Automatic traveling method, automatic traveling program, and automatic traveling system

Abstract

To provide an automatic traveling method, an automatic traveling program, and an automatic traveling system capable of improving operability of a user operation to an automatically traveling work vehicle.SOLUTION: The setting processing unit 112 of the combine 1 sets the travel mode to the autonomous travel mode or the manual travel mode, and maintains the autonomous travel mode when the combine 1 set to the autonomous travel mode satisfies the autonomous travel maintaining condition.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Conventionally, systems have been known that automatically drive a work vehicle along a predetermined target route in a farm field. For example, a system is known that improves work accuracy by stopping the automatic driving of the work vehicle before it deviates from the predetermined target route (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6253678 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, if a work vehicle is traveling automatically in autonomous driving mode and the autonomous driving mode is cancelled, the mode switches from autonomous driving to manual driving mode, and the operator must perform a specified operation to resume autonomous driving. If the autonomous driving mode is cancelled unintentionally by the operator, the operator must perform an operation to resume autonomous driving, which reduces operability. For example, if an operator on board a work vehicle stops the work vehicle while it is traveling automatically and gets off the work vehicle, the autonomous driving mode is cancelled, and the operator must perform a specified operation to satisfy the conditions for starting autonomous driving to resume 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 operability of user operations on an automatically driving work vehicle. [Means for solving the problem]

[0006] An automatic driving method according to the present invention is a method for automatically driving a work vehicle along a target route. The automatic driving method includes setting the driving mode of the work vehicle to an automatic driving mode or a manual driving mode, and maintaining the automatic driving mode when the work vehicle set to the automatic driving mode satisfies an automatic driving maintenance condition.

[0007] An automated driving program according to the present invention is a program for causing a work vehicle to automatically drive along a target route. The automated driving program causes one or more processors to execute the following operations: setting the driving mode of the work vehicle to an automated driving mode or a manual driving mode; and maintaining the automated driving mode when the work vehicle set to the automated driving mode satisfies an automated driving maintenance condition.

[0008] An automated driving system according to the present invention is a system for automatically driving a work vehicle along a target route. The automated driving system includes a setting processing unit that sets the driving mode of the work vehicle to an automated driving mode or a manual driving mode, and maintains the automated driving mode when the work vehicle set to the automated driving mode satisfies an automated driving maintenance condition. [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 operability of user operations on an automatically driving work vehicle. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a functional block diagram showing the configuration of a traveling system according to an embodiment of the present invention. [Figure 2] FIG. 2 is an external view showing the configuration of the combine harvester according to the embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of a target route set in a farm field according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 5] FIG. 5 is a top view showing a steering section of a combine harvester according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of a traveling method of the combine harvester according to the embodiment of the present invention. [Figure 7] FIG. 7 is a flowchart showing an example of the procedure of the automatic driving process executed by the 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] In this embodiment, a combine harvester 1 will be described as an example of a work vehicle of the present invention. In other embodiments, the work vehicle of the present invention may be a tractor, a rice transplanter, a construction machine, a snowplow, or the like. As shown in FIG. 1, an automated driving system 10 according to an embodiment of the present invention includes a combine harvester 1 and an operation terminal 30. The combine harvester 1 and the operation terminal 30 can communicate with each other via a communication network N1. For example, the combine harvester 1 and the operation terminal 30 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN.

[0013] The combine harvester 1 is a work vehicle that performs agricultural work such as reaping (e.g., harvesting) in a field. For example, the combine harvester 1 performs reaping work on grain stalks while traveling in the field, and transmits GNSS information from a GNSS antenna mounted on the combine harvester 1, i.e., the vehicle position of the combine harvester 1, to the operation terminal 30 as measurement point data.

[0014] The combine harvester 1 can also travel automatically according to a preset target route. The combine harvester 1 may be configured to travel automatically in some areas of the field (for example, a straight route) and manually in other areas (for example, a turning route). The combine harvester 1 receives various setting information from the operation terminal 30 and travels automatically according to the setting information.

[0015] The combine harvester 1 also discharges the harvested grains (harvested material) from the harvested stalks to a collection vehicle at a predetermined discharge location within the field. The collection vehicle is parked next to the discharge location, for example, outside the field, and collects the grains discharged from the combine harvester 1 into a collection section. The collection vehicle is a transport vehicle that transports the collected grains to a predetermined location.

[0016] The operation terminal 30 is a portable terminal capable of remotely operating the combine harvester 1, and is configured, for example, as a tablet terminal, a notebook personal computer, a smartphone, or the like.

[0017] An operator (worker) can perform setting operations for various setting items on the operation terminal 30. The operation terminal 30 displays information such as the working status and running status of the combine harvester 1 while it is automatically running. The operation terminal 30 also displays information such as the discharge status during grain discharge work. The operator can grasp the working status, running status, discharge status, etc. on the operation terminal 30.

