Automatic traveling method of work vehicle, automatic traveling system, and automatic traveling program

Abstract

To provide a technique capable of improving the usability of a work vehicle that can automatically travel.SOLUTION: The exemplary automatic traveling method of a work vehicle is an automatic traveling method of a work vehicle in which the behavior of the work vehicle is changed at a set interval that is set in advance during automatic traveling of the work vehicle.SELECTED DRAWING: Figure 9

Description

[Technical Field]

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

[0002] Patent Document 1 discloses an autonomous driving system that allows a work vehicle (rice transplanter) to travel autonomously in a field. Work (agricultural work such as planting seedlings) is carried out using the work vehicle that travels autonomously using the autonomous driving system. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-137463 Summary of the Invention [Problem to be solved by the invention]

[0004] Depending on the type of work in the field, certain tasks may be performed at predetermined intervals. If such work is performed using a work vehicle that travels autonomously using the autonomous travel system of Patent Document 1, the operator will need to operate the autonomous travel system (work vehicle) at predetermined intervals (for example, to stop the work vehicle), which may be inconvenient for the operator.

[0005] The present invention has been made to solve the above-mentioned problems, and its purpose is to provide a technology that can improve the convenience of automatically traveling work vehicles. [Means for solving the problem]

[0006] An exemplary method for automatically driving a work vehicle of the present invention is a method for automatically driving a work vehicle, which changes the operation of the work vehicle at predetermined set intervals when the work vehicle is automatically driving.

[0007] An exemplary work vehicle automatic driving system of the present invention comprises a work vehicle and a control device that controls the automatic driving of the work vehicle, and the control device changes the operation of the work vehicle at predetermined set intervals when the work vehicle is automatically driving.

[0008] An exemplary work vehicle automatic driving program of the present invention is an automatic driving program that causes a computer to execute an automatic driving method for a work vehicle, and causes the computer to function as a means for changing the operation of the work vehicle at predetermined set intervals when the work vehicle is automatically driving. [Effects of the Invention]

[0009] According to the above configuration, the convenience of an automatically traveling work vehicle can be improved. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing a schematic configuration of an automatic driving system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a plan view showing the configuration of a remote control device provided in the above-mentioned automatic driving system. [Figure 3] FIG. 2 is a block diagram illustrating a configuration related to the automatic driving of a work vehicle provided in the automatic driving system. [Figure 4] FIG. 2 is an explanatory diagram illustrating a method for generating an automatic driving route along which the work vehicle automatically travels. [Figure 5] FIG. 2 is an explanatory diagram illustrating division of the automatic driving route. [Figure 6] 10 is an explanatory diagram illustrating an operation for setting a set distance used to divide the automatic travel route. FIG. [Figure 7] 10 is an explanatory diagram illustrating an operation for setting the number of change positions used to divide the automated driving route. FIG. [Figure 8] FIG. 10 is an explanatory diagram illustrating another example of division of the automatic driving route. [Figure 9] 4 is a flowchart showing the flow of automatic traveling of the work vehicle. [Figure 10] 10 is a diagram showing the configuration of a split function setting screen displayed on an in-vehicle setting unit provided in the work vehicle. FIG. [Figure 11] FIG. 10 is an explanatory diagram illustrating an update setting of the start point of the automated driving route. [Figure 12] FIG. 10 is an explanatory diagram illustrating another method for generating the automatic driving route. [Figure 13] 10 is an explanatory diagram illustrating another method of changing the operation of the work vehicle. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] The following describes an embodiment of the present invention with reference to the drawings.

[0012] [1. Overview of the Autonomous Driving System] 1 is a diagram showing a schematic configuration of an automated driving system 1 according to an embodiment of the present invention. The automated driving system 1 includes a work vehicle 10 and a remote control device 20.

[0013] The remote control device 20 (also called a remote operation device) enables an operator located away from the work vehicle 10 to operate the work vehicle 10. In other words, the remote control device 20 enables settings related to manual driving of the work vehicle 10. The remote control device 20 also enables settings related to automatic driving of the work vehicle 10. The configuration of the remote control device 20 will be described later.

[0014] In this embodiment, automatic driving (also referred to as autonomous driving) means that at least steering is performed autonomously by controlling devices related to driving by a control device 113 (see FIG. 3) described below provided in the work vehicle 10. In addition to steering, automatic driving may be configured such that at least one of vehicle speed adjustment and work by a work implement 12 described below is performed autonomously.

[0015] In this embodiment, the remote control device 20 is provided separately from the work vehicle 10, but this configuration is not limiting. For example, the remote control device 20 may be provided on the work vehicle 10 itself.

[0016] The work vehicle 10 is used to perform work such as agricultural work, construction work, etc. The work vehicle 10 includes a traveling machine body 11 that travels on the ground, and a work implement 12 that is connected to the traveling machine body 11.

[0017] Here, the directions used in the explanation (particularly directions related to the work vehicle 10) are defined as follows: The direction in which the traveling body 11 and the work implement 12 are lined up is the fore-and-aft direction, the direction in which the work implement 12 is located as viewed from the traveling body 11 is the "rear", and the opposite direction is the "front". Furthermore, when going from rear to front, the left side is the "left" and the right side is the "right". Furthermore, the direction of gravity, which is perpendicular to the fore-and-aft direction and the left-and-right direction, is the up-and-down direction, with the upstream side of the direction of gravity being the "up" and the downstream side being the "down". In the drawings, as necessary, the front is indicated with the symbols "F", the rear with "B", the right with "R", the left with "L", the up with "U", and the down with "D".

[0018] In this embodiment, the work implement 12 is disposed behind the traveling machine body 11, but this configuration is not limiting, and the work implement 12 may be disposed in front of the traveling machine body 11.

[0019] The traveling machine body 11 includes a machine body main body part 111 and a traveling part 112 arranged below the machine body main body part 111.

[0020] The machine body 111 includes an outer cover 111a, a travel drive unit 111b arranged on the front side of the interior covered by the outer cover 111a, and a work machine drive unit 111c arranged on the rear side of the interior covered by the outer cover 111a.

[0021] The traveling drive device 111b has a drive source and a traveling power transmission unit that transmits power from the drive source to the traveling unit 112. In this embodiment, the drive source provided in the traveling drive device 111b is an electric motor. However, the drive source provided in the traveling drive device 111b may be other than an electric motor, and may be, for example, an engine.

[0022] The work machine driving device 111c has a driving source and a PTO (Power Take Off) power transmission unit that transmits power from the driving source to the outside of the traveling machine body 11. In this embodiment, the driving source provided in the work machine driving device 111c is an electric motor. However, the driving source provided in the work machine driving device 111c may be something other than an electric motor, and may be, for example, an engine. Also, in this embodiment, the electric motor provided in the traveling driving device 111b and the electric motor provided in the work machine driving device 111c are different, but the electric motor (driving source) may be shared between the traveling driving device 111b and the work machine driving device 111c.

[0023] Also arranged inside the outer cover 111a are an on-board setting unit 111d that enables settings related to the automatic driving of the work vehicle 10, a battery 111e that supplies power to the electric motor, and power electronics equipment (not shown).

