Automatic travelling method, automatic travelling program, and automatic travelling system

Abstract

To provide an automatic traveling method, an automatic traveling program, and an automatic traveling system capable of improving convenience of automatic traveling of a work vehicle.SOLUTION: A work vehicle 10 can automatically travel according to an instruction output from an operation terminal 20. A setting processing unit 112 of the work vehicle 10 sets whether or not the fact that the communication state between the operation terminal 20 and the work vehicle 10 is a connected state in which communication between the operation terminal 20 and the work vehicle 10 is established is to be included in an automatic travelling permission condition for permitting automatic travelling.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technology for automatically driving a work vehicle. [Background technology]

[0002] In recent years, advances in agricultural machinery automation technology have led to the introduction of work vehicles that perform work while autonomously traveling within fields. Systems are also known in which an operator remotely controls an operation terminal to start or stop the autonomous traveling of a work vehicle. For example, such systems permit the start of autonomous traveling only when communication between the operation terminal and the work vehicle has been established. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6779164 Summary of the Invention [Problem to be solved by the invention]

[0004] The communication state between the operation terminal and the work vehicle may become unstable depending on the usage environment. With conventional technology, if the communication state becomes unstable and communication between the operation terminal and the work vehicle is interrupted, it becomes impossible to start or continue autonomous driving. For this reason, even in an environment where autonomous driving can be started by operating an operation unit provided on the work vehicle, if communication between the operation terminal and the work vehicle is interrupted, the start or continuation of autonomous driving is restricted, resulting in a problem of reduced convenience of autonomous driving.

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving program, and an automatic driving system that can improve the convenience of automatic driving of work vehicles. [Means for solving the problem]

[0006] An automatic driving method according to the present invention is a method capable of automatically driving a work vehicle in accordance with instructions output from a first operating device. The automatic driving method sets whether or not an automatic driving permission condition for permitting automatic driving includes a condition that the communication state between the first operating device and the work vehicle is a connected state in which communication between the first operating device and the work vehicle is established.

[0007] An automated driving program according to the present invention is a program that can automatically drive a work vehicle in accordance with instructions output from a first operating device. The automated driving program is a program that causes one or more processors to execute a process for setting whether or not the automated driving permission condition for allowing automated driving is that the communication state between the first operating device and the work vehicle is a connected state in which communication between the first operating device and the work vehicle is established.

[0008] The automated driving system according to the present invention is a system capable of automatically driving a work vehicle in accordance with instructions output from a first operating device. The automated driving system sets whether or not the automated driving permission condition for permitting automated driving includes a condition that the communication state between the first operating device and the work vehicle is a connected state in which communication between the first operating device and the work vehicle is established. [Effects of the Invention]

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

[0010] [Figure 1] FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. [Figure 2] FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of a farm field and a target route according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of installation of an operation terminal according to an embodiment of the present invention inside a work vehicle. [Figure 5] FIG. 5 is an external view showing an example of a remote controller according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of a menu screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of an operation screen displayed on the operation terminal in the embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of an operation device setting screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of an operation screen displayed on an operation terminal according to a modified example of the present invention. [Figure 12] FIG. 12 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. DETAILED DESCRIPTION OF THE INVENTION

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

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

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

[0014] For example, the work vehicle 10 automatically travels along a target route R in a field F shown in FIG. 3. Specifically, the work vehicle 10 performs work while automatically traveling along the target route R from a work start position S to a work end position G. The target route R includes a work route and a non-work route (such as a travel route or a turning route). The target route R is not limited to the route shown in FIG. 3, but is set appropriately depending on the work content. Furthermore, the work start position S and the work end position G can be set to any position within the field F.

[0015] The operation terminal 20 is an operating device that registers the field F, sets the target route R, receives instructions to start and stop automatic driving from the operator, and displays the work status during automatic driving. The operator can operate the operation terminal 20 inside the work vehicle 10, or can operate the operation terminal 20 outside the work vehicle 10.

[0016] Here, the communication state between the operation terminal 20 and the work vehicle 10 may become unstable depending on the usage environment. With conventional technology, if the communication state becomes unstable and communication between the operation terminal 20 and the work vehicle 10 is interrupted, it becomes impossible to start or continue automatic driving. For this reason, even in an environment where automatic driving can be started by operating an operation unit (operation device 18, remote control 19, etc.) provided on the work vehicle 10, if communication between the operation terminal 20 and the work vehicle 10 is interrupted, the start or continuation of automatic driving is restricted, resulting in a problem of reduced convenience of automatic driving. In contrast, the automatic driving system 1 according to this embodiment can improve the convenience of automatic driving of the work vehicle 10, as described below.

[0017] [Work vehicle 10] 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a work implement 14, a communication unit 15, a positioning unit 16, an obstacle detection unit 17, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work implement 14, the positioning unit 16, the obstacle detection unit 17, etc. The vehicle control device 11 and the positioning unit 16 may be capable of wireless communication. The vehicle control device 11 and the obstacle detection unit 17 may also be capable of wireless communication.

[0018] The communication unit 15 is a communication interface that connects the work vehicle 10 to the communication network N1 by wire or wirelessly and executes data communication in accordance with a predetermined communication protocol with external devices such as the operation terminal 20 via the communication network N1. The work vehicle 10 is capable of wireless communication with the operation terminal 20 via the communication unit 15.

[0019] The traveling device 13 is a drive unit that causes the work vehicle 10 to travel. As shown in Fig. 2, the traveling device 13 is equipped with an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handlebar 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. The traveling device 13 is not limited to a wheel type equipped with front wheels 132 and rear wheels 133, but may also be a crawler type equipped with crawlers provided on the left and right sides of the work vehicle 10.

[0020] The engine 131 is a drive source such as a diesel engine or a gasoline engine that runs on fuel supplied to a fuel tank (not shown). The traveling device 13 may be equipped with an electric motor as a drive source in addition to or instead of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery provided on the work vehicle 10. The battery is charged with power supplied from the generator. The vehicle control device 11, positioning unit 16, obstacle detection unit 17 and other electrical components provided on the work vehicle 10 can be driven by power supplied from the battery even after the engine 131 is stopped.

[0021] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and to the rear wheels 133 via the transmission 134 and the rear axle 136. The driving force of the engine 131 is also transmitted to the work implement 14 via a PTO shaft (not shown). When the work vehicle 10 performs autonomous driving, the traveling device 13 performs traveling operations in accordance with commands from the vehicle control device 11.

[0022] The work implement 14 is, for example, a tiller, a brush cutter, a plow, a fertilizer applicator, a seed sower, a spreader, or the like, and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various types of work using each of the work implements 14. Figure 2 shows a case where the work implement 14 is a tiller.

[0023] The work implement 14 may be supported in the work vehicle 10 by a lifting mechanism (not shown) so that it can be raised and lowered. The vehicle control device 11 is able to raise and lower the work implement 14 by controlling the lifting mechanism. For example, the vehicle control device 11 lowers the work implement 14 when the work vehicle 10 travels straight ahead on the work path, and raises the work implement 14 when the work vehicle 10 travels in a turning direction. Furthermore, when the vehicle control device 11 acquires an instruction to stop work, it outputs a work stop command to the work implement 14. For example, when the operator performs a stop instruction operation on the operation terminal 20, the vehicle control device 11 acquires the stop instruction from the operation terminal 20. When the vehicle control device 11 acquires the instruction to stop work, it stops driving the PTO shaft to stop the work of the work implement 14.

[0024] The handle 137 is an operating section that is operated by the operator or the vehicle control device 11. For example, in the traveling device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to operation of the handle 137 by the vehicle control device 11, and the traveling direction of the work vehicle 10 is changed. When the operator performs a teaching operation to register a field F, the operator operates the handle 137 to manually drive the work vehicle 10. Also, when moving the work vehicle 10 to a work start position S, the operator operates the handle 137 to manually drive the work vehicle 10.

