example, when the travel mode is switched to the crop row path travel mode M2 ​​while the work vehicle 10 is automatically traveling along the work route R1, the travel processing unit 112 causes the work vehicle 10 to travel to the end point of the work route R1 in the crop row path travel mode M2. Specifically, the obstacle detection device 17 integrates the detection results of obstacles on the work route R1 with the measurement results of the lidar sensors 171L and 171R to estimate the work route R1 that the work vehicle 10 is straddling, specifically the crop row path R0 (an example of a work object path of the present invention) of the crop row (crop row Vr5 in FIG. 7). The obstacle detection device 17 also transmits the positions (coordinates) of the estimated start and end points of the crop row path R0 to the vehicle control device 11. In the crop row path travel mode M2, the travel processing unit 112 automatically travels the work vehicle 10 along the estimated crop row path R0 without using GNSS signals.

[0052] Figure 8 shows an overview of the driving method for the crop row path driving mode M2. In Figure 8, R0 represents the estimated path of the crop row Vra, Ev1 represents the start point of the crop row Vra, Ev2 represents the end point of the crop row Vra, Vp represents a crop included in the crop row Vra, and Pe represents the position where the work vehicle 10 stopped when the positioning accuracy fell below the predetermined accuracy. Note that the end point Ev2 may be the same as the end point E2 shown in Figure 7. Furthermore, the start point Ev1 is, for example, the position of the crop V included in the crop row Vra that is closest to position Pe.

[0053] The travel processing unit 112 calculates the lateral position deviation L1 and azimuth deviation θ1 of the work vehicle 10 relative to the crop row Vra, and controls the attitude of the work vehicle 10 to travel from position Pe to the end point Ev2 while reducing the position deviation L1 and azimuth deviation θ1.

[0054] Here, since the estimated results of the crop row Vra contain errors, it is preferable to perform filtering processing using a moving average filter, a low-pass filter, etc. on the calculated position deviation L1 and azimuth deviation θ1. Then, it is preferable that the travel processing unit 112 controls the travel of the work vehicle 10 using the results of this filtering processing.

[0055] Additionally, to improve the accuracy of the crop row Vra estimation, past estimates of the crop row Vra may be used. In this case, the number of crop row Vra endpoints must be increased. Using past data, the relative movement of the work vehicle 10 must be calculated and the coordinates of the previously detected positions of the crop row Vra must be converted. The relative movement is calculated by integrating data from the rotational speed sensor and inertial measurement unit (IMU) attached to the crawler 101 using a known method, such as a Kalman filter, to estimate the movement of the crop row Vra. While the work vehicle 10 is autonomously traveling, the distance to the end point is calculated every control cycle from the positioning information (GNSS position information). Therefore, the travel processing unit 112 determines whether the work vehicle 10 has reached the end point (end point Ev2) of the crop row Vra based on the information on the distance to the end point before the positioning accuracy falls below a predetermined accuracy and the estimated movement of the work vehicle 10, and continues autonomous traveling until the end point is reached. Note that depending on the location of the crop V, the lidar sensors 171L and 171R may not be able to detect the crop V. In this case, the travel processing unit 112 ends the automatic travel in the crop row path travel mode M2 ​​when an estimation error for the crop row Vra occurs a specified number of times in succession.

[0056] Furthermore, for reasons such as there being no need to maintain a preset travel speed in order to interrupt spraying work, and improving the accuracy of estimating the movement amount of the work vehicle 10 and the accuracy of detecting the crop row Vra, the travel processing unit 112 may set the travel speed during automatic travel in the crop row path travel mode M2 ​​to a speed slower than the travel speed in the target route travel mode M1. Furthermore, the travel processing unit 112 stops spraying work while the work vehicle 10 is being automatically traveled in the crop row path travel mode M2.