[0024] The on-vehicle setting unit 111d is located on the front side of the interior covered by the outer cover 111a and is configured to include a touch panel. The on-vehicle setting unit 111d enables settings related to the automatic driving of the work vehicle 10 and displays various information about the work vehicle 10. Note that a display unit separate from the on-vehicle setting unit 111d may be provided on the work vehicle 10 to display various information about the work vehicle 10.

[0025] The battery 111e is disposed inside the outer cover 111a and is configured as, for example, a lithium ion battery. The battery 111e may be configured by unitizing a plurality of battery cells, or may be configured as a single battery cell.

[0026] The battery 111e stores power for driving the electric motor. That is, the power stored in the battery 111e is supplied to the electric motor. The power stored in the battery 111e is also supplied to the outside of the work vehicle 10. That is, the work vehicle 10 of this embodiment is configured to be capable of external power supply. The external power supply function of this work vehicle 10 makes it possible to perform work using, for example, a portable power tool (not shown) separate from the work implement 12. More specifically, when the above-mentioned power tool is connected to the work vehicle 10 via a cable or the like, the power tool is driven by power supplied from the battery 111e. This makes it possible to perform work such as pile driving using the power tool.

[0027] Power is supplied to the outside of the work vehicle 10 by a step-down inverter (not shown) included in the power electronics equipment described above, which steps down the high AC voltage (e.g., 300 V) supplied from the battery 111e to a low voltage (e.g., 100 V).

[0028] For example, a light 111f, a positioning antenna 111g, and a warning light 111h are arranged on the outside of the outer cover 111a.

[0029] The traveling unit 112 supports the machine body 111 so that it can travel. Specifically, the traveling unit 112 includes a pair of left and right crawlers 112a. Each of the left and right crawlers 112a includes a track frame 112b extending in the front-to-rear direction. Each track frame 112b is attached to the underside of the machine body 111. Each track frame 112b is provided with a marker 112b1 extending downward. A drive sprocket 112c is disposed at the front end of the track frame 112b as a drive wheel. Power from the electric motor is transmitted to the drive sprocket 112c via the above-mentioned traveling power transmission unit provided in the traveling drive device 111b. A driven sprocket 112d is disposed at the rear end of the track frame 112b as a driven wheel. The driven sprocket 112d is rotatably supported by the track frame 112b. A plurality of rollers 112e are rotatably supported between a drive sprocket 112c and a driven sprocket 112d on the track frame 112b. A crawler belt 112f is wound around the drive sprocket 112c, the driven sprocket 112d, and the plurality of rollers 112e to form the crawler 112a.

[0030] The left and right crawlers 112a are driven by separate electric motors provided in the travel drive device 111b. When the pair of left and right crawlers 112a are driven simultaneously in the same direction, the travel unit 112 moves straight forward or backward. Whether it moves forward or backward is determined by the rotation direction of the electric motor. For example, the travel unit 112 turns left or right when the pair of left and right crawlers 112a are driven independently.

[0031] In this embodiment, the crawler 112a has one drive wheel (drive sprocket 112c) and one driven wheel (driven sprocket 112d) arranged in the front-to-rear direction and a crawler belt 112f wound around them, but other configurations are also possible. For example, the crawler may be of a type in which a crawler belt is wound in a triangular shape around one drive wheel and two driven wheels. Also, in this embodiment, the traveling unit 112 is a crawler type, but it may be of a type other than a crawler type, for example, a wheel type.

[0032] The work implement 12 is attached to the traveling machine body 11 via a hitch unit 13 so that it can be raised and lowered. The hitch unit 13 includes a work implement drive device 111c. The work implement 12 is attached to the hitch unit 13 so that it can be replaced. That is, the work implement 12 can be replaced with various types. In FIG. 1, the work implement 12 is a tiller. In addition to a tiller, the work implement 12 may also be, for example, a plow, a furrow-making device, a fertilizer applicator, a pesticide sprayer, a harvester, a reaper (grass-cutting device), a snow removal device, etc.

[0033] The configuration of the work vehicle 10 provided in the automatic driving system 1 is not limited to the configuration described above. The work vehicle 10 may be any configuration having a traveling body 11 capable of automatic driving, and may be, for example, agricultural machinery such as a tractor or combine harvester, or construction machinery such as a hydraulic excavator or bulldozer. Furthermore, in this embodiment, the work vehicle 10 does not have a driver's seat for an operator, and the work vehicle 10 travels for work unmanned, but the present invention is also applicable to work vehicles that have a driver's seat. In other words, the work vehicle 10 may be provided with tools (steering wheels, levers, etc.) that allow an operator seated in the driver's seat to operate the work vehicle 10.

[0034] [2. Configuration of remote control device] The configuration of remote control device 20 will be described with reference to Fig. 2. Fig. 2 is a plan view showing the configuration of remote control device 20. Remote control device 20 includes a housing 201, a power switch 202, an antenna 203, an operation lever 204, an operation switch 205, an operation knob 206, and a display unit 207.

[0035] Housing 201 constitutes the main body of remote control device 20. The above-mentioned power switch 202, antenna 203, operating lever 204, operating switch 205, operating knob 206, and display unit 207 are attached in appropriate positions on housing 201. Note that the arrangement shown in Fig. 2 is merely an example and may be changed as appropriate.

[0036] The power switch 202 is provided in the center of the front of the housing 201 and enables turning on and off the power of the remote control device 20. The power switch 202 is, for example, a seesaw switch. The power source of the remote control device 20 is, for example, a battery or dry cell disposed inside the housing 201.

[0037] Antenna 203 is provided to protrude from the side surface of housing 201 (the upper side surface in FIG. 2 ), and enables wireless communication with work vehicle 10. When power switch 202 is used to turn on the power to remote control device 20, remote control device 20 is able to communicate wirelessly with work vehicle 10. When power switch 202 is used to turn off the power to remote control device 20, remote control device 20 cannot communicate with work vehicle 10. In this embodiment, when communication with remote control device 20 is no longer possible, work vehicle 10 automatically stops traveling. In other words, power switch 202 functions as an emergency stop switch for work vehicle 10. The emergency stop switch may be provided separately from power switch 202.

[0038] The operating lever 204 enables operation of the travel of the work vehicle 10 (traveling body 11) and operation of the work implement 12. The operating lever 204 has a first operating lever 204a and a second operating lever 204b, which are arranged side by side with the power switch 202 sandwiched between them. The first operating lever 204a (the lever on the left side shown in FIG. 2) can be tilted in at least two mutually perpendicular directions (the F1-B1 direction and the L1-R1 direction) indicated by the dashed arrows in FIG. 2. It can also be tilted in either the L1-R1 direction while tilting it in either the F1-B1 direction. The second operating lever 204b (the lever on the right side shown in FIG. 2) can also be tilted in the same direction as the first operating lever 204a.

[0039] When the first operating lever 204a is tilted in the F1 direction, the work vehicle 10 can be moved forward. When the first operating lever 204a is tilted in the B1 direction, the work vehicle 10 can be moved backward. When the first operating lever 204a is tilted in the L1 direction, the work vehicle 10 can be turned left. When the first operating lever 204a is tilted in the R1 direction, the work vehicle 10 can be turned right.