[0025] In addition to the handlebars 137, the traveling device 13 is also equipped with a shift lever, accelerator, brake, etc. (not shown) that are operated by the vehicle control device 11. In the traveling device 13, the gear of the transmission 134 is switched to a forward gear, a reverse gear, etc. in response to operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward, reverse, etc. The vehicle control device 11 also operates the accelerator to control the rotation speed of the engine 131. The vehicle control device 11 also operates the brake to brake the rotation of the front wheels 132 and rear wheels 133 using an electromagnetic brake.

[0026] The positioning unit 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164 (see FIG. 1). For example, as shown in FIG. 2, the positioning unit 16 is provided above the cabin 138 in which the operator sits. The installation location of the positioning unit 16 is not limited to the cabin 138. The positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning unit 16 may be disposed in different locations in the work vehicle 10. A battery is connected to the positioning unit 16, and the positioning unit 16 can operate even when the engine 131 is stopped. The positioning unit 16 may be substituted by, for example, a mobile phone, a smartphone, a tablet terminal, a quantum compass, or the like.

[0027] The positioning control unit 161 is a computer system including one or more processors and storage memories such as nonvolatile memory and RAM. The storage unit 162 is a nonvolatile memory that stores a program for causing the positioning control unit 161 to execute the positioning process, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Note that the program may be downloaded to the positioning unit 16 from a server (not shown) via a communication network N1 and stored in the storage unit 162.

[0028] The communication unit 163 is a communication interface that connects the positioning unit 16 to a communication network by wire or wirelessly, and executes data communication with an external device such as a base station server via the communication network in accordance with a predetermined communication protocol.

[0029] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0030] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the work vehicle 10 is autonomously traveling within a field F, the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites. The positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs autonomous traveling using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the determined position (for example, the position of the positioning antenna 164), or may be displaced from the determined position. The positioning control unit 161 may calculate (measure) the current position of the work vehicle 10 using a quantum compass.

[0031] An obstacle detection unit 17 is provided at the front of the work vehicle 10. The obstacle detection unit 17 is composed of a sensor that detects obstacles in a predetermined detection area using, for example, infrared rays, ultrasonic waves, or millimeter waves. For example, the obstacle detection unit 17 may be a lidar sensor (distance sensor) that uses a laser to measure the distance to a measurement object (obstacle) in three dimensions, or a sonar sensor with multiple sonars that uses ultrasonic waves to measure the distance to a measurement object. Examples of the obstacle include a ridge, a water intake, a utility pole, materials temporarily placed in the field F, and a person. When the obstacle detection unit 17 detects the obstacle, it transmits the detection result (measurement information) to the vehicle control device 11. When the obstacle detection unit 17 detects an obstacle in the detection area, the vehicle control device 11 issues a warning sound from the work vehicle 10 and slows down or stops the work vehicle 10. Note that the obstacle detection units 17 may be provided at the front, rear, left side, and right side of the work vehicle. In this case, the vehicle control device 11 controls the traveling of the work vehicle 10 based on the detection results of each obstacle detection unit 17.

[0032] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute automatic driving processing (see FIG. 12). For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. The storage unit 12 may also store route data for a target route R generated in the operation terminal 20.

[0033] 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.

[0034] The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. The vehicle control device 11 also executes automatic driving processing for the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning unit 16 and a target route R that is set in advance.

[0035] As shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111 and a setting processing unit 112. The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the automatic driving program using the CPU. Some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing multiple processors to function as the processing units.

[0036] The driving processing unit 111 controls the driving of the work vehicle 10. Specifically, the driving processing unit 111 causes the work vehicle 10 to automatically drive according to a target route R (see FIG. 3) set in the field F. The driving processing unit 111 also determines whether the work vehicle 10 is in a state where it is possible to start automatic driving. For example, the driving processing unit 111 determines whether the current position of the work vehicle 10 satisfies predetermined conditions (automatic driving start conditions) with respect to a work start position S set in the field F. The automatic driving start conditions include "the distance from the work start position S to the work vehicle 10 in the front and rear directions is within X1 m," "the distance from the target route R to the work vehicle 10 in the left and right directions is within X2 m each," "the direction of the work vehicle 10 is within Y1 degrees from the direction of the target route R," and "the remaining distance to the turning position on the straight route is Z1 m or more." If all of these automatic driving start conditions are met, the driving processing unit 111 determines that the work vehicle 10 is in a state where it is possible to start automatic driving, and permits the start of automatic driving. On the other hand, if any of the automatic driving start conditions is not satisfied, the driving processing unit 111 determines that the work vehicle 10 is not in a state where automatic driving can be started, and prohibits the start of automatic driving.

[0037] Additionally, while the work vehicle 10 is being driven automatically, the driving processing unit 111 determines whether or not the conditions for continuing automatic driving (automatic driving continuation conditions) are met. The automatic driving continuation conditions include "the distance from the target route R to the work vehicle 10 is within X3 m on each side," "the direction of the work vehicle 10 is within Y2 degrees from the direction of the target route R," "positioning accuracy is equal to or greater than a predetermined value," etc. If all of these automatic driving continuation conditions are met, the driving processing unit 111 determines that the work vehicle 10 is in a state where it can continue automatic driving, and continues automatic driving. On the other hand, if any of the automatic driving continuation conditions are not met, the driving processing unit 111 determines that the work vehicle 10 is not in a state where it can continue automatic driving, and stops automatic driving.

[0038] When the driving processing unit 111 permits the work vehicle 10 to drive automatically, it permits the receipt of the driving start instruction from the operation terminal 20. In this case, the operation terminal 20 displays an input button for the driving start instruction (start button K1) on the operation screen D2 (see FIG. 7) and receives the driving start instruction from the operator. When the driving processing unit 111 acquires the driving start instruction from the operation terminal 20, it causes the work vehicle 10 to start driving automatically from the work start position S. When the work vehicle 10 starts driving automatically, it performs work while driving automatically from the work start position S according to the target route R.

[0039] Furthermore, the driving processing unit 111 controls the driving of the work vehicle 10 based on the detection results by the obstacle detection unit 17. Specifically, when the obstacle detection unit 17 detects an obstacle, the driving processing unit 111 slows down or stops the work vehicle 10. Furthermore, the driving processing unit 111 may cause the work vehicle 10 to perform avoidance driving to avoid the obstacle.

[0040] Furthermore, the driving processing unit 111 stops the automatic driving of the work vehicle 10 when it receives a driving stop instruction from the operation terminal 20. For example, when the operator presses the pause button K2 (see FIGS. 7 and 8) on the operation screen D2 of the operation terminal 20, the operation terminal 20 outputs a driving stop instruction to the work vehicle 10.

[0041] Here, in this embodiment, it is possible to set whether or not the automatic driving permission conditions for permitting automatic driving include a condition related to the communication state between the work vehicle 10 and the operation terminal 20.

[0042] Specifically, the setting processing unit 112 sets whether or not "the communication state between the operation terminal 20 and the work vehicle 10 is a connected state in which communication between the operation terminal 20 and the work vehicle 10 is established" is to be included in the automatic driving permission conditions for permitting automatic driving. For example, the setting processing unit 112 sets either the first mode or the second mode, including a first mode in which "the communication state between the operation terminal 20 and the work vehicle 10 is a connected state" is included in the automatic driving permission conditions, and a second mode in which "the communication state between the operation terminal 20 and the work vehicle 10 is a connected state" is not included in the automatic driving permission conditions. Furthermore, the setting processing unit 112 is capable of mutually switching between the first mode and the second mode. The automatic driving permission conditions include at least one of the automatic driving start condition and the automatic driving continuation condition.