[0057] For example, in a field F shown in FIG. 7 , the travel processing unit 112 automatically drives the work vehicle 10 in the crop row path travel mode M2 ​​until the work vehicle 10 reaches the end point E2 of the crop row Vr5, and stops the work vehicle 10 at the end point E2. The end point E2 is the end point of the crop row path R0 and is included in an area where no crop V is located (e.g., a headland area). This allows the operator to easily return to the location where the work vehicle 10 stopped at the end point E2 and perform return work. If the operator performs return work and the positioning accuracy reaches or exceeds a predetermined accuracy, the travel processing unit 112 switches the travel mode to the target route travel mode M1. The travel processing unit 112 then automatically drives the work vehicle 10 from the end point E2 where the work vehicle 10 stopped along the target route R based on the positioning information measured by the positioning device 16. The end point E2 is an example of an end point in the present invention.

[0058] The travel processing unit 112 may also record the position (position Pe) of the work vehicle 10 at the time of switching from target route travel mode M1 to crop row route travel mode M2 ​​on crop row route R0. In this case, if the operator performs a recovery operation and the positioning accuracy reaches or exceeds a predetermined accuracy, the travel processing unit 112 switches the travel mode to target route travel mode M1 and automatically drives the work vehicle 10 from position Pe along target route R based on the positioning information measured by positioning device 16. Note that, for example, in FIG. 7 , the travel processing unit 112 may automatically drive the work vehicle 10 in target route travel mode M1 from end point E2, and after completing work on crop row Vr11, move the work vehicle 10 to position Pe and automatically drive and spray from position Pe in an unworked area of ​​crop row Vr5.

[0059] As described above, when the positioning accuracy of the work vehicle 10 is equal to or greater than a predetermined accuracy, the travel processing unit 112 causes the work vehicle 10 to automatically travel (target route travel mode M1) along the target route R based on positioning information using GNSS signals, and when the positioning accuracy of the work vehicle 10 falls below the predetermined accuracy, the travel processing unit 112 switches from target route travel mode M1 to crop row route travel mode M2 ​​and causes the work vehicle 10 to automatically travel along the estimated crop row route R0. The travel processing unit 112 is an example of a travel processing unit of the present invention.

[0060] When the driving processing unit 112 receives a driving stop instruction from the operation terminal 20, it stops the automatic driving of the work vehicle 10. For example, when the operator presses the stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs the driving stop instruction to the work vehicle 10. When the driving processing unit 112 receives the driving stop instruction from the operation terminal 20, it stops the automatic driving of the work vehicle 10. As a result, the work vehicle 10 stops automatic driving and the spraying operation by the spraying device 14 is stopped.

[0061] The above-described configuration of the work vehicle 10 is one example of the configuration of the work vehicle of the present invention, and the present invention is not limited to the above-described configuration. The above-described work vehicle 10 is a vehicle capable of performing spraying operations by traveling across a first crop row Vr and spraying a spraying agent on the first crop row Vr and second crop rows Vr to the left and right of the first crop row Vr. In another embodiment, the work vehicle 10 may have a vehicle body 100 that is not gate-shaped, but rather has a normal shape in which the entire vehicle body 100 travels between the crop rows Vr (work passages). In this case, the work vehicle 10 automatically travels through each work passage in sequence without traveling across the crop rows Vr. The spraying device 14 is equipped with a single spraying unit and performs spraying operations by switching between a spraying pattern that sprays the chemical solution in both the left and right directions, a spraying pattern that sprays the chemical solution only to the left, and a spraying pattern that sprays the chemical solution only to the right.

[0062] [Operation terminal 20] 2, the operation terminal 20 is an information processing device including a control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone.

[0063] 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.

[0064] The operation display unit 23 is a user interface equipped with a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit to register various information (such as work vehicle information, field information, and work information, which will be described later) on the operation screen displayed on the display unit. The operator can also operate the operation unit to issue instructions to the work vehicle 10 to start work, stop travel, and so on. Furthermore, from a location away from the work vehicle 10, the operator can grasp the travel status, work status, and surrounding conditions of the work vehicle 10 that is automatically traveling within the field F according to the target route R, by viewing the travel trajectory and images of the vehicle body 100 displayed on the operation terminal 20.

[0065] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 22 stores control programs such as an automatic driving program for causing the control unit 21 to execute the automatic driving process (see FIG. 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 CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The automatic driving program may be downloaded from a server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22.

[0066] The control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for the various types of processing executed by the CPU. The control unit 21 controls the operation terminal 20 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 22.