[0018] FIG. 3 shows an example of a target route R set for a field F. For example, the combine harvester 1 performs reaping work ("circular reaping" and "reciprocating reaping") within the field F while traveling from the outer periphery to the inner periphery from a work start position S to a work end position G according to the target route R. Specifically, in an outer periphery region F1 on the outer periphery of the field F, the combine harvester 1 performs reaping work while traveling along the edge of the field (outer periphery). Furthermore, in an inner periphery region F2 on the inner periphery of the field F, the combine harvester 1 performs reaping work while traveling straight along each work route in the up-down direction of FIG. 3, and moves between work routes by turning and traveling straight in the left-right direction without performing reaping work.

[0019] In addition, when the amount of harvested grain stored during the harvesting operation reaches a predetermined amount (for example, an upper limit value), or when the harvesting operation is completed (when the combine 1 reaches the operation completion position G), the combine 1 moves to a predetermined discharge location within the field F and discharges the grain stored in the storage tank 24 (see Figure 2) into a collection vehicle.

[0020] As described above, the combine harvester 1 performs reaping and discharging operations while automatically traveling along the target route R within the field F. The combine harvester 1 also includes a traveling mode in which it automatically travels without an operator on board (unmanned automatic traveling mode), a traveling mode in which it automatically travels while an operator is on board and accepts operations from the operator (gear change operations, position shift operations, etc.) (manned automatic traveling mode), and a traveling mode in which it travels in response to manual steering by the operator (manual traveling mode), and is configured to be able to switch between these traveling modes.

[0021] [Operation terminal 30] 1, the operation terminal 30 is an information processing device including an operation control unit 31, a storage unit 32, an operation display unit 33, and a communication unit 34. The operation terminal 30 is configured as, for example, a tablet terminal.

[0022] The communication unit 34 is a communication interface that connects the operation terminal 30 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with one or more external devices such as a combine 1 via the communication network N1.

[0023] The operation display unit 33 is a user interface equipped with a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit to register various setting information on a setting screen (not shown) displayed on the display unit. The operator can also operate the operation unit to give automatic travel instructions to the combine harvester 1. Furthermore, the operator can understand the traveling status of the combine harvester 1 traveling automatically within the field F from the traveling trajectory displayed on the operation terminal 30, even from a location away from the combine harvester 1. The operator can also understand the discharge status displayed on the operation terminal 30, even from a location away from the combine harvester 1.

[0024] FIG. 4 shows an example of the operation screen D1 displayed on the operation display unit 33. The operation screen D1 displays a map including the field to be worked on and the target route R, the work status, the driving status, camera images, and the like. The operation screen D1 also displays a start button K1 that accepts an instruction to start automatic driving from the operator. When the combine harvester 1 meets the automatic driving start conditions, the start button K1 is displayed selectable, and when the operator presses the start button K1, the operation terminal 30 outputs an automatic driving start instruction to the combine harvester 1. Note that when the combine harvester 1 does not meet the automatic driving start conditions, the "Status" column on the operation screen D1 lights up (for example, lights up red).

[0025] The storage unit 32 is a non-volatile storage unit such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a flash memory that stores various types of information. The storage unit 32 stores a control program for causing the operation control unit 31 to execute predetermined control processes. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) provided in the operation terminal 30 and stored in the storage unit 32. The control program may be downloaded to the operation terminal 30 from a server (not shown) via the communication network N1 and stored in the storage unit 32. The storage unit 32 may also store work information transmitted from the combine harvester 1.

[0026] In addition, a dedicated application for automatically driving the combine harvester 1 is installed in the storage unit 32. The operation control unit 31 starts up the dedicated application to set various setting information related to the combine harvester 1, give instructions for automatic driving to the combine harvester 1, and so on.

[0027] The operation control unit 31 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 31 controls the operation terminal 30 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 32.

[0028] As shown in Fig. 1, the operation control unit 31 includes various processing units such as a setting processing unit 311 and an output processing unit 312. The operation control unit 31 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.

[0029] The setting processing unit 311 sets various setting information for the combine harvester 1 to travel automatically. Specifically, the setting processing unit 311 sets field information related to the field. The field information includes, for example, the shape, size, and position information (coordinates, etc.) of the outermost periphery of the field, measurement point data that constitutes the outermost periphery of the field, and the shape, size, and position information (coordinates, etc.) of a work area within the field where work is performed. The field information also includes the address of the field, the registration name and registration date of the field information, the registration name and registration date of the work area within the field, etc. The setting processing unit 311 accepts a registration operation of the field information by the operator and sets the field information.

[0030] The setting processing unit 311 also creates a target route R that includes a work route and a turning route. For example, the operator selects a route pattern, turning type, and the like on a setting screen (not shown). The route patterns include "reciprocating mowing," which involves multiple round trips, and "circular mowing," which involves repeating a circuit along the inner periphery of the work area in the field while shifting toward the center, and the operator selects one of the route patterns. The operator can also use the setting screen to correct the turning radius when turning during reciprocating mowing and circular mowing work.