[0040] When the second control lever 204b is tilted in the F1 direction, the work implement 12 can be raised. When the second control lever 204b is tilted in the B1 direction, the work implement 12 can be lowered. When the second control lever 204b is tilted in the L1 direction, the work vehicle 10 can be turned left. When the second control lever 204b is tilted in the R1 direction, the work vehicle 10 can be turned right.

[0041] Note that turning (left turn, right turn) using first operating lever 204a and turning (left turn, right turn) using second operating lever 204b will result in different turning radii (amount of turning) when operated by the same amount of operation (amount of operation from the neutral position). More specifically, when first operating lever 204a and second operating lever 204b are tilted the same amount from the neutral position, operating second operating lever 204b will cause work vehicle 10 to turn with a larger turning radius than operating first operating lever 204a. In other words, second operating lever 204b will cause work vehicle 10 to make a gentle turn. Note that the configurations of first operating lever 204a and second operating lever 204b are not limited to those described above, and for example, the first operating lever 204a may be configured to cause work vehicle 10 to make a gentle turn relative to second operating lever 204b.

[0042] The operation switch 205 includes a first operation switch 205a and a second operation switch 205b. The first operation switch 205a is arranged on the side surface of the housing 201 (the upper right side surface in FIG. 2) and allows for multiple types of settings related to automatic traveling. The multiple types of settings include, for example, a setting to start automatic traveling and a setting to end automatic traveling. The first operation switch 205a is, for example, a momentary switch that can be pressed. The second operation switch 205b is arranged on the side surface of the housing 201 (the upper left side surface in FIG. 2) and allows for turning on and off the drive of the work machine 12. The second operation switch 205b is, for example, a toggle switch.

[0043] The operation knob 206 is arranged on the front of the housing 201 (upper side of the front in FIG. 2), and enables adjustment of the maximum vehicle speed of the work vehicle 10. More specifically, two operation knobs 206 are provided. One of the two operation knobs 206 enables adjustment of the maximum vehicle speed when the work vehicle 10 is traveling straight ahead. The other of the two operation knobs 206 enables adjustment of the maximum vehicle speed when the work vehicle 10 is traveling in a turn.

[0044] Display unit 207 is disposed on the front side of housing 201 (below the front side in FIG. 2) and displays various information to be notified to the operator. The various information includes, for example, the speed of work vehicle 10. Display unit 207 is, for example, a liquid crystal display device, an organic EL display device, or the like.

[0045] [3. Configuration related to automated driving of work vehicles] The configuration related to the automatic driving of the work vehicle 10 will be described with reference to Fig. 3. Fig. 3 is a block diagram that schematically shows the configuration related to the automatic driving of the work vehicle 10. Note that Fig. 3 shows components necessary for explaining the features of this embodiment (mainly the configuration related to automatic driving), and omits a description of general components.

[0046] The work vehicle 10 is equipped with a control device 113. For example, the control device 113 controls the automatic driving of the work vehicle 10 in response to instructions from the remote control device 20. In other words, the automatic driving system 1 is equipped with a control device 113 that controls the automatic driving of the work vehicle 10.

[0047] The control device 113 is, for example, a computer device configured to include an arithmetic unit, an input / output unit, and a storage unit 113a. Hereinafter, the control device 113 may also be referred to as a computer.

[0048] The arithmetic device is, for example, a processor or a microprocessor. The storage unit 113a is a main storage device such as a read-only memory (ROM) or a random access memory (RAM). The storage unit 113a may further include an auxiliary storage device such as a hard disk drive (HDD) or a solid state drive (SSD). The storage unit 113a stores various programs PG and data. The various programs PG include an automatic driving program PG1. The arithmetic device reads the various programs PG from the storage unit 113a and executes arithmetic processing in accordance with the programs PG. The programs PG stored in the storage unit 113a may be provided by, for example, a computer-readable nonvolatile recording medium. As another example, the programs PG may be provided from a program providing server via a communication line such as the Internet.

[0049] The control device 113 can operate as a route generation unit 113b, a route division unit 113c, a travel mode control unit 113d, a travel control unit 113e, and a work machine control unit 113f through cooperation between the hardware and software described above. The control device 113 may be configured as a single piece of hardware, or may be configured as multiple pieces of hardware that can communicate with each other.

[0050] As described above, the functional units 113b to 113f included in the control device 113 may be implemented by causing a computing device to execute arithmetic processing in accordance with the program PG, i.e., by software, but may also be implemented by other methods. At least one of the functional units 113b to 113f may be implemented using, for example, an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA). That is, at least one of the functional units 113b to 113f may be implemented by hardware using a dedicated IC or the like. At least one of the functional units 113b to 113f may also be implemented by a combination of software and hardware. The functional units 113b to 113f are conceptual structures. Therefore, the function performed by one component may be distributed among multiple components, or the functions of multiple components may be integrated into one component.

[0051] The route generation unit 113b generates an automatic driving route PT (see FIG. 4) described below for the work vehicle 10 to travel automatically. A method for generating the automatic driving route PT will be described later. The route division unit 113c divides the automatic driving route PT generated by the route generation unit 113b. The division of the automatic driving route PT will be described later.

[0052] The driving mode control unit 113d controls switching between manual driving and automatic driving based on a switching command from the remote control device 20 (see FIGS. 1 and 2).

[0053] The travel control unit 113e controls the travel drive device 111b (see FIG. 1) depending on whether the work vehicle 10 is traveling manually or automatically. More specifically, during manual traveling, the travel control unit 113e controls the travel drive device 111b based on traveling instructions from the remote operation device 20. During automatic traveling, the travel control unit 113e automatically (autonomously) controls the travel drive device 111b so that the work vehicle 10 travels along the automatic traveling route PT.

[0054] The work implement control unit 113f adjusts the elevation position of the work implement 12 (see FIG. 1) based on an elevation command from the remote control device 20. The work implement control unit 113f also controls the work implement drive device 111c (see FIG. 1) based on a switching command from the remote control device 20 to control switching of power transmission to the work implement 12.

[0055] A positioning communication unit 114, a communication processing unit 115, and a sensor 116 are connected to the control device 113. That is, the work vehicle 10 is equipped with the positioning communication unit 114, the communication processing unit 115, and the sensor 116.

[0056] The positioning communication unit 114 includes a positioning antenna 111g (see FIG. 1), and acquires the position of the work vehicle 10 as, for example, latitude and longitude information using positioning signals received by the positioning antenna 111g from positioning satellites. The positioning communication unit 114 outputs the position information of the work vehicle 10 to the control device 113. For example, the positioning communication unit 114 receives positioning signals from a reference station (not shown) using an appropriate method, and then performs positioning using the well-known RTK-GNSS (Real Time Kinematic GNSS) method. Note that the positioning communication unit 114 may also perform positioning using other methods, such as the DGNSS (Differential GNSS) method.

[0057] The communication processing unit 115 communicates with the remote control device 20 via a communication antenna 115a. The communication antenna 115a is an antenna for wireless communication with the remote control device 20. For wireless communication, a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) may be used, for example.