[0067] As shown in Fig. 2, the control unit 21 includes various processing units such as a setting processing unit 211, a path generation processing unit 212, and an output processing unit 213. The control unit 21 functions as the various processing units by executing various processes in accordance with the control program using the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

[0068] The setting processing unit 211 sets and registers information about the work vehicle 10 (hereinafter referred to as work vehicle information), information about the field F (hereinafter referred to as field information), and information about work (here, spraying work) (hereinafter referred to as work information).

[0069] In the process of setting the work vehicle information, the setting processing unit 211 sets information such as the model of the work vehicle 10, the position where the antenna 164 is attached on the work vehicle 10, the type of work implement (here, the spraying device 14), the size and shape of the work implement, the position of the work implement relative to the work vehicle 10, the vehicle speed and engine RPM of the work vehicle 10 while working, and the vehicle speed and engine RPM of the work vehicle 10 while turning, by having the operator perform an operation to register this information on the operation terminal 20. In this embodiment, information related to the spraying device 14 is set as information about the work implement.

[0070] In the field information setting process, the setting processing unit 211 sets information such as the position and shape of the field F, the work start position S where work begins and the work end position G (see Figure 6) where work ends, and the work direction by having the operator register this information on the operation terminal 20. The work direction means the direction in which the work vehicle 10 will travel while performing spraying work with the spraying device 14 in the work area, which is the area of ​​the field F excluding non-work areas such as headlands.

[0071] Information on the position and shape of the field F can be obtained automatically, for example, by having the operator manually drive the work vehicle 10 around the perimeter of the field F and record the changes in the position information of the antenna 164 at that time. The position and shape of the field F can also be obtained based on a polygon obtained by the operator operating the operation terminal 20 to specify multiple points on a map displayed on the operation terminal 20. The area specified by the obtained position and shape of the field F is the area in which the work vehicle 10 can be driven (travel area).

[0072] In the process of setting the work information, the setting processing unit 211 is configured to be able to set, as work information, the skip number, which is the number of work routes that the work vehicle 10 will skip when turning on the headland, the width of the headland, etc.

[0073] Based on each of the setting information, the route generation processing unit 212 generates a target route R, which is a route along which the work vehicle 10 will automatically travel. The target route R is, for example, a route from a work start position S to a work end position G (see FIG. 6). The target route R shown in FIG. 6 includes a linear work route R1 for spraying a chemical solution onto the crops V in an area where the crops V are planted, and a movement route R2 for moving between the crop rows Vr without performing spraying work.

[0074] An example of a method for generating a target route R will be described with reference to FIGS. 9A and 9B. FIG. 9A schematically illustrates a crop row Vr. First, the operator manually drives the work vehicle 10 along the periphery of the crop row Vr (see FIG. 9A). While driving, the work vehicle 10 detects an end point E1 on one side (the lower side of FIG. 9A) of each crop row Vr and an end point E2 on the other side (the upper side of FIG. 9A) of each crop row Vr, and acquires position information (coordinates) of each end point E1, E2. Note that the end points E1, E2 may be the positions of crops V that have already been planted, or may be the positions of landmarks indicating the positions of crops V to be planted. Upon acquiring the position information (coordinates) of each end point E1, E2 from the work vehicle 10, the route generation processing unit 212 sets a line L1 (see FIG. 9B) connecting the corresponding end points E1, E2 as a work route for the crop row Vr, and generates a target route R including multiple work routes and travel routes (turning routes). The method for generating the target route R is not limited to the method described above. The route generation processing unit 212 may store the generated target route R in the storage unit 22.

[0075] The output processing unit 213 outputs route data including information on the target route R generated by the route generation processing unit 212 to the work vehicle 10. The output processing unit 213 may output the route data to a server (not shown). The server stores and manages the multiple pieces of route data acquired from each of the multiple operation terminals 20 in association with the operation terminals 20 and the work vehicle 10.

[0076] In addition to the above-mentioned processing, the control unit 21 executes processing for displaying various types of information on the operation display unit 23. For example, the control unit 21 causes the operation display unit 23 to display a registration screen for registering work vehicle information, field information, work information, etc., an operation screen for generating the target route R, an operation screen for causing the work vehicle 10 to start automatic traveling, a display screen for displaying the traveling status of the work vehicle 10, etc.