[0031] The setting processing unit 311 also creates a work route based on information such as the field information, the route pattern, the turning type, the turning radius, etc. The setting processing unit 311 registers the route information (target route R) of the created work route in association with the field F.

[0032] The setting processing unit 311 also sets work information related to the work to be performed by the combine harvester 1. The work information includes information related to the reaping work and information about intermediate work that the combine harvester 1 performs at a predetermined position during the reaping work. For example, when the storage amount in the storage tank 24 (see FIG. 2) reaches a predetermined amount during the reaping work, the combine harvester 1 moves to a discharge location within the field F and discharges the grain stored in the storage tank 24 to a collection vehicle. For example, when the fuel level in the combine harvester 1 reaches a predetermined amount (e.g., a lower limit) during the reaping work, the combine harvester 1 moves to a supply location within the field F and replenishes the fuel. The setting processing unit 311 sets the discharge location and the replenishment location at any position within the field F in response to a setting operation by the operator. The work information includes information such as the upper limit and discharge location of the storage amount, the lower limit and replenishment location of the fuel, etc. When the setting processing unit 311 sets the discharge location, the setting processing unit 311 may also create a route from the work end position G to the discharge location.

[0033] The setting processing unit 311 also sets the traveling speed (vehicle speed) of the combine harvester 1. For example, the operator can set the straight vehicle speed, turning vehicle speed, and reverse vehicle speed during work and non-work times on the setting screen.

[0034] The setting processing unit 311 also sets the travel mode of the combine harvester 1. For example, the operator can select an automatic travel mode (unmanned automatic travel mode, manned automatic travel mode) or a manual travel mode on the setting screen.

[0035] In addition to the above information, the setting processing unit 311 sets well-known information such as the type of combine 1 (maximum number of reaping rows), vehicle width, and vehicle length.

[0036] The output processing unit 312 outputs various setting information set by the setting processing unit 311 to the combine harvester 1. In addition, the output processing unit 312 outputs a work start instruction (automatic travel start instruction) and a work end instruction (automatic travel end instruction) to the combine harvester 1 based on an operation by an operator.

[0037] When an automatic travel start operation (selection of the start button K1) is received from the operator on the operation screen D1, the output processing unit 312 outputs the automatic travel start instruction to the combine harvester 1. When the combine harvester 1 satisfies the automatic travel conditions, the operation control unit 31 permits the reception of the automatic travel start operation from the operator. When the combine harvester 1 does not satisfy the automatic travel conditions, the operation control unit 31 prohibits the reception of the automatic travel start operation from the operator.

[0038] When the vehicle control device 11 of the combine harvester 1 receives an instruction to start automatic traveling from the operation terminal 30, it starts the work and automatic traveling of the combine harvester 1. Furthermore, when the operation control unit 31 receives an operation to stop automatic traveling from the operator (such as an operation to select the emergency stop button on the operation screen D1), the output processing unit 312 outputs an instruction to stop automatic traveling to the combine harvester 1. When the vehicle control device 11 of the combine harvester 1 receives an instruction to stop automatic traveling from the operation terminal 30, it stops the work and automatic traveling of the combine harvester 1.

[0039] The operation terminal 30 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 30 can function as an operation terminal for the server by executing a browser program by the operation control unit 31. The server is provided with the above-mentioned processing units and executes each process.

[0040] [Combine 1] FIG. 2 shows an external view of the combine harvester 1 as seen from the side. As shown in FIGS. 1 and 2, the combine harvester 1 includes a traveling unit 14, a reaping unit 3, a threshing unit 4, a sorting unit 5, a storage unit 16, a straw waste processing unit 6, a power unit 8, a steering unit 9, a vehicle control device 11, a memory unit 12, a positioning unit 13, a communication unit 17, a sheet detection unit 94, and the like. The combine harvester 1 travels on the traveling unit 14, threshes the stalks harvested by the reaping unit 3 in the threshing unit 4, sorts the grain in the sorting unit 5, and stores the grain in the storage unit 16. The combine harvester 1 processes the straw waste after threshing in the straw waste processing unit 6. The combine harvester 1 drives the traveling unit 14, the reaping unit 3, the threshing unit 4, the sorting unit 5, the storage unit 16, and the straw waste processing unit 6 using power supplied by the power unit 8.

[0041] Traveling unit 14 is provided below body frame 29 and includes a pair of left and right crawler-type traveling devices 2 and a transmission (not shown). Traveling unit 14 rotates the crawlers of crawler-type traveling devices 2 using power (e.g., rotational power) transmitted from engine 27 of power unit 8, causing combine 1 to travel in the forward / backward direction and turn left and right. The transmission transmits the power (rotational power) of power unit 8 to crawler-type traveling devices 2 and can also change the speed of the rotational power.

[0042] The reaping unit 3 is provided in front of the traveling unit 14 and performs reaping work on rows within the number of reaping rows. The reaping unit 3 is equipped with a divider 28, a lifting device 20, a cutting device 23, and a transport device 7. The reaping unit 3 is configured to be movable (liftable) between a working position (working height) and a non-working position (non-working height). The reaping unit 3 is an example of a working machine of the present invention.