[0043] A specific example of a method for setting the automatic driving permission conditions related to the communication state between the work vehicle 10 and the operation terminal 20 will be described later.

[0044] [Operation terminal 20] 1, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone.

[0045] 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.

[0046] The operation display unit 23 is a user interface that includes a display unit such as a liquid crystal display or organic EL display that displays various types of information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit on the operation screen displayed on the display unit to register various types of information (such as work vehicle information, field information, and work information, which will be described later). For example, the operator operates the operation unit to register the field F to be worked on.

[0047] The operator can also operate the operation unit to give instructions to start and stop traveling to the work vehicle 10. Furthermore, the operator can grasp the traveling status of the work vehicle 10, which is automatically traveling through the field F according to the target route R, from the traveling trajectory displayed on the operation terminal 20, while in a location away from the work vehicle 10.

[0048] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. A control program for causing the operation control unit 21 to execute predetermined processes is stored in the storage unit 22. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The control program may be downloaded to the operation terminal 20 from a server (not shown) via the communication network N1 and stored in the storage unit 22.

[0049] Furthermore, a dedicated application for automatically driving the work vehicle 10 is installed in the memory unit 22. The operation control unit 21 starts up the dedicated application to perform processing for setting various information related to the work vehicle 10, processing for generating a target route R for the work vehicle 10, and issuing instructions for automatic driving to the work vehicle 10.

[0050] The storage unit 22 also stores data such as work vehicle information, which is information relating to the work vehicle 10, and target route information, which is information relating to the target route R. The work vehicle information includes information such as the vehicle number and model for each work vehicle 10. The vehicle number is identification information for the work vehicle 10. The model is the model of the work vehicle 10.

[0051] Furthermore, the storage unit 22 may store the work vehicle information for one work vehicle 10, or may store the work vehicle information for multiple work vehicles 10. For example, if a specific operator owns multiple work vehicles 10, the work vehicle information for each work vehicle 10 is stored in the storage unit 22.

[0052] The target route information includes information such as the route name, field name, address, field area, and work time for each target route R. The route name is the route name of the target route R generated in the operation terminal 20. The field name is the name of the field F that is the work target for which the target route R is set. The address is the address of the field F, and the field area is the area of ​​the field F. The work time is the time required for the work vehicle 10 to work in the field F.

[0053] Furthermore, the storage unit 22 may store the target route information for one target route R, or may store the target route information for multiple target routes R. For example, if a specific operator generates multiple target routes R for one or multiple fields F that he or she owns, the target route information for each target route R is stored in the storage unit 22. Note that one target route R, or multiple target routes R, may be set for one field F.

[0054] In another embodiment, some or all of the information such as the work vehicle information and the target route information may be stored in a server accessible from the operation terminal 20. The operator may perform an operation to register the work vehicle information and the target route information in the server (for example, a personal computer, a cloud server, etc.).

[0055] The operation control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as temporary storage memory for the various types of processing executed by the CPU. The operation control unit 21 controls the operation terminal 20 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 22.

[0056] 1, the operation control unit 21 includes various processing units such as a setting processing unit 211, an output processing unit 212, and a display processing unit 213. The operation control unit 21 functions as the various processing units by executing various processes in accordance with the control program using the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

[0057] The setting processing unit 211 sets 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 how the work will be performed specifically (hereinafter referred to as work information). The setting processing unit 211 accepts setting operations by the operator on the menu screen D1 shown in Fig. 6, for example, and registers each piece of setting information.

[0058] Specifically, the setting processing unit 211 sets information such as the model of the work vehicle 10, the position where the positioning antenna 164 is attached on the work vehicle 10, the type of work implement 14, the size and shape of the work implement 14, the position of the work implement 14 relative to the work vehicle 10, the driving speed and engine rotation speed of the work vehicle 10 while working, and the driving speed and engine rotation speed of the work vehicle 10 while turning, by having the operator perform operations to register this information on the operation terminal 20.

[0059] Furthermore, the setting processing unit 211 sets information such as the position and shape of the field F, the work start position S and work end position G, and the work direction by performing a registration operation on the operation terminal 20.

[0060] Information on the position and shape of the field F can be automatically obtained, for example, by having an operator get into the work vehicle 10 and drive it around the perimeter of the field F, recording the changes in position information of the positioning antenna 164 at that time. The position and shape of the field F can also be obtained based on a polygon obtained by the operator operating the operation terminal 20 to specify multiple points on a map while a map is displayed on the operation terminal 20. The area specified by the obtained position and shape of the field F is the area in which the work vehicle 10 can be driven (travel area).

[0061] The setting processing unit 211 is configured to be able to set work information such as whether or not multiple work vehicles 10 are working cooperatively, the number of skips, which is the number of work routes that the work vehicle 10 will skip when turning on the headland, the width of the headland, and the width of the non-cultivated land.

[0062] For example, the setting processing unit 211 sets a work area for actually performing work in a registered field F. For example, when the operator selects "Work Area Registration" on the menu screen D1 (see FIG. 6) and selects the field F for which the work area is to be registered, the setting processing unit 211 displays a registration screen (map screen) for registering a work start position S and a work end position G. On the registration screen, the operator registers the work start position S and the work end position G at any position within the field F. For example, the operator registers the work start position S and the work end position G near the entrance or exit of the field F or near a ridge (see FIG. 3).

[0063] Furthermore, the setting processing unit 211 generates a target route R along which the work vehicle 10 will automatically travel in the field F, based on each piece of setting information. For example, when the operator selects "Create route" on the menu screen D1 (see FIG. 6), the setting processing unit 211 displays a registration screen for generating a route. On the registration screen, the operator registers information such as the field F, the work implement 14, the turning method, the headland, the vehicle speed, and the engine revolutions, and then issues a command to generate a route. When the setting processing unit 211 receives the command to generate a route, it generates a target route R based on the work start position S, the work end position G, and each piece of information. The setting processing unit 211 associates the generated target route R with the field F and registers it.

[0064] The output processing unit 212 outputs route data of the target route R to the work vehicle 10. For example, when the operator selects the field F to be worked on and the work route (target route R) and performs a work start operation, the route data of the target route R corresponding to the field F is output to the work vehicle 10.

[0065] When the work vehicle 10 receives the route data of the target route R generated by the operation terminal 20, the work vehicle 10 stores the route data in the storage unit 12.

[0066] The display processing unit 213 displays various operation screens on the operation display unit 23. For example, the display processing unit 213 displays a menu screen D1 (see FIG. 6), an operation screen D2 (see FIG. 7, etc.), and the like.

[0067] As described above, when the automatic driving start conditions are satisfied, the work vehicle 10 starts automatic driving in response to a driving start command issued by the operator on the operation terminal 20. While the work vehicle 10 is automatically driving, the operator can grasp the driving status within the field F on the operation terminal 20.

[0068] The operation terminal 20 may be able to access a website (agricultural support site) for an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit 21. The server is provided with the above-mentioned processing units and executes each process.

[0069] Next, specific examples (Examples 1 to 4) of a method for setting an automatic traveling permission condition related to the communication state between the work vehicle 10 and the operation terminal 20 will be described.

[0070] [Example 1] In the first embodiment, the setting processing unit 112 of the work vehicle 10 sets whether or not "the communication state between the operation terminal 20 and the work vehicle 10 is connected" is to be included in the automatic driving permission conditions based on the position of the operation terminal 20. Specifically, when the operation terminal 20 is located inside the work vehicle 10, the setting processing unit 112 sets the automatic driving permission conditions to include "the communication state between the operation terminal 20 and the work vehicle 10 is connected" (sets the first mode), and when the operation terminal 20 is located outside the work vehicle 10, sets the automatic driving permission conditions to not include "the communication state between the operation terminal 20 and the work vehicle 10 is connected" (sets the second mode).