[0077] The control unit 21 also accepts various operations from the operator. Specifically, the control unit 21 accepts from the operator a work start instruction to cause the work vehicle 10 to start work, a travel stop instruction to cause the work vehicle 10 to stop traveling while it is traveling automatically, etc. When the control unit 21 accepts each of the above instructions, it outputs the above instructions to the work vehicle 10.

[0078] When the vehicle control device 11 of the work vehicle 10 receives a work start instruction from the operation terminal 20, it starts the automatic traveling and spraying work of the work vehicle 10. Furthermore, when the vehicle control device 11 receives a traveling stop instruction from the operation terminal 20, it stops the automatic traveling and spraying work of the work vehicle 10.

[0079] The operation terminal 20 may be able to access a website (agricultural support site) of the agricultural support service provided by the server via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the control unit 21.

[0080] [Automatic driving processing] An example of the automatic driving process executed by the vehicle control device 11 of the work vehicle 10 will be described below with reference to FIG.

[0081] 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.

[0082] In step S1, the vehicle control device 11 determines whether or not the automatic driving start conditions are met. For example, if the current position of the work vehicle 10 matches the work start position S and the positioning accuracy of the work vehicle 10 is equal to or higher than a predetermined accuracy (the positioning state is a state in which RTK positioning is possible), the vehicle control device 11 determines that the automatic driving start conditions are met (S1: Yes). In this case, the processing proceeds to step S2. On the other hand, if either of the above two conditions is not met, the vehicle control device 11 waits until both of the above conditions are met (S1: No).

[0083] In step S2, the vehicle control device 11 determines whether or not a work start instruction has been received from the operation terminal 20. For example, when the operator presses the start button on the operation terminal 20, the operation terminal 20 outputs a work start instruction to the work vehicle 10. When the vehicle control device 11 receives a work start instruction from the operation terminal 20 (S2: Yes), the processing proceeds to step S3. The vehicle control device 11 waits until it receives a work start instruction from the operation terminal 20 (S2: No).

[0084] In step S3, the vehicle control device 11 starts automatic driving in the target route driving mode M1. For example, when the vehicle control device 11 receives a work start instruction from the operation terminal 20, it starts automatic driving according to the target route R included in the route data based on the positioning information (RTK positioning information) of the work vehicle 10. The vehicle control device 11 also causes the spraying device 14 to start spraying work to spray a chemical solution on the crop rows Vr.

[0085] Next, in step S4, the vehicle control device 11 determines whether the positioning accuracy is less than a predetermined accuracy. If the positioning accuracy is less than the predetermined accuracy (S4: Yes), the process proceeds to step S5. On the other hand, if the positioning accuracy is equal to or greater than the predetermined accuracy (S4: No), the process proceeds to step S11. In this way, the vehicle control device 11 continues to determine whether the positioning accuracy is less than the predetermined accuracy while the work vehicle 10 is performing spraying work while automatically traveling in the target route traveling mode M1.

[0086] Next, in step S5, the vehicle control device 11 determines whether the current position of the work vehicle 10 is within the work area or within a non-work area (headland area). If the current position of the work vehicle 10 is within the work area (S5: Yes), the process proceeds to step S6. If the current position of the work vehicle 10 is within a non-work area (S5: No), the process proceeds to step S51.

[0087] In step S6, the vehicle control device 11 switches the travel mode from the target route travel mode M1 to the crop row path travel mode M2 ​​in which the work vehicle 10 travels along the crop row path R0. When the vehicle control device 11 switches the travel mode to the crop row path travel mode M2, the vehicle control device 11 causes the work vehicle 10 to travel in the crop row path travel mode M2. For example, the vehicle control device 11 causes the work vehicle 10 to automatically travel along the crop row path R0 estimated based on the measurement results of the lidar sensors 171L, 171R toward the end point of the crop row path R0.