[0043] The divider 28 separates the stalks in the field row by row and guides a predetermined number of stalks within the number of harvestable rows to the raising device 20. The raising device 20 raises the stalks guided by the divider 28. The cutting device 23 cuts the stalks raised by the raising device 20. The conveying device 7 conveys the stalks cut by the cutting device 23 to the threshing section 4.

[0044] The threshing unit 4 is provided behind the reaping unit 3. The threshing unit 4 includes a feed chain 18 and a threshing drum 19. The feed chain 18 transports the stalks transported from the conveying device 7 of the reaping unit 3 for threshing, and further transports the threshed stalks, i.e., waste straw, to the straw waste processing unit 6. The threshing drum 19 threshes the stalks transported by the feed chain 18.

[0045] The sorting section 5 is provided below the threshing section 4. The sorting section 5 comprises an oscillating sorting device 21, an air blowing sorting device 22, a grain conveying device (not shown), and a straw dust discharge device (not shown). The oscillating sorting device 21 sifts the threshed grains that have fallen from the threshing section 4 to separate them into grains, straw dust, etc. The air blowing sorting device 22 further separates the threshed grains sorted by the oscillating sorting device 21 into grains, straw dust, etc. The grain conveying device transports the grains sorted by the oscillating sorting device 21 and the air blowing sorting device 22 to the storage section 16. The straw dust discharge device discharges the straw dust, etc. sorted by the oscillating sorting device 21 and the air blowing sorting device 22 outside the machine.

[0046] The storage unit 16 is provided on the right side of the threshing unit 4. The storage unit 16 includes a storage tank (grain tank) 24 and a discharge device 25. The storage tank 24 stores the grains transported from the sorting unit 5.

[0047] The discharge device 25 discharges the grains that are harvested. Specifically, the discharge device 25 discharges the grains stored in the storage tank 24 to a collection vehicle at a predetermined discharge location.

[0048] The straw waste processing section 6 is provided behind the threshing section 4. The straw waste processing section 6 comprises a straw waste conveying device (not shown) and a straw waste cutting device (not shown). The straw waste conveying device transports the straw transported from the feed chain 18 of the threshing section 4 to the straw waste cutting device. The straw waste cutting device cuts the straw transported by the straw waste conveying device and discharges it outside the machine. The straw waste processing section 6 discharges the straw waste from the harvested stalks to the position of the stalks to be harvested.

[0049] The power unit 8 is provided above the traveling unit 14 and in front of the storage unit 16. The power unit 8 is equipped with an engine 27 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 14, the reaping unit 3, the threshing unit 4, the sorting unit 5, the storage unit 16, and the straw waste processing unit 6.

[0050] The control unit 9 is provided above the power unit 8. As shown in FIG. 5 , the control unit 9 is provided with, around a driver's seat 91 where an operator sits, operating tools for controlling the travel of the combine harvester 1, such as a handle 92 for instructing the turning of the body of the combine harvester 1, a main speed change lever 93 and an auxiliary speed change lever for instructing changes in the forward and backward speed of the combine harvester 1, etc. Manual travel of the combine harvester 1 is performed by the travel unit 14 that receives operation of the handle 92, main speed change lever 93, and auxiliary speed change lever of the control unit 9. The control unit 9 also has mechanisms for operating the reaping operation by the reaping unit 3, the threshing operation by the threshing unit 4, the discharge operation by the discharge device 25 of the storage unit 16, etc.

[0051] Depending on the position of the main speed change lever 93, the combine harvester 1 can be started, stopped, and its direction of travel (forward or reverse), and its speed can be changed (accelerated or decelerated). For example, as shown in FIG. 5, the main speed change lever 93 can be moved between a forward position "F" and a rearward position "R." When the main speed change lever 93 is moved toward the forward position "F," the combine harvester 1 can be driven forward, and when the main speed change lever 93 is moved toward the rearward position "F," the combine harvester 1 can be driven backward. Furthermore, as the main speed change lever 93 is moved toward the forward position "F," the vehicle speed during forward travel can be increased, and as the main speed change lever 93 is moved toward the rearward position "R," the vehicle speed during reverse travel can be increased. When the main speed change lever 93 is set to the forward position "F" (front end position), the vehicle speed when traveling forward becomes the maximum vehicle speed, and when the main speed change lever 93 is set to the rearward position "R" (rear end position), the vehicle speed when traveling backward becomes the maximum vehicle speed. In addition, the vehicle speed can be reduced as the main speed change lever 93 approaches the intermediate position "N" (neutral), and when the main speed change lever 93 is set to the intermediate position "N", the vehicle speed becomes 0 and the combine harvester 1 stops (parks).