[0071] For example, when starting the automatic driving of the work vehicle 10, the operator boards the work vehicle 10 with the operation terminal 20. The operator sets the operation terminal 20 in a predetermined position inside the cabin 138 (see FIG. 4). When the operation terminal 20 is inside the work vehicle 10, the communication state between the operation terminal 20 and the work vehicle 10 is relatively stable, and therefore the communication state between the operation terminal 20 and the work vehicle 10 is likely to be maintained in a connected state. For this reason, even if the automatic driving permission conditions include, for example, that "the communication state between the operation terminal 20 and the work vehicle 10 is in a connected state," it does not make it difficult to permit automatic driving. In other words, if the automatic driving permission conditions include, for example, that "the communication state between the operation terminal 20 and the work vehicle 10 is in a connected state," it does not make it difficult to start automatic driving because the automatic driving start condition is not met, or it does not make it easy to stop automatic driving because the automatic driving continuation condition is not met. Furthermore, by including "the communication status between the operation terminal 20 and the work vehicle 10 is connected" in the conditions for permitting automatic driving, it is possible to ensure that the operator can check the status of the work vehicle 10 on the operation terminal 20 when starting automatic driving and during automatic driving, thereby improving safety and reliability.

[0072] On the other hand, for example, if an operator operates the operation terminal 20 outside the work vehicle 10, there is a possibility that the communication state between the operation terminal 20 and the work vehicle 10 may become unstable or be interrupted. In this case, if the condition for permitting automatic driving is included as "the communication state between the operation terminal 20 and the work vehicle 10 must be connected," the automatic driving start condition may not be met, making it difficult to start automatic driving, or the automatic driving continuation condition may not be met, making it easier for automatic driving to be stopped. In this way, if the automatic driving permission condition is made stricter, the convenience of automatic driving may be reduced. In particular, in an environment where an operator other than the operator outside the vehicle who operates the operation terminal 20 is on board the work vehicle 10, convenience may be significantly reduced, such as by prohibiting the start and continuation of automatic driving even though the other operator can operate and monitor from inside the vehicle.

[0073] Therefore, when the operation terminal 20 is located outside the work vehicle 10, the setting processing unit 112 sets the automatic driving permission condition so that "the communication state between the operation terminal 20 and the work vehicle 10 is connected" is not included in the automatic driving permission condition.

[0074] In this way, in Example 1, when the operation terminal 20 is located inside the work vehicle 10, the setting processing unit 112 sets the automatic driving permission conditions to include "the communication state between the operation terminal 20 and the work vehicle 10 being connected" (first mode), whereas when the operation terminal 20 is located outside the work vehicle 10, the setting processing unit 112 sets the automatic driving permission conditions to not include "the communication state between the operation terminal 20 and the work vehicle 10 being connected" (second mode).

[0075] The setting processing unit 112 determines the location of the operation terminal 20 (whether it is inside or outside the work vehicle 10) using a predetermined method. For example, the setting processing unit 112 determines the location of the operation terminal 20 using a detection unit (switch, sensor, etc.) provided at an installation position inside the cabin 138 (see FIG. 4). The setting processing unit 112 may also determine whether an operator is on board using a seat switch provided on the driver's seat inside the cabin 138, and determine that the operation terminal 20 is inside the vehicle if the operator is on board. The setting processing unit 112 may also determine the location of the operation terminal 20 using wireless communication such as NFC.

[0076] The driving processing unit 111 controls the autonomous driving of the work vehicle 10 based on the settings of the autonomous driving permission conditions made by the setting processing unit 112. Specifically, when the setting processing unit 112 makes a setting to include "the communication state between the operation terminal 20 and the work vehicle 10 being in a connected state" in the autonomous driving permission conditions (first mode), the driving processing unit 111 prohibits the start of autonomous driving if the communication state is in a disconnected state. Furthermore, when the setting processing unit 112 sets the first mode, if the communication state changes from a connected state to a disconnected state while the work vehicle 10 is autonomously driving, the driving processing unit 111 stops the autonomous driving of the work vehicle 10. When the operation terminal 20 is located inside the vehicle, it is easy to maintain the communication state in a connected state, so even if the condition is included in the autonomous driving permission conditions, the start and continuation of autonomous driving are unlikely to be restricted. On the other hand, if the communication state becomes a disconnected state, the start and continuation of autonomous driving are restricted. This makes it possible to ensure safety while preventing a decrease in work efficiency.

[0077] In contrast, when the setting processing unit 112 performs a setting that does not include "the communication state between the operation terminal 20 and the work vehicle 10 being in a connected state" in the automatic driving permission conditions (second mode), the driving processing unit 111 permits the start of automatic driving in both the connected state and the disconnected state of the communication state. Furthermore, when the setting processing unit 112 sets the second mode, if the communication state changes from a connected state to a disconnected state while the work vehicle 10 is automatically driving, the automatic driving of the work vehicle 10 is continued. This makes it possible to start and continue automatic driving regardless of the communication state between the operation terminal 20 and the work vehicle 10, thereby improving work efficiency.

[0078] Note that a condition for permitting the setting of the second mode may be that an operation device (a second operation device of the present invention) capable of causing the work vehicle 10 to travel automatically is included in addition to the operation terminal 20. The operation device may be an operation device 18 (see FIG. 4) provided inside the cabin 138, or a remote control 19 (see FIG. 5) capable of communicating with the work vehicle 10. The operation device 18 and the remote control 19 each include at least a start button and a stop button for automatic travel.

[0079] For example, when the communication state between the operation device and the work vehicle 10 is a connected state, the setting processing unit 112 permits a setting (second mode) that does not include "the communication state between the operation terminal 20 and the work vehicle 10 is a connected state" in the automatic driving permission conditions, and when the communication state between the operation device and the work vehicle 10 is a disconnected state, the setting processing unit 112 prohibits a setting (second mode) that does not include "the communication state between the operation terminal 20 and the work vehicle 10 is a connected state" in the automatic driving permission conditions. In other words, the setting of the second mode is permitted on the condition that the operator is in a state where he or she can control automatic driving using the operation device. As a result, setting to the second mode is permitted only when an instruction to start automatic driving can be given using the operation device, thereby improving the safety of automatic driving.

[0080] As another embodiment of Example 1, the setting processing unit 112 may perform a setting (second mode) in which, when the operation terminal 20 is located inside the work vehicle 10, the condition for allowing automatic driving is not included in the condition for allowing automatic driving, and may perform a setting (first mode) in which, when the operation terminal 20 is located outside the work vehicle 10, the condition for allowing automatic driving is included in the condition for allowing automatic driving, and the condition for allowing automatic driving is not included in the condition for allowing automatic driving.

[0081] For example, when the operation terminal 20 is located inside the work vehicle 10, the operator can issue instructions for automatic driving using an operation device (operation device 18 or remote control 19) separate from the operation terminal 20, and therefore work efficiency can be improved by permitting the start and continuation of automatic driving regardless of the communication status between the operation terminal 20 and the work vehicle 10. Furthermore, when the operation terminal 20 is located outside the work vehicle 10, for example, if communication between the operation terminal 20 and the work vehicle 10 is interrupted, the operation terminal 20 will not be able to grasp the status of the work vehicle 10, and therefore safety can be ensured by prohibiting the start and continuation of automatic driving.