[0088] The vehicle control device 11 also sets the travel speed of the work vehicle 10 in the crop row path travel mode M2 ​​to a speed slower than the travel speed of the work vehicle 10 in the target route travel mode M1. This allows the work vehicle 10 to travel safely to the end point even when the positioning accuracy of the work vehicle 10 is low. The vehicle control device 11 also stops spraying while the work vehicle 10 is automatically traveling in the crop row path travel mode M2. This prevents spraying from being performed with low accuracy while the work vehicle 10 is traveling to the end point. Furthermore, the vehicle control device 11 records the position Pe of the work vehicle 10 on the crop row path R0 at the time of switching from the target route travel mode M1 to the crop row path travel mode M2. This allows the work vehicle 10 to reliably spray the unsprayed area from position Pe to the end point after the positioning accuracy of the work vehicle 10 has returned to a predetermined accuracy or higher.

[0089] Next, in step S7, the vehicle control device 11 determines whether the work vehicle 10 has reached the end point of the crop row path R0. Specifically, the vehicle control device 11 determines whether the work vehicle 10 has reached the end point E2 (see FIG. 7) of the estimated crop row path R0. If the work vehicle 10 has reached the end point of the crop row path R0 (S7: Yes), the process proceeds to step S8. If the work vehicle 10 has not reached the end point of the crop row path R0 (S7: No), the process proceeds to step S71. In step S71, the vehicle control device 11 determines whether the positioning accuracy is equal to or greater than a predetermined accuracy. If the positioning accuracy is equal to or greater than the predetermined accuracy (S71: Yes), the process proceeds to step S10. On the other hand, if the positioning accuracy is less than the predetermined accuracy (S71: No), the process returns to step S7. In this way, when the work vehicle 10 is traveling on the crop row path R0 in the crop row path traveling mode M2, if the positioning accuracy returns to the predetermined accuracy or higher (S71: Yes), the processing proceeds to step S10.

[0090] In step S8, the vehicle control device 11 performs a return operation. Specifically, the vehicle control device 11 stops the work vehicle 10 at the end point Ev2 and accepts return work by the operator at the end point Ev2. After step S8, the process proceeds to step S9. In step S9, the vehicle control device 11 determines whether the positioning accuracy is equal to or greater than a predetermined accuracy. If the positioning accuracy is equal to or greater than the predetermined accuracy (S9: Yes), the process proceeds to step S10. On the other hand, if the positioning accuracy is less than the predetermined accuracy (S9: No), the process ends. For example, if the operator goes to the location of the work vehicle 10 that stopped at the end point Ev2 and performs return work or the like, and the positioning accuracy returns to the predetermined accuracy or greater, the vehicle control device 11 determines that the positioning accuracy is equal to or greater than the predetermined accuracy. On the other hand, if the positioning accuracy does not return to the predetermined accuracy or greater even after the operator goes to the location of the work vehicle 10 that stopped at the end point Ev2 and performs return work or the like, the vehicle control device 11 ends the automatic traveling process. In this case, the operator manually moves the work vehicle 10 out of the field F to perform repairs or the like.

[0091] In step S10, the vehicle control device 11 switches the driving mode from the crop row path driving mode M2 ​​to the target route driving mode M1. After switching the driving mode to the target route driving mode M1, the vehicle control device 11 causes the work vehicle 10 to travel in the target route driving mode M1 again. For example, the vehicle control device 11 causes the work vehicle 10 to automatically travel along the target route R from the position Pe where the work vehicle 10 stopped based on the positioning information (RTK positioning information) measured by the positioning device 16.

[0092] In step S11, the vehicle control device 11 determines whether the work vehicle 10 has finished work. The vehicle control device 11 determines that work has finished when the position of the work vehicle 10 matches the work end position G (see FIG. 7). If the work vehicle 10 has finished work (S11: Yes), the automatic driving process ends. The vehicle control device 11 repeats the processes of steps S4 to S10 until the work vehicle 10 has finished work (S11: No).

[0093] If the positioning accuracy falls below a predetermined accuracy within the non-work area (headland area) (S5: No), in step S51, the vehicle control device 11 performs a return operation. Specifically, the vehicle control device 11 stops the work vehicle 10 in the non-work area (headland area) and accepts return work by the operator at the stopped location. The vehicle control device 11 resets the driving mode of the work vehicle 10. After step S51, in step S52, the vehicle control device 11 determines whether the positioning accuracy is equal to or greater than a predetermined accuracy. If the positioning accuracy is equal to or greater than the predetermined accuracy (S52: Yes), in step S10, the vehicle control device 11 switches the driving mode to the target route driving mode M1. On the other hand, if the positioning accuracy is less than the predetermined accuracy (S52: No), the processing ends.