[0058] The sensors 116 detect information related to the work vehicle 10 and output the detected information to the control device 113. In this embodiment, the sensors 116 include multiple types of sensors. Each of the multiple types of sensors is connected to the control device 113 so that it can input a signal thereto. The multiple types of sensors include, for example, an inertial measurement unit (IMU), an obstacle sensor, a vehicle speed sensor, and an elevation position sensor.

[0059] The inertial measurement unit includes a three-axis angular velocity sensor and a three-directional acceleration sensor, and is a device capable of measuring the attitude of the work vehicle 10. The obstacle sensor is a sensor that detects obstacles present around the work vehicle 10, and may be, for example, an ultrasonic sensor, a camera, radar, or LiDAR (Light Detection and Ranging). The vehicle speed sensor is a sensor that detects the vehicle speed of the work vehicle 10. The lift position sensor is a sensor that detects the lift position of the work implement 12, which is provided so as to be able to lift and lower.

[0060] Here, a method for generating an automated driving route PT and division of the automated driving route PT will be described. First, a method for generating an automated driving route PT will be described with reference to FIG. 4. FIG. 4 is an explanatory diagram for explaining a method for generating an automated driving route PT. The automated driving route PT is configured to include a plurality of lines arranged parallel to a reference line L (see particularly the diagram on the lower right in FIG. 4). That is, when generating an automated driving route PT, first the reference line L is set.

[0061] As shown in the upper left diagram in Figure 4, when setting the reference line L, first the work vehicle 10 is manually driven to an appropriate location (point A in the diagram) in the work location (field 300 in this embodiment), and point A is registered using the remote control device 20. More specifically, when the operator performs a predetermined operation to register point A using the remote control device 20, the path generation unit 113b registers the position of the work vehicle 10 acquired by the positioning communication unit 114 at the time the predetermined operation was performed as the position of point A.

[0062] As shown in the upper right diagram in Fig. 4, when point A is registered, the operator operates the remote control device 20 to manually drive the work vehicle 10 straight ahead and move it to a predetermined position (point B in the diagram). When the work vehicle 10 reaches the predetermined position, point B is registered using the remote control device 20. More specifically, when the operator uses the remote control device 20 to perform a predetermined operation to register point B, the route generation unit 113b registers the position of the work vehicle 10 acquired by the positioning communication unit 114 at the time the predetermined operation was performed as the position of point B.

[0063] As shown in the diagram on the lower right side of Fig. 4, when the positions of points A and B are registered, a straight line passing through points A and B is set as a reference line L. When the reference line L is set, the route generation unit 113b generates an automatic driving route PT by arranging a plurality of lines (line segments) parallel to the reference line L at predetermined intervals.

[0064] A start point P1 and an end point P2 are located on each automated driving route PT. The start point P1 and the end point P2 are intersections between each automated driving route PT and a virtual line that is perpendicular to the reference line L and passes through point A or point B. In particular, the start point P1 is located on the start side of the automated driving among the above intersections, and the end point P2 is located on the end side of the automated driving. That is, the diagram on the lower right of FIG. 4 illustrates, as an example, a case in which the work vehicle 10 automatically drives from top to bottom on the leftmost automated driving route PT (the automated driving route PT immediately to the right of the reference line L). In this case, when automated driving ends on the leftmost automated driving route PT, the operator operates the remote control device 20 to turn the work vehicle 10. This causes the front and rear of the work vehicle 10 to be reversed. After the work vehicle 10 has turned, the work vehicle 10 automatically drives from bottom to top on the automated driving route PT immediately to the right of the leftmost automated driving route PT. If the work vehicle 10 is configured to have an automatic turning function that automatically turns toward the next automatic travel route PT, the turning of the work vehicle 10 described above may be performed by the automatic turning function.

[0065] In this embodiment, the position of each start point P1 in the field 300 is referred to as the start position P1a, and the position of each end point P2 in the field 300 is referred to as the end position P2a. That is, the automated driving route PT includes the start position P1a and the end position P2a. Therefore, the automated driving route PT can also be considered as a straight line connecting the start position P1a and the end position P2a. Note that the start point P1 and the end point P2 may be movable, for example, by a predetermined operation of the remote control device 20 or the in-vehicle setting unit 111d. That is, the start position P1a and the end position P2a may be changeable.

[0066] The method for generating the automated driving route PT is not limited to the above-mentioned generation method, and other methods for generating the automated driving route PT will be described later.

[0067] Next, the division of the automated traveling route PT will be described with reference to FIG. 5. FIG. 5 is an explanatory diagram illustrating the division of the automated traveling route PT. In this embodiment, dividing the automated traveling route PT means that the route between the start point P1 and the end point P2 of each automated traveling route PT is divided into sections at set distances SD (for example, 5 m) included in the set interval SI. Furthermore, the points on the route between the start point P1 and the end point P2, which are divided into sections at set distances SD, are referred to as change points P3, and the positions of the change points P3 within the field 300 are referred to as change positions P3a. In other words, the change positions P3a are set based on the start position P1a, the end position P2a, and the set distance SD. The change points P3 (change positions P3a) are points (positions) at which the operation of the work vehicle 10, automatically traveling on the automated traveling route PT, is changed when the work vehicle 10 arrives at the change positions P3a. In other words, the operation of the work vehicle 10 is changed at the change positions P3a.

[0068] In the following, among the operations of the work vehicle 10 during autonomous driving, operations other than when the work vehicle 10 is located at the change position P3a will be referred to as the first operation. In contrast, among the operations of the work vehicle 10 during autonomous driving, operations when the work vehicle 10 is located at the change position P3a will be referred to as the second operation. In this embodiment, the first operation includes at least driving (driving in autonomous driving). An operation different from the first operation is set as the second operation. The setting of the second operation will be described later.

[0069] Furthermore, in this embodiment, when the division of the automated driving route PT is performed, all of the multiple automated driving routes PT are divided. However, the division of the automated driving route PT is not limited to being applied to all of the multiple automated driving routes PT, and may be applied to, for example, some of the multiple automated driving routes PT.

[0070] In this embodiment, the set distance SD is input by the operator using a setting screen (setting image) displayed on the in-vehicle setting unit 111d (see FIG. 1). That is, the set distance SD as the set interval SI is set based on the input operation of the operator. This makes it easy to set an appropriate set interval SI according to the work. Therefore, from the viewpoint of easily setting an appropriate set interval SI for each work, it is desirable that the set interval SI be set based on the input operation of the operator. More specifically, it is as follows. FIG. 6 is an explanatory diagram for explaining the setting operation of the set distance SD.

[0071] As described above, the on-vehicle setting unit 111d enables settings related to the automatic driving of the work vehicle 10. That is, the on-vehicle setting unit 111d displays a screen for making settings related to the automatic driving of the work vehicle 10. The above screen includes a distance setting screen SS10. The distance setting screen SS10 includes a distance increase icon SS11, a distance decrease icon SS12, and a distance display unit SS13.

[0072] When the operator operates (touches) the distance increase icon SS11 with a finger or the like, the distance displayed on the distance display unit SS13 increases. On the other hand, when the operator operates the distance decrease icon SS12, the distance displayed on the distance display unit SS13 decreases. The distance displayed on the distance display unit SS13 is set as the set distance SD. That is, in this embodiment, the operator's input operation (using the in-vehicle setting unit 111d) includes inputting the set distance SD. The set distance SD is a parameter that is adjusted according to the operator's intended work or the operator's preferred work. Therefore, from the perspective of easily realizing work according to the operator's intention or preference, it is desirable that the operator's input operation include inputting the set distance SD, as in this embodiment.