[0082] Here, in the first embodiment, the display processing unit 213 of the operation terminal 20 causes the operation display unit 23 to display information that enables the operator to identify whether "the communication state between the operation terminal 20 and the work vehicle 10 is connected" is included in the automatic driving permission conditions. That is, the display processing unit 213 displays information on the operation screen of the operation terminal 20 that enables the operator to recognize whether the first mode or the second mode is set. For example, when a setting (first mode) is made to include "the communication state between the operation terminal 20 and the work vehicle 10 is connected" in the automatic driving permission conditions, the display processing unit 213 displays the start button K1 and the pause button K2 in a normal manner (see FIG. 7). On the other hand, when a setting (second mode) is made to not include "the communication state between the operation terminal 20 and the work vehicle 10" in the automatic driving permission conditions, the display processing unit 213 displays the start button K1 and the pause button K2 in a grayed-out manner (see FIG. 8). Furthermore, instead of the display mode of Fig. 8, the display processing unit 213 may display a message M1 indicating that the above condition is not included in the autonomous driving permission conditions, as shown in Fig. 9. Furthermore, instead of the display mode of Fig. 8, the display processing unit 213 may hide the start button K1 and the pause button K2. That is, the display processing unit 213 may be configured to display the start button K1 and the pause button K2 when the first mode is set, and not display the start button K1 and the pause button K2 when the second mode is set. Note that when the display processing unit 213 hides the start button K1 and the pause button K2, it may display the message M1 in the display area of ​​the start button K1 and the pause button K2, or display a camera image P1 (see Fig. 11) of the surroundings of the work vehicle 10.

[0083] In the second mode (see FIGS. 8 and 9), the operation terminal 20 may be able to accept an instruction to start and pause automatic driving from the operator. That is, even if the condition is not included in the automatic driving permission conditions, the operator may be able to perform an operation to start and stop automatic driving using the operation terminal 20. Furthermore, if the start button K1 and the pause button K2 are set to be hidden in the second mode, when the operator performs some operation on the operation terminal 20 (for example, a touch operation on the screen), the start button K1 and the pause button K2 may be displayed, making it possible to accept an instruction to start and pause automatic driving from the operator.

[0084] As another embodiment of Example 1, the setting processing unit 112 may set whether or not to include "the communication state between the operation terminal 20 and the work vehicle 10 being connected" in the automatic driving permission conditions based on whether or not the operation terminal 20 is located within a range of less than a predetermined distance from the work vehicle 10. Specifically, when the operation terminal 20 is located within a range of less than a predetermined distance from the work vehicle 10, the setting processing unit 112 sets the automatic driving permission conditions to include "the communication state between the operation terminal 20 and the work vehicle 10 being connected" (sets the first mode), and when the operation terminal 20 is located within a range of more than a predetermined distance from the work vehicle 10, sets the automatic driving permission conditions to not include "the communication state between the operation terminal 20 and the work vehicle 10 being connected" (sets the second mode). Note that, as another embodiment, the setting processing unit 112 may set the second mode when the operation terminal 20 is located within a range of less than a predetermined distance from the work vehicle 10, and set the first mode when the operation terminal 20 is located within a range of more than a predetermined distance from the work vehicle 10. The predetermined distance is a distance in the vicinity of the work vehicle 10, for example, a radius of 1 to 5 m from the center of the work vehicle 10, preferably 3 m from the center of the vehicle. Note that the "interior" of the work vehicle 10 is an example of a range less than the predetermined distance.

[0085] [Example 2] In the second embodiment, the setting processing unit 112 sets whether or not "the communication state between the operation terminal 20 and the work vehicle 10 is connected" is to be included in the automatic traveling permission conditions according to the setting operation by the operator. Specifically, the setting processing unit 112 sets to the first mode when the operator selects a mode (first mode) that includes "the communication state between the operation terminal 20 and the work vehicle 10 is connected" in the automatic traveling permission conditions, and sets to the second mode when the operator selects a mode (second mode) that does not include "the communication state between the operation terminal 20 and the work vehicle 10 is connected" in the automatic traveling permission conditions.

[0086] For example, the operator selects either a "tablet" (corresponding to the operation terminal 20) or a "remote control" (corresponding to the remote control 19) as the operation device for which to prioritize acceptance of driving instruction operations on the operation device setting screen D3 (see FIG. 10) displayed on the operation terminal 20. If the operator selects "tablet," the setting processing unit 112 performs a setting to include in the automatic driving permission conditions a condition that "the communication state between the operation terminal 20 and the work vehicle 10 is a connected state" (first mode). In this case, the driving processing unit 111 prohibits the start of automatic driving when the communication state between the operation terminal 20 and the work vehicle 10 is a disconnected state, and stops automatic driving of the work vehicle 10 when the communication state changes from a connected state to a disconnected state while the work vehicle 10 is automatically driving.

[0087] In contrast, when the operator selects "remote control," the setting processing unit 112 performs a setting that does not include "the communication state between the operation terminal 20 and the work vehicle 10 being connected" in the conditions for permitting automatic driving (second mode). In this case, the driving processing unit 111 permits the start of automatic driving by the remote control 19 even when the communication state between the operation terminal 20 and the work vehicle 10 is not connected, and allows the work vehicle 10 to continue automatic driving even if the communication state changes from a connected state to a not connected state while the work vehicle 10 is automatically driving.

[0088] For example, before starting automatic driving, the operator selects an operation device on the operation device setting screen D3 when registering various setting information. Note that the operation device setting screen D3 may also be able to select an "in-vehicle device" (e.g., corresponding to the operation device 18).

[0089] [Example 3] In the third embodiment, the setting processing unit 112 sets whether or not to include "the communication state between the operation terminal 20 and the work vehicle 10 is in a connected state" in the automatic driving permission conditions based on whether or not an operator is on board the work vehicle 10. Specifically, when the operator is not on board the work vehicle 10, the setting processing unit 112 sets the automatic driving permission conditions to include "the communication state between the operation terminal 20 and the work vehicle 10 is in a connected state" (sets the first mode), and when the operator is on board the work vehicle 10, sets the automatic driving permission conditions to not include "the communication state between the operation terminal 20 and the work vehicle 10 is in a connected state" (sets the second mode).

[0090] When the operator is not on board the work vehicle 10, if the communication state between the operation terminal 20 and the work vehicle 10 is in a disconnected state, the operation cannot be performed on the operation terminal 20, and the operation cannot be performed inside the work vehicle 10 either. For this reason, to ensure safety, the first mode is set when the operator is not on board the work vehicle 10. On the other hand, when the operator is on board the work vehicle 10, the operator can perform operations inside the work vehicle 10 even if the communication state between the operation terminal 20 and the work vehicle 10 is in a disconnected state. For this reason, to prevent a decrease in work efficiency, the second mode is set when the operator is on board the work vehicle 10.

[0091] As another embodiment of Example 3, the setting processing unit 112 may set whether or not to include "the communication state between the operation terminal 20 and the work vehicle 10 is connected" in the automatic driving permission conditions based on whether or not the operator is located at a position less than a predetermined distance from the work vehicle 10. Specifically, when the operator is located at a position more than a predetermined distance from the work vehicle 10, the setting processing unit 112 sets the automatic driving permission conditions to include "the communication state between the operation terminal 20 and the work vehicle 10 is connected" (sets the first mode), and when the operator is located less than the predetermined distance from the work vehicle 10, sets the automatic driving permission conditions to not include "the communication state between the operation terminal 20 and the work vehicle 10 is connected" (sets the second mode).

[0092] [Example 4] In the above-described first and second embodiments, when the autonomous driving mode is the "unmanned mode," the setting processing unit 112 may make the autonomous driving permission conditions stricter. Specifically, when the autonomous driving permission conditions are set in the unmanned mode (second mode) such that "communication between the operation terminal 20 and the work vehicle 10 must be in a connected state" is not included in the autonomous driving permission conditions, the setting processing unit 112 permits the start and continuation of autonomous driving on the condition that the monitoring function is enabled.