[0094] As described above, the automated driving system 1 according to this embodiment causes the work vehicle 10 to travel in a travel area (e.g., field F) in a target route travel mode M1 in which the work vehicle 10 travels automatically according to a preset target route R based on the positioning information of the work vehicle 10. Furthermore, when the positioning accuracy of the work vehicle 10 is less than a predetermined accuracy, the automated driving system 1 switches from the target route travel mode M1 to a crop row route travel mode M2 ​​in which the work vehicle 10 travels according to the position of a work object (crop V) placed within the travel area, and causes the work vehicle 10 to travel. Furthermore, in the crop row route travel mode M2, the automated driving system 1 causes the work vehicle 10 to travel to an end point of a work object route (crop row route R0) that is set according to the position of the work object (crop V).

[0095] In addition, the automatic driving method of this embodiment involves one or more processors causing the work vehicle 10 to drive in a driving area in a target route driving mode M1 in which the work vehicle 10 automatically drives according to a predetermined target route R based on the positioning information of the work vehicle 10, and when the positioning accuracy of the work vehicle 10 is less than a predetermined accuracy, switching from the target route driving mode M1 to a crop row route driving mode M2 ​​in which the work vehicle 10 drives according to the position of a work object (crop V) placed within the driving area and causing the work vehicle 10 to drive, and in the crop row route driving mode M2, causing the work vehicle 10 to drive to the end point of the work object route (crop row route R0) that is set according to the position of the work object (crop V).

[0096] With the above configuration, for example, if the work vehicle 10 stops in a location where there is insufficient space around it while automatically traveling along the crop row Vr (work route R1), the work vehicle 10 can be moved from the stopping location to the end point of the crop row Vr. The end point is included in a headland area where no work object (crop V) is located, for example. This allows the operator to easily go to the location where the work vehicle 10 stopped at the end point and perform return work, etc. Then, the operator can quickly return the work vehicle 10 to automatic traveling in the target route traveling mode M1.

[0097] The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

[0098] In the above-described embodiment, when the positioning accuracy of the work vehicle 10 is less than a predetermined accuracy, the vehicle control device 11 switches from target route driving mode M1 to crop row path driving mode M2 ​​and causes the work vehicle 10 to automatically travel along the crop row path R0 using the detection results of the LIDAR sensors 171L, 171R. With this configuration, for example, when the road surface condition of the field F is poor or the field F has a large slope, the estimation accuracy of the crop row path R0 may decrease, making it difficult to accurately reach the endpoints. Therefore, in another embodiment, an operator may intervene in crop row path driving mode M2.

[0099] Specifically, in another embodiment, when the positioning accuracy of the work vehicle 10 is less than a predetermined accuracy, the vehicle control device 11 switches from the target route driving mode M1 to the crop row route driving mode M2, and causes the work vehicle 10 to travel to the end point of the crop row route R0 (work route R1) based on a predetermined operation by the operator.

[0100] Here, the operator's operation (the specified operation of the present invention) may be an instruction operation that gives permission for the work vehicle 10 to automatically travel from the stopping location (position Pe) to the end point, or it may be a travel operation that manually travels the work vehicle 10 from the stopping location (position Pe) to the end point.

[0101] For example, if the positioning accuracy of the work vehicle 10 falls below a predetermined accuracy while performing spraying work while automatically traveling along a work path R1 for a crop row Vr, the vehicle control device 11 switches from the target route travel mode M1 to the crop row path travel mode M2. The operator then issues an automatic travel instruction by selecting an enable button on an operating device such as the operation terminal 20 or a smartphone. Upon receiving the automatic travel instruction from the operation terminal 20, the vehicle control device 11 automatically travels the work vehicle 10 from position Pe to the endpoint in the crop row path travel mode M2. For example, the operator can visually check the area around position Pe where the work vehicle 10 has stopped and issue the instruction on the operation terminal 20. Alternatively, the operator can issue the instruction on the operation terminal 20 from a remote location away from the work vehicle 10.