[0073] If the display unit 207 (see FIG. 2) of the remote control device 20 is configured as a touch panel, the operator may input the set distance SD using a setting screen displayed on the display unit 207. Alternatively, if a dedicated operation unit for inputting the set distance SD is provided, the operator may input the set distance SD using this dedicated operation unit.

[0074] The set distance SD is not limited to being set by the operator inputting the set distance SD itself. For example, the set distance SD may be set based on the number of set change positions P3a. More details are as follows. FIG. 7 is an explanatory diagram illustrating the operation of setting the number of set change positions P3a. When the set distance SD is set based on the number of set change positions P3a, the screen displayed on the in-vehicle setting unit 111d includes a change position number setting screen SS20. The change position number setting screen SS20 includes a number increase icon SS21, a number decrease icon SS22, and a number display unit SS23.

[0075] When the operator operates (touches) the number increase icon SS21 with a finger or the like, the number displayed in the number display unit SS23 increases. On the other hand, when the operator operates the number decrease icon SS22, the number displayed in the number display unit SS23 decreases. The number displayed in the number display unit SS23 is set as the set number of change positions P3a. That is, in this example, the operator's input operation (using the on-vehicle setting unit 111d) includes inputting the set number of change positions P3a. The set number of change positions P3a corresponds to the quantity of materials used in the work (e.g., stakes for stake driving work, seedlings for planting work, etc.). The route dividing unit 113c (see FIG. 3) calculates and sets the set distance SD (e.g., 5 m) by dividing the length of the automated travel route PT (e.g., 20 m) by the number of segments corresponding to the input set number of change positions P3a (e.g., 3). The above number of segments means the number obtained by adding 1 to the input set number of change positions P3a.

[0076] From the viewpoint of avoiding excess or shortage of materials and performing work efficiently, the following configuration is desirable: That is, as in this embodiment, the input operation of the operator includes inputting the set number of change positions P3a corresponding to the quantity of materials, and the set distance SD is desirably set based on the set number of change positions P3a.

[0077] The set distance SD may be set by the operator inputting at least one of the set distance SD itself and the number of set change positions P3a. In other words, the automatic driving system 1 may be configured to include both the operator inputting the set distance SD itself and the number of set change positions P3a for setting the set distance SD. The set distance SD may also be automatically adjusted (changed) during automatic driving of the work vehicle 10. For example, if the obstacle sensor, such as a camera, included in the sensor 116 (see FIG. 3), detects an obstacle located at the change position P3a, the change position P3a may be omitted. In other words, the set distance SD may be increased beyond the set distance.

[0078] Furthermore, the division of the automated driving route PT is not limited to dividing the automated driving route PT equally by a single set distance SD, as shown in FIG. 5. More details are provided below. FIG. 8 is an explanatory diagram illustrating another example of dividing the automated driving route PT. For example, the automated driving route PT may be divided into a first set distance SD1, a second set distance SD2, a third set distance SD3, and a fourth set distance SD4, which are different from one another. In this case, the operator inputs the first set distance SD1, the second set distance SD2, the third set distance SD3, and the fourth set distance SD4, respectively, using a setting screen displayed on the in-vehicle setting unit 111d.

[0079] [4. Automatic driving method] An automatic driving method for the work vehicle 10 executed by the automatic driving system 1 of this embodiment will now be described. In this embodiment, the automatic driving method for the work vehicle 10 is realized by having a computer (control device 113) execute calculation processing in accordance with an automatic driving program PG1 (see FIG. 3). That is, the automatic driving program PG1 of this embodiment causes a computer to execute the automatic driving method for the work vehicle 10. FIG. 9 is a flowchart showing the flow of automatic driving of the work vehicle 10.

[0080] In step S1, the control device 113 (specifically, the route generation unit 113b) generates an automatic driving route PT (see FIG. 4). That is, the automatic driving method of this embodiment executes the generation of an automatic driving route PT along which the work vehicle 10 automatically drives. Once the automatic driving route PT is generated, the work vehicle 10 is manually driven to a start position P1a (for example, the start position P1a at the left end of FIG. 5), and the process proceeds to the next step S2. Once the automatic driving route PT is generated, the distance between point A and point B (the length of the reference line L) is displayed on at least one of the on-board setting unit 111d and the display unit 207 of the remote control device 20. This saves the operator the trouble of measuring the distance. In the following, the distance between point A and point B may also be referred to as the AB distance.

[0081] In step S2, the control device 113 (specifically, the route dividing unit 113c) determines whether or not an instruction to divide the automated driving route PT has been issued. In this embodiment, the above-mentioned division instruction is implemented by the operator operating a screen displayed on the in-vehicle setting unit 111d. More specifically, this is as follows. FIG. 10 is a diagram showing the configuration of a division function setting screen SS30. The division function setting screen SS30 is displayed on the in-vehicle setting unit 111d when the automated driving route PT is generated. Note that, when the above-mentioned AB distance is displayed on the in-vehicle setting unit 111d, the AB distance may be displayed on the division function setting screen SS30. Furthermore, if the display unit 207 of the remote operation device 20 is configured as a touch panel, the division function setting screen SS30 may be displayed on the display unit 207.

[0082] The division function setting screen SS30 includes an enable setting icon SS31 and an disable setting icon SS32. When the operator operates (touches) the enable setting icon SS31 with a finger or the like, an instruction to divide the automatic driving route PT is realized. In other words, the division function of the automatic driving route PT is enabled. On the other hand, when the operator operates the disable setting icon SS32 with a finger or the like, an instruction not to divide the automatic driving route PT (an instruction not to divide the automatic driving route PT) is realized. In other words, the division function of the automatic driving route PT is disabled.

[0083] In this embodiment, the division function setting screen SS30 is displayed when the automatic driving route PT is generated, but this configuration is not limited to this. For example, the division function setting screen SS30 may be displayed by the operator operating the in-vehicle setting unit 111d. In this case, if the enable setting icon SS31 on the division function setting screen SS30 is operated to enable the division function of the automatic driving route PT, once the automatic driving route PT is generated, the automatic driving route PT may be divided (automatically) continuously.

[0084] 9 (back), if a division instruction is given (Yes in step S2), the process proceeds to the next step S3. If a division instruction is not given, that is, if a non-division instruction is given (No in step S2), the process proceeds to step S5 (skipping steps S3 and S4).

[0085] In step S3, the control device 113 (specifically, the route dividing unit 113c) divides the automated driving route PT (see FIG. 5). As described above, when the automated driving route PT is divided, a change position P3a is set for each set distance SD. That is, the automated driving method of this embodiment executes setting a change position P3a on the automated driving route PT for each set distance SD. When the automated driving route PT is divided, the process proceeds to the next step S4.