[0093] Specifically, in the unmanned mode, the operation terminal 20 displays the operation screen D4 shown in Fig. 11 and displays a camera image P1 of the surroundings of the work vehicle 10 on the operation screen D4. The setting processing unit 112 permits the start and continuation of automatic driving when it detects that the operator has viewed the camera image P1 or when it receives an input operation (such as an operation of touching the camera image P1) indicating that the operator has viewed the camera image P1. Furthermore, the setting processing unit 112 prohibits the start and continuation of automatic driving when it does not detect that the operator has viewed the camera image P1 or when it does not receive an input operation (such as an operation of touching the camera image P1) indicating that the operator has viewed the camera image P1.

[0094] In addition, the setting processing unit 112 may allow the start and continuation of automatic driving when it determines that the camera image P1 is being displayed normally on the operation terminal 20 and no people or obstacles are displayed in the camera image P1.

[0095] In addition, if a person or obstacle is displayed in the camera image P1, the setting processing unit 112 may allow the start and continuation of automatic driving if it receives an input operation indicating that the operator has visually recognized the person or obstacle, such as by touching the corresponding camera image P1.

[0096] In this way, in the unmanned mode, no operation is performed inside the work vehicle 10, so the setting processing unit 112 tightens the conditions for permitting automatic driving in the second mode. Here, when the operation terminal 20 is in a connected state, the setting processing unit 112 permits the start and continuation of automatic driving on the condition that the operator has viewed the camera image P1.

[0097] For example, if the communication state between the operation terminal 20 and the work vehicle 10 becomes disconnected while the work vehicle 10 is automatically traveling in unmanned mode, the traveling processing unit 111 may continue the automatic traveling of the work vehicle 10. In this case, however, if the disconnected state continues for a predetermined time, the traveling processing unit 111 may stop the automatic traveling of the work vehicle 10. Also, for example, if the communication state becomes disconnected while the work vehicle 10 is automatically traveling along a work route, the traveling processing unit 111 may continue the automatic traveling of the work vehicle 10, and stop the automatic traveling of the work vehicle 10 if the communication state does not return to a connected state at the end of the work route.

[0098] In each of the second to fourth embodiments, the same display process as in the first embodiment (see FIGS. 7 to 9) may be executed.

[0099] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the automatic driving system 1 will be described with reference to FIG.

[0100] 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.

[0101] <Step S1> In step S1, the vehicle control device 11 determines whether the conditions for allowing automatic driving are set to include "the communication state between the operation terminal 20 and the work vehicle 10 is in a connected state," i.e., whether the first mode is set. If the first mode is set (S1: Yes), the vehicle control device 11 shifts the processing to step S2, and if the second mode is set (S1: No), the vehicle control device 11 shifts the processing to step S3.

[0102] Here, as shown in the first embodiment, for example, the vehicle control device 11 is set to the first mode when the operation terminal 20 is located inside the work vehicle 10, and is set to the second mode when the operation terminal 20 is located outside the work vehicle 10. Also, as shown in the second embodiment, the vehicle control device 11 is set to the first mode when the operator selects "tablet" on the operation device setting screen D3 (see FIG. 10), and is set to the second mode when the operator selects "remote control." Also, as shown in the third embodiment, the vehicle control device 11 is set to the first mode when the operator is not on board the work vehicle 10, and is set to the second mode when the operator is on board the work vehicle 10. Note that the vehicle control device 11 may set the first mode and the second mode inversely in the first to third embodiments.

[0103] Furthermore, the vehicle control device 11 may be configured to include "the communication state between the operation terminal 20 and the work vehicle 10 being in a connected state" in the automatic driving start conditions, and may be configured not to include "the communication state between the operation terminal 20 and the work vehicle 10 being in a connected state" in the automatic driving continuation conditions. Furthermore, the vehicle control device 11 may be configured to not include "the communication state between the operation terminal 20 and the work vehicle 10 being in a connected state" in the automatic driving start conditions, and may be configured to include "the communication state between the operation terminal 20 and the work vehicle 10 being in a connected state" in the automatic driving continuation conditions. For example, the operator may be able to select whether or not to include "the communication state between the operation terminal 20 and the work vehicle 10 being in a connected state" in each of the automatic driving start conditions and the automatic driving continuation conditions. This allows the automatic driving start conditions and the automatic driving continuation conditions to be set individually, further improving the convenience of automatic driving.

[0104] <Step S2> In step S2, the vehicle control device 11 determines whether the communication state between the operation terminal 20 and the work vehicle 10 is a connected state. If the vehicle control device 11 determines that the communication state is a connected state (S2: Yes), it shifts the processing to step S3. On the other hand, if the vehicle control device 11 determines that the communication state is a non-connected state (S2: No), it shifts the processing to step S21. Note that the "non-connected state" is not limited to a disconnected state, and may also include a state in which the communication state is unstable (for example, a state in which the radio wave intensity is less than a predetermined value).

[0105] <Step S3> In step S3, the vehicle control device 11 determines whether the automatic driving start conditions are met. Specifically, the vehicle control device 11 determines that the automatic driving permission conditions are met when the following conditions are met: "The distance from the work start position S to the work vehicle 10 in the front and rear directions is within X1 m," "The distance from the target route R to the work vehicle 10 in the left and right directions is within X2 m each," "The direction of the work vehicle 10 is within Y1 degrees from the direction of the target route R," and "The remaining distance to the turning position on the straight route is Z1 m or more." If the vehicle control device 11 determines that the automatic driving start conditions are met (S3: Yes), it shifts the processing to step S4. If the vehicle control device 11 determines that the automatic driving start conditions are not met (S3: No), it shifts the processing to step S2.

[0106] <Step S4> In step S4, the vehicle control device 11 permits the start of automatic traveling of the work vehicle 10. If the start of automatic traveling is permitted, the operation terminal 20 displays an input button (start button K1) for a traveling start instruction on the operation screen D2 (see FIG. 7) so as to be able to accept a traveling start instruction from the operator.

[0107] <Step S21> On the other hand, if the communication state between the operation terminal 20 and the work vehicle 10 is a disconnected state, then in step S21 the vehicle control device 11 prohibits the start of autonomous driving of the work vehicle 10. In this case, the start button K1 is not displayed or is grayed out on the operation screen D2. After step S21, the vehicle control device 11 transitions the processing to step S2. While the communication state is a disconnected state, the vehicle control device 11 prohibits the start of autonomous driving, and when the communication state becomes a connected state, the start of autonomous driving is permitted.

[0108] <Step S5> In step S5, the vehicle control device 11 determines whether or not a driving start instruction has been acquired from the operation terminal 20. When the vehicle control device 11 acquires the driving start instruction (S5: Yes), the vehicle control device 11 shifts the processing to step S6. The vehicle control device 11 waits until the driving start instruction is acquired (S5: No).

[0109] <Step S6> In step S6, the vehicle control device 11 starts the automatic traveling of the work vehicle 10. In the example shown in Fig. 3, the vehicle control device 11 starts the automatic traveling of the work vehicle 10 from the work start position S according to the target route R.

[0110] <Step S7> In step S7, the vehicle control device 11 determines whether the communication state between the operation terminal 20 and the work vehicle 10 is a connected state. If the vehicle control device 11 determines that the communication state is a connected state (S7: Yes), it shifts the processing to step S9. On the other hand, if the vehicle control device 11 determines that the communication state is a non-connected state (S7: No), it shifts the processing to step S8. During autonomous driving, the vehicle control device 11 monitors the communication state and executes the determination processing.