[0102] Furthermore, for example, if the positioning accuracy of the work vehicle 10 falls below a predetermined accuracy while performing spraying work while automatically traveling along a work path R1 of a crop row Vr, the vehicle control device 11 switches from the target route travel mode M1 to the crop row path travel mode M2. The operator then operates the manual travel operation unit 18 (see FIG. 4B) provided on the work vehicle 10 to manually travel the work vehicle 10. FIG. 11 shows the exterior of the manual travel operation unit 18. The manual travel operation unit 18 is equipped with a power switch 181 that activates the manual travel mode, an operation switch 182 that causes the work vehicle 10 to move forward and backward, an operation switch 183 that causes the work vehicle 10 to turn right and left, and an LED 184 that lights up when the manual travel mode is active. The manual travel operation unit 18 is connected to the vehicle control device 11 of the work vehicle 10 via a communication cable (not shown). The vehicle control device 11 travels the work vehicle 10 in accordance with the operation of the manual travel operation unit 18. For example, the operator turns on the power switch 181 of the manual traveling operation unit 18 and issues a command to move forward using the operation switch 182. The vehicle control device 11 causes the work vehicle 10 to move forward toward the end point only while the command to move forward is being accepted.

[0103] In another embodiment, for example, if the positioning accuracy returns to a predetermined accuracy or higher while the vehicle control device 11 is automatically driving the work vehicle 10 toward an end point of the crop row path R0 in the crop row path driving mode M2, the vehicle control device 11 may switch the driving mode to the target route driving mode M1 and automatically drive the work vehicle 10. This makes it possible to minimize the distance traveled by the work vehicle 10 in the crop row path driving mode M2.

[0104] In another embodiment, the vehicle control device 11 may control the direction of travel of the work vehicle 10 depending on the location (position Pe) where the positioning accuracy falls below a predetermined accuracy. For example, if position Pe is closer to the start point E1 of the crop row path R0 (work path R1) than to the end point E2 (see FIG. 7), the vehicle control device 11 causes the work vehicle 10 to move backward from position Pe toward the start point E1. In this way, when causing the work vehicle 10 to travel in the crop row path travel mode M2, the vehicle control device 11 may cause the work vehicle 10 to travel toward the end point closer to position Pe. This makes it possible to minimize the distance traveled by the work vehicle 10 in the crop row path travel mode M2. The start point E1 is an example of an end point in the present invention. Furthermore, the start point E1 is an end point of the work path R1 and is included in an area where no crops V are located (for example, a headland area).

[0105] [Notes on the Invention] <Appendix 1> In the travel area, the work vehicle is caused to travel in a first travel mode in which the work vehicle automatically travels along a preset target route based on positioning information of the work vehicle; When the positioning accuracy of the work vehicle is less than a predetermined accuracy, switching from the first traveling mode to a second traveling mode in which the work vehicle travels according to the position of a work object placed within the traveling area, and causing the work vehicle to travel; In the second traveling mode, the work vehicle is caused to travel to an end point of a work object path that is set in accordance with the position of the work object; An automated driving method that performs the above.

[0106] <Appendix 2> In the second traveling mode, the work vehicle is automatically traveled to an end point of the work object route according to the position of the work object. 1. The automated driving method according to claim 1.

[0107] <Appendix 3> In the second traveling mode, the work vehicle is caused to travel to an end point of the work object path based on a user operation. 1. The automated driving method according to claim 1.

[0108] <Appendix 4> In the second traveling mode, when a predetermined operation by a user is received, the work vehicle is automatically traveled to an end point of the work object route in accordance with the position of the work object. 1. The automated driving method described in Appendix 3.

[0109] <Appendix 5> setting the travel speed of the work vehicle in the second travel mode to a speed slower than the travel speed of the work vehicle in the first travel mode; 5. The automatic driving method according to any one of appendices 1 to 4.

[0110] <Appendix 6> In the second traveling mode, the work vehicle stops working on the work object. 6. An automatic driving method according to any one of appendices 1 to 5.