[0086] In step S4, the second operation is set. In this embodiment, the setting is performed by the operator operating the screen displayed on the in-vehicle setting unit 111d. As described above, the second operation is set to be different from the first operation. Settings for the second operation include the vehicle speed, the lifting position of the work implement 12, and the drive of the work implement 12 (including the drive amount and drive direction). In this embodiment, the second operation includes stopping travel. Note that the setting of the second operation may be performed before the automated travel route PT is generated, or may be set in advance and stored in the storage unit 113a.

[0087] In step S5, the control device 113 (specifically, the driving mode control unit 113d) determines whether or not an instruction to start automatic driving has been received. In this embodiment, the start instruction is realized by the operator pressing the first operation switch 205a (see FIG. 2) of the remote control device 20 a first predetermined number of times (for example, once). If a start instruction has been received (Yes in step S5), the driving mode control unit 113d switches the driving mode to automatic driving. Once the driving mode has switched to automatic driving, the process proceeds to the next step, S6. If a start instruction has not been received (No in step S5), the control device 113 continues to determine whether or not there is a start instruction.

[0088] In step S6, the control device 113 causes the work vehicle 10 to perform a first operation. More specifically, in this embodiment, as described above, the first operation includes traveling by automatic traveling, and therefore the control device 113 (specifically, the traveling control unit 113e) controls the traveling drive device 111b (see FIG. 1) to cause the work vehicle 10 to travel along the automatic traveling route PT. In other words, when a start command is issued in step S5, automatic traveling of the work vehicle 10 begins. Once the work vehicle 10 has started the first operation, processing proceeds to the next step S7.

[0089] In step S7, the control device 113 (specifically, the driving mode control unit 113d) determines whether or not to end automatic driving. Automatic driving of the work vehicle 10 in this embodiment is ended when an instruction to end automatic driving is received, or when the work vehicle 10 reaches the end position P2a (end point P2). The above-mentioned end instruction is realized by the operator pressing the first operation switch 205a a first predetermined number of times (for example, once). Therefore, when an end instruction is received, or when the work vehicle 10 reaches the end position P2a (Yes in step S7), the driving mode control unit 113d switches the driving mode to manual driving. This ends automatic driving. If there is no end instruction and the work vehicle 10 has not reached the end position P2a (No in step S7), the process proceeds to the next step S8.

[0090] In step S8, the control device 113 (for example, the driving control unit 113e) determines whether the work vehicle 10 has reached the changed position P3a. In this embodiment, this determination is made by determining whether the position of the work vehicle 10 acquired by the positioning communication unit 114 (see FIG. 3) at the time the determination is made matches the changed position P3a. If the work vehicle 10 has reached the changed position P3a (Yes in step S8), processing proceeds to the next step S9. If the work vehicle 10 has not reached the changed position P3a (No in step S8), processing returns to step S6. In other words, unless an instruction to end automatic driving is given, the first operation (automatic driving in this embodiment) continues until the work vehicle 10 reaches the changed position P3a.

[0091] In step S9, the control device 113 causes the work vehicle 10 to perform a second operation. That is, when the work vehicle 10 reaches the change position P3a, the operation of the work vehicle 10 is changed from the first operation to a second operation that is different from the first operation. More specifically, in this embodiment, as described above, the second operation includes stopping travel, so the control device 113 (specifically, the travel control unit 113e) controls the travel drive device 111b to stop (park) the work vehicle 10. When the work vehicle 10 starts the second operation (in this embodiment, the work vehicle 10 stops traveling), the process proceeds to the next step S10.

[0092] In step S10, the control device 113 (for example, the traveling control unit 113e) determines whether or not an instruction to resume the first operation has been issued. In this embodiment, the above-mentioned restart instruction is issued when the operator presses the first operation switch 205a a second predetermined number of times (for example, twice). That is, in this embodiment, the first operation switch 205a functions as a restart instruction unit that issues an instruction to resume the first operation. However, this is not limited to the above configuration, and for example, the restart instruction unit may be provided in the work vehicle 10. Furthermore, the restart instruction may be issued when a preset time has elapsed since the second operation was started.

[0093] If there is no command to resume (No in step S10), the process returns to step S9. That is, the second action (stopping travel in this embodiment) continues until a command to resume is received. In this embodiment, while the second action continues, a predetermined task (for example, staking or planting) is performed. In other words, the second action can be said to be a task action. In contrast, the first action can be said to be a movement action.

[0094] If a restart instruction is given (Yes in step S10), the process returns to step S6, and the first operation is restarted. That is, the operation of the work vehicle 10 is changed from the second operation to the first operation. By restarting the first operation (unless an instruction to end automatic traveling is given), the work vehicle 10 continues the first operation until it reaches the adjacent change position P3a located a set interval SI (set distance SD) away (see steps S6, S7, and S8). Then, when the work vehicle 10 reaches the adjacent change position P3a, that is, when it has moved the set interval SI, the operation of the work vehicle 10 is changed from the first operation to the second operation (different from the first operation) (see steps S8 and S9). This change in the operation of the work vehicle 10 between the first operation and the second operation is repeated until automatic traveling is terminated. That is, the automatic traveling method of this embodiment executes changing the operation of the work vehicle 10 at preset set intervals SI during automatic traveling of the work vehicle 10. Furthermore, the control device 113 changes the operation of the work vehicle 10 at preset set intervals SI when the work vehicle 10 is traveling automatically. Furthermore, the automatic traveling program causes the computer (control device 113) to function as a means for changing the operation of the work vehicle 10 at preset set intervals SI when the work vehicle 10 is traveling automatically.

[0095] With this configuration, when work is performed at predetermined intervals (for example, stake driving work, planting work), even if the work vehicle 10 is driven automatically, the operator does not need to perform operations to change the operation of the work vehicle 10 at predetermined intervals. This reduces the inconvenience that the operator feels when working using the automatically driven work vehicle 10. Therefore, the convenience of the automatically driven work vehicle 10 can be improved.

[0096] From the perspective of improving work efficiency by eliminating the need for an operator (worker) to measure the distance between work positions (work points), it is desirable that the set interval SI include the set distance SD, as shown in Figure 5. In this embodiment, as described above, a marker 112b1 is provided on the traveling section 112 of the work vehicle 10 (see Figure 1). This marker 112b1 makes it easier for the operator (worker) to measure the distance between work positions.

[0097] The following configuration is desirable from the perspective of reliably implementing an automatic driving method for a work vehicle 10 that changes the operation of the work vehicle 10 every set distance SD while the work vehicle 10 is automatically driving. That is, as shown in Figures 4 and 5, the automatic driving method desirably generates an automatic driving route PT along which the work vehicle 10 automatically drives, and sets a change position P3a on the automatic driving route PT every set distance SD.

[0098] When the automated driving route PT includes a start position P1a and an end position P2a, the following configuration is desirable from the viewpoint of reliably setting the change position P3a on the automated driving route PT. That is, as shown in Fig. 5, it is desirable that the change position P3a be set based on the start position P1a, the end position P2a, and the set distance SD.