[0052] The positioning unit 13 acquires the vehicle position of the combine harvester 1 using a satellite positioning system such as GPS. For example, the positioning unit 13 receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 13, i.e., the vehicle position (measurement point data) of the combine harvester 1, based on the positioning signal. The positioning unit 13 may be configured with a quantum compass instead of a positioning antenna.

[0053] The communication unit 17 (see Figure 1) is a communication interface that connects the combine 1 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 the operation terminal 30 via the communication network N1.

[0054] The seat detection unit 94 is composed of, for example, a switch, a sensor, etc., and detects when the operator sits in the driver's seat 91 and when the operator leaves the driver's seat 91. The seat detection unit 94 outputs an ON signal to the vehicle control device 11 when the operator sits in the driver's seat 91, and outputs an OFF signal to the vehicle control device 11 when the operator leaves the driver's seat 91.

[0055] The storage unit 12 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute the automatic driving process (see FIG. 7) described below. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the combine harvester 1 via the communication network N1 and stored in the storage unit 12. The storage unit 12 also stores various setting information acquired from the operation terminal 30. The automatic driving program includes the automatic driving program of the present invention.

[0056] The vehicle control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit that pre-stores control programs such as a BIOS and an OS that cause the CPU to execute various arithmetic processes. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory for the various processes executed by the CPU. The vehicle control device 11 controls the combine harvester 1 by having the CPU execute various control programs pre-stored in the ROM or the storage unit 12.

[0057] However, in conventional technology, for example, if the combine harvester 1 is automatically traveling in automatic traveling mode and the automatic traveling is canceled, the automatic traveling mode is switched to manual traveling mode, and the operator must perform a predetermined operation to resume automatic traveling. If the automatic traveling mode is canceled unintentionally by the operator, the operator must perform an operation to resume automatic traveling, which reduces operability. For example, if the operator on board the combine harvester 1 stops the combine harvester 1 while it is traveling automatically and gets off the combine harvester 1, the automatic traveling mode is canceled, and the operator must perform a predetermined operation to satisfy the conditions for starting automatic traveling in order to resume automatic traveling.

[0058] For example, as shown in FIG. 6, when the combine harvester 1 finishes harvesting work on the work route R1, the operator may set the main shift lever 93 to the intermediate position "N" (neutral position) at the end of the work route R1 to stop the combine harvester 1 and leave the driver's seat 91 in order to remove residual materials such as discarded straw and weeds. In this case, the combine harvester 1 cancels the automatic driving mode and switches to the manual driving mode after a predetermined time has elapsed since the operator left the driver's seat 91. When the driving mode is switched to the manual driving mode, automatic driving start conditions must be met to resume automatic driving of the combine harvester 1. Here, if automatic driving is not permitted to start from a turning route, in the example shown in FIG. 6, automatic driving of the combine harvester 1 cannot be started, and the operator must manually steer the combine harvester to the next work route R2, resulting in reduced operability.

[0059] In contrast to this, the combine harvester 1 according to this embodiment has a configuration that can improve the operability of user operation of the automatically traveling combine harvester 1, as will be described below.

[0060] Specifically, 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 autonomous driving program using the CPU. Some or all of the processing units may be configured with electronic circuits. The autonomous driving program may be a program for causing multiple processors to function as the processing units.

[0061] The travel processing unit 111 executes travel processing to cause the combine harvester 1 to travel. Specifically, the travel processing unit 111 causes the combine harvester 1 to automatically travel along a target route R set for the field F. The travel processing unit 111 causes the combine harvester 1 to automatically travel along a plurality of work routes included in the target route R, which cause the combine harvester 1 to perform a predetermined task (reap work), and a movement route (such as a turning route) connecting the plurality of work routes. The travel processing unit 111 acquires various setting information to be set for the field F from the operation terminal 30. Furthermore, during reap work, the travel processing unit 111 acquires the vehicle position of the combine harvester 1 from the positioning unit 13, and controls the travel unit 14, the reaper unit 3, and the power unit 8 based on the vehicle position and the work route included in the target route R so that the combine harvester 1 automatically travels and performs reap work along the work route.

[0062] For example, as shown in Figure 3, the driving processing unit 111 causes the combine 1 to automatically drive and perform cutting work along the outer periphery in the outer periphery area F1 from the work start position S, and then causes the combine 1 to automatically drive and perform cutting work in the inner periphery area F2 to the work end position G.

[0063] Furthermore, when the amount of water stored in the storage tank 24 reaches a predetermined amount during reaping work, the travel processing unit 111 raises the reaping unit 3 to a non-working position to stop the reaping work, and causes the combine harvester 1 to travel along a discharge movement path from the current position (work interruption position) to the discharge location. Furthermore, when the reaping work is completed (reaches the work completion position G), the travel processing unit 111 raises the reaping unit 3 to a non-working position to stop the reaping work, and causes the combine harvester 1 to travel along a discharge movement path from the work completion position G to the discharge location.