[0111] <Step S8> In step S8, the vehicle control device 11 determines whether the autonomous driving permission condition is set to the first mode. If the autonomous driving permission condition is set to the first mode (S8: Yes), the vehicle control device 11 shifts the processing to step S81, and if the autonomous driving permission condition is set to the second mode (S8: No), the vehicle control device 11 shifts the processing to step S9.

[0112] <Step S81> In step S81, the vehicle control device 11 stops the automatic driving of the work vehicle 10. That is, in the first mode, the condition for continuing automatic driving is that "the communication state between the operation terminal 20 and the work vehicle 10 is in a connected state," so if the communication state becomes disconnected during automatic driving (S7: No), the vehicle control device 11 stops the automatic driving of the work vehicle 10. After step S81, the vehicle control device 11 transitions the processing to step S2.

[0113] Returning to step S2, the vehicle control device 11 permits the resumption of automatic driving (step S4) on the condition that the communication state becomes a connected state and the automatic driving start condition is satisfied (steps S2 and S3).

[0114] <Step S9> On the other hand, if the communication state during automatic driving is a connected state (S7: Yes), or if the communication state becomes a disconnected state during automatic driving but is set to the second mode (S8: No), the vehicle control device 11 continues the automatic driving of the work vehicle 10 and determines whether the work vehicle 10 has reached the work end position G. For example, the vehicle control device 11 ends the automatic driving when the work vehicle 10 reaches the work end position G. The vehicle control device 11 repeatedly executes the processing of steps S7 to S9 until the work vehicle 10 reaches the work end position G (S9: No). Note that if the obstacle detection unit 17 detects an obstacle while the work vehicle 10 is automatic driving and stops the automatic driving, the vehicle control device 11 transitions the processing to step S1. The vehicle control device 11 executes the automatic driving processing as described above.

[0115] As described above, the automatic driving system 1 according to the embodiment of the present invention is a system that can automatically drive the work vehicle 10 in accordance with instructions output from the operation terminal 20 (first operation device). The automatic driving system 1 also sets whether or not to include in the automatic driving permission conditions for permitting automatic driving the condition that "the communication state between the operation terminal 20 and the work vehicle 10 is a connected state in which communication between the operation terminal 20 and the work vehicle 10 is established."

[0116] According to the above configuration, for example, if a setting is made to include "the communication state between the operation terminal 20 and the work vehicle 10 being in a connected state" in the automatic driving permission conditions, it is possible to permit or prohibit the start of automatic driving, and permit or prohibit the continuation of automatic driving, depending on the communication state. On the other hand, if a setting is made to not include "the communication state between the operation terminal 20 and the work vehicle 10 being in a connected state" in the automatic driving permission conditions, it is possible to start or continue automatic driving regardless of the communication state. Therefore, it is possible to improve the convenience of automatic driving of the work vehicle 10.

[0117] [Other embodiments] In another embodiment of the present invention, the work vehicle 10 includes a short-distance mode (short-distance monitoring mode) in which the operation of the work vehicle 10 can be controlled within a predetermined range from the work vehicle 10, and a long-distance mode (long-distance monitoring mode) in which the operation of the work vehicle 10 can be controlled via a communication network N1 (such as the Internet) (operable via a cloud connection), and the vehicle control device 11 may be able to set or switch between the short-distance mode and the long-distance mode. The short-distance mode may be a monitoring mode in which the operation of the work vehicle 10 can be controlled via short-distance communication, and the long-distance mode may be a monitoring mode in which the operation of the work vehicle 10 can be controlled via long-distance communication. The short-distance mode may be a remote control mode, and the long-distance mode may be a smartphone mode. The vehicle control device 11 is also able to control the operation of the work vehicle 10 depending on the set monitoring mode. For example, the operator can select the short-distance mode or the long-distance mode on the operating device 18 (see FIG. 4) provided in the cabin 138 or on the setting screen of the operating terminal 20 that the operator has brought into the cabin 138.

[0118] For example, an operator gets into the work vehicle 10 with the operation terminal 20 and performs a predetermined operation to prepare for the start of automatic driving. Here, if the operator is inside the work vehicle 10, the vehicle control device 11 prohibits the start of automatic driving by the remote control device, since it would be dangerous if the work vehicle 10 were to suddenly start moving. In this case, the vehicle control device 11 permits the start of automatic driving only from the operation terminal 20 (close-range operation device).

[0119] Furthermore, when the operator gets off the work vehicle 10 while taking the operation terminal 20 with them, the operator is no longer inside the vehicle, and the vehicle control device 11 therefore permits the start of automatic driving by the remote control device. Here, the communication state between the operation terminal 20 and the work vehicle 10 may be either a connected state or a disconnected state.

[0120] Furthermore, the condition for permitting automatic driving may include a condition that the communication state remains connected until the operation terminal 20 moves a certain distance away from the work vehicle 10. This ensures the safety of the operator in the vicinity of the work vehicle 10. The certain distance may be set based on the communication state (radio wave strength) between the operation terminal 20 and the work vehicle 10.

[0121] Furthermore, when the work vehicle 10 starts autonomous driving, and an operation screen is displayed on the operation terminal 20, the vehicle control device 11 may continue autonomous driving even if the communication state between the remote monitoring device and the work vehicle 10 becomes disconnected. Specifically, when an operation screen is displayed on the operation terminal 20, the vehicle control device 11 may determine that the operator is inside or near the work vehicle 10 and can operate the operation terminal 20, and may continue autonomous driving without relying on the remote monitoring terminal.

[0122] Furthermore, when the work vehicle 10 starts automatic driving and the operation screen is not displayed on the operation terminal 20, the vehicle control device 11 determines that the operator cannot operate the operation terminal 20, and allows automatic driving if the communication state with the remote monitoring terminal is connected, and stops automatic driving if the communication state with the remote monitoring terminal becomes disconnected.

[0123] In addition, when the work vehicle 10 is temporarily stopped and the operation screen is displayed on the operation terminal 20, the vehicle control device 11 may resume automatic driving by operating the operation terminal 20 even if the communication state with the remote monitoring terminal becomes disconnected.

[0124] Furthermore, when the work vehicle 10 is temporarily stopped and the operation screen is not displayed on the operation terminal 20, the vehicle control device 11 prohibits the resumption of automatic driving if communication with the remote monitoring terminal is in a disconnected state. In this case, the vehicle control device 11 may permit the resumption of automatic driving if either visual monitoring by the operator or monitoring by camera footage is possible.

[0125] [Notes on the Invention] The following is a summary of the invention extracted from the embodiments. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0126] <Appendix 1> An automatic driving method capable of automatically driving a work vehicle in accordance with instructions output from a first operating device, An automatic driving method for setting whether or not the communication state between the first operating device and the work vehicle is a connected state in which communication between the first operating device and the work vehicle is established is to be included in the automatic driving permission conditions for permitting automatic driving.

[0127] <Appendix 2> When the condition for permitting automatic driving is set to include the fact that the communication state is the connected state, the start and continuation of automatic driving is prohibited when the communication state is the disconnected state, When the condition that the communication state is the connected state is not set as one of the conditions for permitting automatic driving, the start and continuation of automatic driving is permitted in both the cases where the communication state is the connected state and the case where the communication state is the non-connected state. 1. The automated driving method according to claim 1.

[0128] <Appendix 3> When the condition for allowing automatic driving is set to include the communication state being the connected state, if the communication state changes from the connected state to a non-connected state while the work vehicle is automatically driving, the automatic driving is stopped, In a case where the condition for permitting automatic driving is not set to include the condition that the communication state is the connected state, if the communication state changes from the connected state to the non-connected state while the work vehicle is automatically driving, the automatic driving is continued. 10. The automated driving method according to claim 1 or 2.