[0099] It should be noted that in step S2, if there is no division instruction (No in step S2), the automated driving route PT is not divided, and the change point P3 is not set (generated). As a result, the work vehicle 10 does not reach the change position P3a, and no change in the operation of the work vehicle 10 (change between the first operation and the second operation) is made. In other words, the division instruction makes it possible to switch between enabling and disabling the change in the operation of the work vehicle 10. In other words, the automated driving method of this embodiment switches between enabling and disabling the change in the operation of the work vehicle 10. From the perspective of utilizing the function of changing the operation of the work vehicle 10 at set intervals SI depending on the work (as needed), it is desirable that the automated driving method, as in this embodiment, switches between enabling and disabling the change in the operation of the work vehicle 10 at set intervals SI.

[0100] [5. Modifications of the automatic driving method] Below, modified examples (of each part) of the above-described automatic traveling method for work vehicle 10 will be described.

[0101] [5-1. First Modified Example] In the above-described automatic traveling method for the work vehicle 10, the start point P1 of each automatic traveling route PT is set (generated) within the field 300 (see FIG. 4), but in the first modified example, at least a portion of each start point P1 is set outside the field 300. Such setting of the start point P1 occurs when the outer periphery of the field 300 that intersects with the automatic traveling route PT extends obliquely with respect to the automatic traveling route PT (not perpendicular to the automatic traveling route PT). That is, for example, when the field 300 is trapezoidal. An update is performed on the start point P1 that is set outside the field 300. More specifically, this is as follows. FIG. 11 is an explanatory diagram that explains the update of the start point P1.

[0102] For example, the work vehicle 10 automatically travels along the automatic travel route PT (the automatic travel route PT on the left in FIG. 11) while changing its operation every time a set distance SD is set as the set interval SI. When the work vehicle 10 reaches the end position P2a (end point P2), the automatic travel ends (see step S7 in FIG. 9). In the first embodiment, since there is no turning space on the opposite side of the end position P2a from the side from which the work vehicle 10 has automatically traveled (the lower side in FIG. 11), the work vehicle 10, whose automatic travel has ended, is manually driven to move toward the left rear of the work vehicle 10 (backward). After the movement, the work vehicle 10 is manually driven to move toward the left front of the work vehicle 10 (forward). This allows the work vehicle 10 to move to the next automatic travel route PT (the automatic travel route PT on the right in FIG. 11) without having to turn the work vehicle 10 around.

[0103] For example, in pile driving work, one side (for example, the front side) in the fore-and-aft direction of the work vehicle 10 does not need to face the direction in which the work is progressing. For this reason, the movement described above is suitable for work such as pile driving work in which the orientation of the work vehicle 10 may change relative to the direction in which the work is progressing.

[0104] When the work vehicle 10 has completed moving to the next automated travel route PT, the start point P1 is updated. More specifically, the operator performs a predetermined operation for the update setting using the remote control device 20 (see FIGS. 1 and 2). Then, the route dividing unit 113c (see FIG. 3) registers the position of the work vehicle 10 acquired by the positioning communication unit 114 (see FIG. 3) at the time the predetermined operation was performed as the position of the updated start point AP1 (updated position AP1a). This updated start point AP1 is set in place of the start point P1 located outside the field 300. In other words, the start point P1 is updated to the updated start point AP1 through the update setting.

[0105] In this case, the distance between the updated position AP1a and the change position P3a (change position P3a on the right-hand automated travel route PT in FIG. 11 ) adjacent to the (pre-update) start point P1 becomes shorter than the set distance SD. However, even when the above-described update setting is performed, the change point P3 is maintained (not updated). This maintains the positional relationship of each change point P3 located side by side along the automated travel route PT. Therefore, the present invention can be applied to, for example, a trapezoidal field 300 while suppressing changes (updates) to the change position P3a, i.e., the position where work is performed (for example, the position where a stake is driven in a staking operation, or the position where a seedling is planted in a planting operation). Note that when the change point P3 is set outside the field 300, the same update setting as the update setting for the start point P1 described above may be performed for the change point P3 set outside the field 300.

[0106] [5-2. Second Modified Example] In the second modified example, the method of generating the automated driving route PT differs from the automated driving method of the work vehicle 10 described above. That is, in the second modified example, when generating the automated driving route PT, another method of generating the automated driving route PT that is different from the generation method shown in FIG. 4 is used. This is described in more detail below. FIG. 12 is an explanatory diagram that explains another method of generating the automated driving route PT. Note that the generation of the automated driving route PT using another generation method is performed by the route generation unit 113b, similar to the generation of the automated driving route PT using the generation method shown in FIG. 4.

[0107] When generating an automated driving route PT using another generation method, first, the field 300 is registered. When registering the field 300, for example, an operator manually drives the work vehicle 10 along the periphery of the field 300, such as along the edge of the ridge (see the dashed dotted line in FIG. 12). When driving along the periphery of the field 300, the shape of the field 300 is identified from the travel trajectory of the work vehicle 10 obtained by the positioning communication unit 114. The identified shape of the field 300 is stored in, for example, the memory unit 113a (see FIG. 3), and the field 300 is registered.

[0108] When the field 300 is registered, the inside of the shape of the field 300 is set as the automatic driving area. When the automatic driving area is set, the route generation unit 113b generates an automatic driving route PT within the automatic driving area. An automatic driving route PT generated by another generation method has multiple straight routes PT1. Each straight route PT1 extends in a straight line so that the work vehicle 10 travels straight. The end point P2 of one of the multiple straight routes PT1 and the start point P1 of the other adjacent straight route PT1 are connected via a turning route PT2. In other words, in the automatic driving route PT of the second modified example, the straight routes PT1 and the turning routes PT2 are alternately connected. The turning route PT2 extends in a curved line so that the work vehicle 10 travels in a turning direction.

[0109] Therefore, with the automatic driving route PT of the second modified example, the work vehicle 10 can automatically travel straight along the straight route PT1 and automatically turn along the turning route PT2. In other words, the method for generating the automatic driving route PT of the second embodiment is suitable for an automatic driving method for the work vehicle 10, including automatic turning (a work vehicle 10 equipped with an automatic turning function).

[0110] When dividing the automated travel route PT in the second modified example, the set distance SD is preferably set based on the total length of the multiple straight routes PT1 (the total length of each straight route PT1) and the number of change positions P3a set by the operator (see FIG. 7). More specifically, the route dividing unit 113c preferably calculates and sets the set distance SD by dividing the total length of the straight routes PT1 by the number of sections corresponding to the number of change positions P3a (the number of change positions P3a plus the number of straight routes PT1). In the second modified example, the number of change positions P3a set by the operator is the number of change positions P3a set in the entire field 300. As described above, the number of change positions P3a corresponds to the number of materials used in the work (e.g., stakes for stake driving work, seedlings for planting work, etc.). Therefore, by dividing the automated travel route PT as described above, the materials are used (distributed) efficiently throughout the entire field 300.

[0111] Incidentally, even in the case of the automated driving route PT of the second modified example, the operator may input the set distance SD itself (see FIG. 6), and the automated driving route PT may be divided based on this input set distance SD.

[0112] [5-3. Third Modification] In the third modified example, the method of changing the operation of the work vehicle 10 differs from the above-described automatic driving method of the work vehicle 10. That is, in the third modified example, when changing the operation of the work vehicle 10, another method of changing the operation of the work vehicle 10 that differs from the method of changing the operation shown in Figure 9 etc. is used. More details are as follows. Figure 13 is an explanatory diagram that explains another method of changing the operation of the work vehicle 10.