[0111] <Appendix 7> Recording the position of the work vehicle along the work object path at the time when the driving mode is switched from the first driving mode to the second driving mode. 7. The automatic driving method according to any one of appendices 1 to 6.

[0112] <Appendix 8> The end points of the work object path are included in an area where the work object is not located or a headland area. An automatic driving method according to any one of appendices 1 to 7.

[0113] <Appendix 9> The work vehicle is a vehicle capable of performing spraying work by traveling across a first work object and spraying a spray material on the first work object and second work objects to the left and right of the first work object. An automatic driving method according to any one of appendices 1 to 8.

[0114] <Appendix 10> a driving processing unit that drives the work vehicle in a first driving mode in which the work vehicle automatically drives according to a predetermined target route based on positioning information of the work vehicle in the driving area; a switching processing unit that switches from the first traveling mode to a second traveling mode in which the work vehicle travels according to the position of a work object placed within the traveling area when the positioning accuracy of the work vehicle is less than a predetermined accuracy; Equipped with the travel processing unit, in the second travel mode, causes the work vehicle to travel to an end point of a work object route that is set in accordance with the position of the work object. Autonomous driving system.

[0115] <Appendix 11> In the travel area, the work vehicle is caused to travel in a first travel mode in which the work vehicle automatically travels along a preset target route based on positioning information of the work vehicle; When the positioning accuracy of the work vehicle is less than a predetermined accuracy, switching from the first traveling mode to a second traveling mode in which the work vehicle travels according to the position of a work object placed within the traveling area, and causing the work vehicle to travel; In the second traveling mode, the work vehicle is caused to travel to an end point of a work object path that is set in accordance with the position of the work object; An automated driving program for executing the above on one or more processors. [Explanation of symbols]

[0116] 1:Automated driving system 10: Work vehicle 11: Vehicle control device 111: Judgment processing unit 112: Driving processing unit 113: Switching processing unit 14: Spraying device 16: Positioning device 17: Obstacle detection device 18: Manual driving control unit 20: Operation terminal 211: Setting processing section 212: Route generation processing unit 213: Output processing section 40:Base station 50:Satellite F: Field (travel area) E1: Start point (end point) E2: End point (end point) R: Target route R0: Crop row path V: Crops (working objects) Vr: Crop row M1: Target route driving mode (first driving mode) M2: Crop row path driving mode (second driving mode)

Claims

1. In the travel area, the work vehicle is caused to travel in a first travel mode in which the work vehicle automatically travels along a preset target route based on positioning information of the work vehicle; When the positioning accuracy of the work vehicle is less than a predetermined accuracy, switching from the first driving mode to a second driving mode in which the work vehicle automatically drives according to the position of a work object placed within the driving area, and driving the work vehicle; An automated driving method that performs the above.

2. In the second traveling mode, the work vehicle is automatically traveled to a non-work area of ​​the traveling area. The automatic driving method according to claim 1 .

3. In the second driving mode, when a predetermined operation by a user is received, the work vehicle is automatically driven to a non-work area of ​​the driving area. The automatic driving method according to claim 1 .

4. In the second traveling mode, the work vehicle is automatically traveled to an end point of a predetermined work route included in a work area of ​​the traveling area. The automatic driving method according to claim 1 .

5. In the second traveling mode, the work vehicle is automatically traveled to an end point of a line of work objects in which a plurality of the work objects are lined up. The automatic driving method according to claim 1 .

6. a travel processing unit that causes the work vehicle to travel in a first travel mode in which the work vehicle automatically travels along a predetermined target route based on positioning information of the work vehicle in the travel area; a switching processing unit that switches from the first driving mode to a second driving mode in which the work vehicle automatically drives according to the position of a work object placed within the driving area when the positioning accuracy of the work vehicle is less than a predetermined accuracy; An autonomous driving system equipped with

7. a first driving mode in which the work vehicle automatically travels along a preset target route based on positioning information of the work vehicle in the travel area; a second travel mode in which automatic travel is performed according to the position of a work object placed within the travel area, The work vehicle switches from the first driving mode to the second driving mode when the positioning accuracy of the work vehicle is less than a predetermined accuracy.

Images