[0129] <Appendix 4> The work vehicle can be automatically driven in accordance with instructions output from a second operating device different from the first operating device, When the communication state between the second operating device and the work vehicle is the connected state, permitting a setting that does not include the fact that the communication state between the first operating device and the work vehicle is the connected state in the automatic traveling permission conditions, When the communication state between the second operating device and the work vehicle is in a disconnected state, prohibiting a setting that does not include the condition that the communication state between the first operating device and the work vehicle is in a connected state in the automatic traveling permission conditions. 4. The automatic driving method according to any one of appendices 1 to 3.

[0130] <Appendix 5> determining whether or not the condition for allowing automatic driving that the communication state is the connected state based on the position of the first operating device; 5. The automatic driving method according to any one of appendices 1 to 4.

[0131] <Appendix 6> When the first operating device is located within a range of less than a predetermined distance from the work vehicle, a setting is made to include in the automatic traveling permission conditions that the communication state is in the connected state, When the first operating device is located within a range that is at least the predetermined distance from the work vehicle, a setting is made so that the condition that the communication state is the connected state is not included in the automatic traveling permission condition. 1. The automated driving method according to claim 5.

[0132] <Appendix 7> When the first operating device is located inside the work vehicle, a setting is made to include in the automatic traveling permission conditions that the communication state is in the connected state, When the first operating device is located outside the work vehicle, a setting is made so that the condition for allowing automatic driving is not included in the condition for allowing automatic driving, the condition being that the communication state is the connected state. 6. The automated driving method according to claim 6.

[0133] <Appendix 8> When the first operating device is located within a range of less than a predetermined distance from the work vehicle, a setting is made so that the condition that the communication state is the connected state is not included in the automatic traveling permission condition, When the first operating device is located within a range that is at least the predetermined distance from the work vehicle, a setting is made to include the condition that the communication state is in the connected state as one of the automatic traveling permission conditions. 1. The automated driving method according to claim 5.

[0134] <Appendix 9> When the first operating device is located inside the work vehicle, a setting is made so that the condition that the communication state is the connected state is not included in the automatic driving permission condition, When the first operating device is located outside the work vehicle, a setting is made to include in the automatic traveling permission conditions that the communication state is in the connected state. 10. The automated driving method according to claim 8.

[0135] <Appendix 10> and setting whether or not the condition for the communication state to be the connected state is included in the automatic driving permission conditions in accordance with a setting operation by an operator. 5. The automatic driving method according to any one of appendices 1 to 4.

[0136] <Appendix 11> When the work vehicle is automatically driven without an operator being on board, if the setting is made so that the condition for allowing automatic driving is not that the communication state is the connected state, permitting the start and continuation of automatic traveling when it is detected that the operator has checked a camera image of the surroundings of the work vehicle using the first operation device; prohibiting the start and continuation of automatic driving when the first operation device does not detect that the operator has checked the camera image; An automatic driving method according to any one of appendices 1 to 10.

[0137] <Appendix 12> causing a display unit of the first operating device to display in a manner that enables identification of whether or not the fact that the communication state is the connected state is included in the autonomous driving permission conditions; An automatic driving method according to any one of appendices 1 to 11.

[0138] <Appendix 13> The display unit of the first operating device displays information that can identify whether or not the condition that the communication state is the connected state is included in the automatic driving permission conditions. 13. The automated driving method according to claim 12. [Explanation of symbols]

[0139] 1:Automated driving system 10: Work vehicle 11: Vehicle control device 18: Operating device (second operating device) 19: Remote control (second operating device) 111: Driving processing unit 112: Setting processing section 20: Operation terminal (first operation device) 211: Setting processing section 212: Output processing section 213: Display processing unit D1: Menu screen D2: Operation screen D3: Control device setting screen D4: Operation screen F: Field K1: Start button K2: Pause button M1: Message P1: Camera footage

Claims

1. An automatic driving method capable of automatically driving a work vehicle in accordance with instructions output from a first operating device, comprising: An automatic driving method for setting whether or not the communication state between the first operating device and the work vehicle is a connected state in which communication between the first operating device and the work vehicle is established is to be included in the automatic driving permission conditions for permitting automatic driving.

2. When the condition for permitting automatic driving is set to include the fact that the communication state is the connected state, the start and continuation of automatic driving is prohibited when the communication state is the disconnected state, When the condition that the communication state is the connected state is not set as one of the conditions for permitting automatic driving, the start and continuation of automatic driving is permitted in both the cases where the communication state is the connected state and the case where the communication state is the non-connected state. The automatic driving method according to claim 1 .

3. When the condition for allowing automatic driving is set to include the communication state being the connected state, if the communication state changes from the connected state to a non-connected state while the work vehicle is automatically driving, the automatic driving is stopped, In a case where the condition for permitting automatic driving is not set to include the condition that the communication state is the connected state, if the communication state changes from the connected state to the non-connected state while the work vehicle is automatically driving, the automatic driving is continued. The automatic driving method according to claim 1 .

4. The work vehicle can be automatically driven in accordance with instructions output from a second operating device different from the first operating device, When the communication state between the second operating device and the work vehicle is the connected state, permitting a setting that does not include the fact that the communication state between the first operating device and the work vehicle is the connected state in the automatic traveling permission conditions, When the communication state between the second operating device and the work vehicle is in a disconnected state, prohibiting a setting that does not include the condition that the communication state between the first operating device and the work vehicle is in a connected state in the automatic traveling permission condition. The automatic driving method according to claim 1 .

5. determining whether or not the condition for allowing automatic driving that the communication state is the connected state based on the position of the first operating device; The automatic driving method according to claim 1 .

6. When the first operating device is located within a range of less than a predetermined distance from the work vehicle, a setting is made to include in the automatic traveling permission condition that the communication state is in the connected state, When the first operating device is located within a range that is at least the predetermined distance from the work vehicle, a setting is made so that the condition that the communication state is the connected state is not included in the automatic traveling permission condition. The automatic driving method according to claim 5.

7. When the first operating device is located within a range of less than a predetermined distance from the work vehicle, a setting is made so that the condition that the communication state is the connected state is not included in the automatic traveling permission condition, When the first operating device is located within a range that is at least the predetermined distance from the work vehicle, a setting is made to include the condition that the communication state is the connected state as one of the automatic traveling permission conditions. The automatic driving method according to claim 5.

8. and setting whether or not the condition for the communication state to be the connected state is included in the automatic driving permission conditions in accordance with a setting operation by an operator. The automatic driving method according to claim 1 .

9. When the work vehicle is automatically driven without an operator being on board, if the setting is made so that the condition for allowing automatic driving is not that the communication state is the connected state, permitting the start and continuation of automatic traveling when it is detected that the operator has checked a camera image of the surroundings of the work vehicle using the first operation device; prohibiting the start and continuation of automatic traveling when the first operation device does not detect that the operator has checked the camera image; The automatic driving method according to claim 1 .

10. causing a display unit of the first operating device to display in a manner that enables identification of whether or not the communication state being the connected state is included in the autonomous driving permission conditions; The automatic driving method according to any one of claims 1 to 9.

11. An automatic driving program capable of automatically driving a work vehicle in accordance with instructions output from a first operating device, An automatic driving program for causing one or more processors to execute a process for setting whether or not the communication status between the first operating device and the work vehicle, being a connected state in which communication between the first operating device and the work vehicle is established, is included in the automatic driving permission conditions for permitting automatic driving.

12. An automatic driving system capable of automatically driving a work vehicle in accordance with instructions output from a first operating device, An automatic driving system that sets whether or not the communication state between the first operating device and the work vehicle is a connected state in which communication between the first operating device and the work vehicle is established is included in the automatic driving permission conditions for permitting automatic driving.

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