[0113] In another operation change method, the operation of the work vehicle 10 is changed every set time ST included in the set interval SI. The set time ST includes a first set time ST1 (e.g., 10 seconds) for performing the first operation and a second set time ST2 (e.g., 5 seconds) for performing the second operation. For example, at time t2, after the first set time ST1 has elapsed since the first operation was started at time t1, the first operation is changed to the second operation. At time t3, after the second set time ST2 has elapsed since the second operation was started at time t2, the second operation is changed to the first operation. Similarly, at time t4, after the first set time ST1 has elapsed since the first operation was started at time t3, the first operation is changed to the second operation. At time t5, after the second set time ST2 has elapsed since the second operation was started at time t4, the second operation is changed to the first operation.

[0114] As with the operation change method shown in FIG. 9 etc., in other operation change methods, the first operation includes traveling (in automatic traveling mode), and the second operation includes stopping traveling. That is, the first operation is an operation for moving (between work positions), and the second operation is an operation for working. Note that the second operation is not limited to the above configuration. For example, the second operation may include traveling (automatic traveling) at a vehicle speed slower than the first operation.

[0115] The first set time ST1 and the second set time ST2 are set by the operator operating a screen displayed on the in-vehicle setting unit 111d (see FIG. 1). Note that, while FIG. 13 illustrates an example in which the first set time ST1 and the second set time ST2 are different from each other, the first set time ST1 and the second set time ST2 may be the same.

[0116] For example, in harvesting work that includes packing, harvesting and packing of the harvested products are performed at predetermined intervals. In such work that is performed at predetermined intervals, if the operation of the work vehicle 10 is changed at set time ST while the work vehicle 10 is automatically traveling, an operator (worker) will not need to operate the work vehicle 10 at predetermined intervals, even if the work vehicle 10 is traveling automatically. Therefore, from the perspective of improving the convenience of the automatically traveling work vehicle 10 in work that is performed at predetermined intervals, it is desirable that the set interval SI include the set time ST, as in the third modified example.

[0117] In addition, the work vehicle 10 may be automatically driven by combining changing the operation of the work vehicle 10 for each set time ST as in the third modified example with changing the operation of the work vehicle 10 for each set distance SD as shown in Figure 9, etc.

[0118] [6. Notes] The automatic driving method, automatic driving system 1, and automatic driving program PG1 for the work vehicle 10 described in this embodiment can also be expressed as the automatic driving method, automatic driving system, and automatic driving program shown in the following supplementary notes.

[0119] The automatic driving method of the work vehicle in Appendix (1) is as follows: A method for automatically driving a work vehicle, comprising: When the work vehicle is traveling automatically, the operation of the work vehicle is changed at preset intervals.

[0120] The automatic driving method for a work vehicle according to Supplementary Note (2) is the automatic driving method according to Supplementary Note (1), The change of the operation of the work vehicle at each set interval is switched between valid and invalid.

[0121] The automatic driving method for a work vehicle according to Supplementary Note (3) is the automatic driving method according to Supplementary Note (1) or (2), The set interval includes a set distance.

[0122] The automatic driving method for a work vehicle according to Supplementary Note (4) is the automatic driving method according to Supplementary Note (3), generating an automatic travel route along which the work vehicle will automatically travel; and setting change positions, at which the operation of the work vehicle is changed, on the automatic travel route for each set distance.

[0123] The automatic driving method for a work vehicle according to Supplementary Note (5) is the automatic driving method according to Supplementary Note (4), the automated driving route includes a start point position and an end point position, The change position is set based on the start position, the end position, and the set distance.

[0124] The automatic driving method for a work vehicle according to Supplementary Note (6) is the automatic driving method according to any one of Supplementary Note (3) to (5), The set interval is set based on an input operation by an operator.

[0125] The automatic driving method for a work vehicle according to Supplementary Note (7) is the automatic driving method according to Supplementary Note (6), The input operation by the operator includes inputting the set distance.

[0126] The automatic driving method for a work vehicle according to appendix (8) is the automatic driving method according to appendix (6), the input operation by the operator includes inputting a set number of change positions at which the operation of the work vehicle is changed, The set distance is set based on the set number of the change positions.

[0127] The automatic driving method for a work vehicle according to Supplementary Note (9) is the automatic driving method according to any one of Supplementary Note (1) to (8), The set interval includes a set time.

[0128] The automated driving system for work vehicles in Appendix (10) is Work vehicles and a control device that controls the automatic traveling of the work vehicle, The control device changes the operation of the work vehicle at preset intervals when the work vehicle is traveling automatically.

[0129] The automatic driving program for the work vehicle in Appendix (11) is An automatic driving program that causes a computer to execute an automatic driving method for a work vehicle, The computer functions as a means for changing the operation of the work vehicle at preset intervals when the work vehicle is traveling automatically.

[0130] Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to these, and the present invention can be expanded or modified without departing from the spirit of the invention. Furthermore, multiple embodiments and modifications shown in this specification can be combined to the extent possible. [Industrial Applicability]

[0131] The present invention can be used in work vehicles such as agricultural machines and construction machines. [Explanation of symbols]

[0132] 1. Autonomous driving system 10 Work vehicles 113 Control Device (Computer) P1a starting point position P2a End point position P3a Change position PG1 Autonomous Driving Program PT Automated Driving Route SD setting distance SI Setting Interval ST setting time

Claims

1. A method for automatically driving a work vehicle, comprising: An automatic driving method for a work vehicle, which changes the operation of the work vehicle at preset intervals while the work vehicle is automatically driving.

2. The automatic driving method for a work vehicle according to claim 1 , wherein the change in the operation of the work vehicle at each set interval is switched between enabled and disabled.

3. The method for automatically driving a work vehicle according to claim 1 , wherein the set interval includes a set distance.

4. generating an automatic travel route along which the work vehicle will automatically travel; 4. The automatic driving method for a work vehicle according to claim 3, further comprising: setting a change position, at which the operation of the work vehicle is changed, on the automatic driving route for each of the set distances.

5. the automated driving route includes a start point position and an end point position, The automatic driving method for a work vehicle according to claim 4 , wherein the change position is set based on the start position, the end position, and the set distance.

6. The method for automatically driving a work vehicle according to claim 3 , wherein the set interval is set based on an input operation by an operator.

7. The automatic driving method for a work vehicle according to claim 6 , wherein the input operation by the operator includes inputting the set distance.

8. the input operation by the operator includes inputting a set number of change positions at which the operation of the work vehicle is changed, The automatic driving method for a work vehicle according to claim 6 , wherein the set distance is set based on the set number of the change positions.

9. The method for automatically driving a work vehicle according to claim 1 , wherein the set interval includes a set time.

10. A work vehicle, a control device that controls the automatic traveling of the work vehicle, The control device is an automatic driving system for a work vehicle, which changes the operation of the work vehicle at preset intervals when the work vehicle is automatically driving.

11. An automatic driving program that causes a computer to execute an automatic driving method for a work vehicle, An automatic driving program for a work vehicle that causes the computer to function as a means for changing the operation of the work vehicle at preset intervals when the work vehicle is automatically driving.

Images