[0064] The setting processing unit 112 sets and switches the driving mode. Specifically, when the setting processing unit 112 acquires selection information of the driving mode (automatic driving mode or manual driving mode) selected by the operator on the operation terminal 30, the setting processing unit 112 sets the selected driving mode. When the setting processing unit 112 sets the automatic driving mode, the driving processing unit 111 permits automatic driving if the combine harvester 1 satisfies the automatic driving start conditions. For example, the driving processing unit 111 permits automatic driving if the position of the combine harvester 1 is within a predetermined distance from the work start position S and the orientation of the combine harvester 1 is within a predetermined angle with respect to the orientation of the work route. In more detail, the driving processing unit 111 permits automatic driving if the state of the brakes, gear lever, steering, etc., in addition to the position and orientation of the combine harvester 1, each satisfy the automatic driving start conditions.

[0065] When the travel processing unit 111 starts automatic travel of the combine harvester 1, it continues the automatic travel as long as the automatic travel stop conditions are not satisfied. On the other hand, the travel processing unit 111 stops the automatic travel if the automatic travel stop conditions are satisfied after the automatic travel of the combine harvester 1 has started. For example, when the operator operates a pause operation unit (each operation lever (such as the main shift lever 93), an operation switch, an operation button, etc.), when the positioning accuracy of the combine harvester 1 falls below a predetermined accuracy, when the combine harvester 1 detects an obstacle, when an operation to set the reaping unit 3 to a non-working position is received from the operator, when the operator leaves the driver's seat 91, when the operator performs a steering operation, when a communication abnormality occurs with the operation terminal 30, when the operator performs an emergency stop operation on the operation terminal 30, or when an abnormality (a malfunction of the combine harvester) occurs in the combine harvester 1, the travel processing unit 111 determines that the automatic travel stop conditions are satisfied, stops automatic travel, and stops the combine harvester 1.

[0066] Here, as described above, in the conventional technology, when the combine harvester 1 stops and the automatic driving mode is canceled, an operation such as manual steering is required to resume automatic driving. In contrast, in this embodiment, the setting processing unit 112 is configured to maintain the automatic driving mode when the combine harvester 1 set to the automatic driving mode satisfies the automatic driving maintenance conditions. Furthermore, the setting processing unit 112 is configured to switch to the manual driving mode when the combine harvester 1 set to the automatic driving mode does not satisfy the automatic driving maintenance conditions. Specific examples (first to seventh examples) of maintaining the automatic driving mode will be described below. Note that the following first to seventh examples are not limited to the combine harvester 1, and can also be applied to other work vehicles such as tractors and rice transplanters.

[0067] <First Example> In the automatic driving system 10 according to the first embodiment, the setting processing unit 112 maintains the automatic driving mode when the automatic driving of the combine harvester 1 is stopped by operating an operation unit that temporarily stops the automatic driving. In other words, "automatic driving is stopped by operating an operation unit that temporarily stops the automatic driving" is an example of an automatic driving maintenance condition of the present invention.

[0068] Specifically, when the automatic driving mode is stopped by setting the main speed change lever 93 to the intermediate position "N" (see FIG. 5), the setting processing unit 112 maintains the automatic driving mode.

[0069] For example, if the operator sets the main speed change lever 93 to the intermediate position "N" while the combine harvester 1 is automatically traveling in the automatic traveling mode, the traveling processing unit 111 decelerates and stops the combine harvester 1. When the main speed change lever 93 is set to the intermediate position "N" and the combine harvester 1 is stopped, the setting processing unit 112 determines that the automatic traveling maintenance conditions are met and maintains the automatic traveling mode. Therefore, for example, even if the operator gets off the combine harvester 1 after the combine harvester 1 has stopped (or if a predetermined time has passed since the operator left the driver's seat 91), the setting processing unit 112 does not cancel the automatic traveling mode due to the operator leaving the driver's seat 91, but maintains the automatic traveling mode. Note that if a predetermined condition is met while the operator is away from the driver's seat 91, the setting processing unit 112 may cancel the automatic traveling mode and switch to the manual traveling mode. Furthermore, the setting processing unit 112 may immediately cancel the automatic driving mode and switch to the manual driving mode when the predetermined condition is satisfied, or may maintain the automatic driving mode until the operator sits in the driver's seat 91, and cancel the automatic driving mode and switch to the manual driving mode when it detects that the operator has sat in the driver's seat 91. Furthermore, the setting processing unit 112 may display a factor for canceling the automatic driving mode (the predetermined condition). For example, if the automatic driving mode is immediately switched to the manual driving mode, the display of the factor for canceling the mode may be maintained until the operator sits in the driver's seat 91.

[0070] According to the above configuration, the driving mode is maintained in the automatic driving mode even when the automatic driving is stopped. Therefore, even if the position at which the automatic driving is started (resumed) is a position where the start of the automatic driving is restricted (the turning route shown in FIG. 6), the automatic driving can be resumed by the operator's automatic driving start operation (selection of the start button K1 in FIG. 4).

[0071] The operation unit for temporarily suspending the automatic traveling is not limited to the main speed change lever 93. In other embodiments, the operation unit may be an operation lever or an operation switch mounted on the combine harvester 1, or an operation button arranged (displayed) on the operation terminal 30. The setting processing unit 112 may maintain the automatic traveling mode when the combine harvester 1 is brought to a halt by a temporary suspension operation on these operation units.

[0072] In this way, the vehicle control device 11 stops automatic driving when the combine harvester 1, which is automatically driving in automatic driving mode, satisfies the automatic driving stop conditions, and allows automatic driving to resume when the combine harvester 1 satisfies the automatic driving maintenance conditions.

[0073] <Second Example> In the automatic driving system 10 according to the second embodiment, the setting processing unit 112 maintains the automatic driving mode when the automatic driving of the combine harvester 1 is stopped because the positioning accuracy is less than a predetermined accuracy. In other words, "the automatic driving is stopped because the positioning accuracy is less than a predetermined accuracy" is an example of the automatic driving maintenance condition of the present invention.

[0074] Specifically, when the positioning accuracy of the combine 1 falls below a predetermined accuracy and the automatic traveling is stopped, the setting processing unit 112 maintains the automatic traveling mode.

[0075] For example, in the combine harvester 1 automatically traveling in the automatic traveling mode, if the positioning accuracy drops below a predetermined accuracy, the traveling processing unit 111 stops the combine harvester 1. If the combine harvester 1 comes to a halt due to a drop in positioning accuracy, the setting processing unit 112 determines that the automatic traveling maintenance conditions are satisfied, and maintains the automatic traveling mode. As a result, as in the first embodiment, even if the position at which automatic traveling starts (resumes) is a position where the start of automatic traveling is restricted (the turning route shown in FIG. 6), automatic traveling can be resumed by the operator's automatic traveling start operation.

[0076] If the positioning accuracy has not returned to a predetermined accuracy or higher at the time when automatic traveling is resumed, the vehicle control device 11 may issue a warning to the operator.

[0077] In another embodiment, the setting processing unit 112 may be configured to maintain the automatic driving mode when the positioning accuracy falls below a predetermined accuracy while the combine harvester 1 is stopped in the automatic driving mode, and to switch to the manual driving mode when the positioning accuracy falls below the predetermined accuracy while the combine harvester 1 is automatically driving in the automatic driving mode. That is, "automatic driving is stopped by operating the operation unit to temporarily suspend automatic driving" in the second embodiment is an example of an automatic driving maintenance condition of the present invention.

[0078] <Third Example> In the automatic driving system 10 according to the third embodiment, the setting processing unit 112 maintains the automatic driving mode when the automatic driving is stopped due to the combine harvester 1 detecting an obstacle. In other words, "the automatic driving is stopped due to the detection of an obstacle" is an example of the automatic driving maintenance condition of the present invention.

[0079] For example, when the combine harvester 1 automatically traveling in the automatic traveling mode detects an obstacle, the traveling processing unit 111 stops the combine harvester 1. When the combine harvester 1 stops due to the detection of an obstacle, the setting processing unit 112 maintains the automatic traveling mode. As a result, as in the first embodiment, even if the position at which automatic traveling is to be started (resumed) is a position at which the start of automatic traveling is restricted (the turning route shown in FIG. 6), automatic traveling can be resumed by the operator's automatic traveling start operation.

[0080] The setting processing unit 112 may determine whether to maintain the automatic driving mode or switch to the manual driving mode depending on the type of obstacle. For example, when the combine harvester 1 detects a movable object (such as materials) and stops automatic driving, the setting processing unit 112 maintains the driving mode in the automatic driving mode. On the other hand, when the combine harvester 1 detects a person or an immovable object (such as a structure) and stops automatic driving, the setting processing unit 112 switches the driving mode to the manual driving mode.

[0081] <Fourth Example> In the automatic driving system 10 according to the fourth embodiment, the setting processing unit 112 switches to the manual driving mode when an operation to set the reaping unit 3 (working machine) to a non-working position is received while the combine harvester 1 is automatically driving in the automatic driving mode, and maintains the automatic driving mode when an operation to set the reaping unit 3 to a non-working position is received while the combine harvester 1 is stopped in the automatic driving mode. In other words, "receiving an operation to set the reaping unit 3 to a non-working position while the combine harvester 1 is stopped in the automatic driving mode" is an example of an automatic driving maintenance condition of the present invention.

[0082] For example, when the combine harvester 1 is in automatic driving mode and the operator operates to set the cutting unit 3 to a non-working position while the combine harvester 1 is driving automatically and during cutting work, the driving processing unit 111 stops the combine harvester 1, and the setting processing unit 112 switches the automatic driving mode to the manual driving mode.

[0083] In contrast, if the operator performs an operation to set the reaping unit 3 to a non-working position while the combine harvester 1 is stopped in the automatic travel mode, the setting processing unit 112 maintains the automatic travel mode. Therefore, for example, in the example shown in Fig. 6, if the combine harvester 1 finishes reaping work on the work route R1 and stops at the end, and then the operator raises the reaping unit 3 to the non-working position, the automatic travel mode is maintained, and the operator can automatically travel the turning route from the end of the work route R1.

[0084] <Fifth Example> In the automatic driving system 10 according to the fifth embodiment, the setting processing unit 112 switches to the manual driving mode when the operator leaves the driver's seat 91 while the combine harvester 1 is automatically driving in the automatic driving mode, and maintains the automatic driving mode when the operator leaves the driver's seat 91 while the combine harvester 1 is stopped in the automatic driving mode. In other words, "the operator leaving the driver's seat 91 while the combine harvester 1 is stopped in the automatic driving mode" is an example of an automatic driving maintenance condition of the present invention.

[0085] For example, if the operator leaves the driver's seat 91 while the combine harvester 1 is automatically traveling, the setting processing unit 112 sounds a warning sound, and after a predetermined time (e.g., 5 seconds) has elapsed, the combine harvester 1 is stopped and switched to manual traveling mode.

[0086] On the other hand, if the operator leaves the driver's seat 91 while the combine harvester 1 is stopped in the automatic driving mode, the setting processing unit 112 maintains the automatic driving mode even if a predetermined time has passed since the operator left the seat.

[0087] As a result, the driving mode is maintained in the automatic driving mode, and as in the first embodiment, even if the position at which automatic driving is to be started (resumed) is the turning path shown in Figure 6, the operator can sit in the driver's seat 91 and perform the automatic driving start operation to resume automatic driving.

[0088] <Sixth Example> In the automatic driving system 10 according to the sixth embodiment, the setting processing unit 112 switches the combine harvester 1 to the manual driving mode when a steering operation to the steering unit is received while the combine harvester 1 is automatically driving in the automatic driving mode, and maintains the automatic driving mode when a steering operation to the steering unit is received while the combine harvester 1 is stopped in the automatic driving mode. In other words, "receiving a steering operation to the steering unit while the combine harvester 1 is stopped in the automatic driving mode" is an example of an automatic driving maintenance condition of the present invention.

[0089] For example, when the operator operates (steers) the handle 92 (an example of a steering unit) while the combine harvester 1 is automatically traveling in the automatic traveling mode and during harvesting work, the traveling processing unit 111 stops the combine harvester 1, and the setting processing unit 112 switches the automatic traveling mode to the manual traveling mode. In another embodiment, when the operator operates the handle 92, the setting processing unit 112 may switch the automatic traveling mode to the manual traveling mode while the combine harvester 1 is traveling.

[0090] On the other hand, if the operator performs the steering operation while the combine harvester 1 is stopped in the automatic traveling mode, the setting processing unit 112 maintains the automatic traveling mode. As a result, the traveling mode is maintained in the automatic traveling mode, so that, as in the first embodiment, even if the position at which automatic traveling is to be started (resumed) is on the turning route shown in Fig. 6, automatic traveling can be resumed by performing the automatic traveling start operation.

[0091] <Seventh Example> In the automatic driving system 10 according to the seventh embodiment, the setting processing unit 112 switches to the manual driving mode if the communication state between the combine harvester 1 and the operation terminal 30 drops to a predetermined state while the combine harvester 1 is automatically driving in the automatic driving mode, and maintains the automatic driving mode if the communication state between the combine harvester 1 and the operation terminal 30 drops to a predetermined state while the combine harvester 1 is stopped in the automatic driving mode. In other words, "the communication state between the combine harvester 1 and the operation terminal 30 drops to a predetermined state while the combine harvester 1 is stopped in the automatic driving mode" is an example of an automatic driving maintenance condition of the present invention.

[0092] For example, if a communication abnormality occurs between the combine harvester 1 and the operation terminal 30 (e.g., communication is cut off) while the combine harvester 1 is automatically traveling in automatic traveling mode and during harvesting operation, the traveling processing unit 111 stops the combine harvester 1, and the setting processing unit 112 switches the automatic traveling mode to the manual traveling mode.

[0093] On the other hand, if a communication abnormality occurs (communication is cut off) between the combine harvester 1 and the operation terminal 30 while the combine harvester 1 is stopped in the automatic travel mode, the travel processing unit 111 maintains the automatic travel mode. As a result, the travel mode is maintained in the automatic travel mode. For example, when communication between the combine harvester 1 and the operation terminal 30 returns to a normal state, automatic travel can be resumed by performing an automatic travel start operation even if the position at which automatic travel is to be started (resumed) is the turning path shown in Fig. 6. Note that if communication between the combine harvester 1 and the operation terminal 30 has not returned to a normal state at the time automatic travel is to be started (resumed), warning information may be notified to the operator.

[0094] As described above, the vehicle control device 11 is configured to maintain the automatic driving mode when the combine harvester 1 set to the automatic driving mode satisfies the automatic driving maintenance conditions (first to seventh embodiments). The setting processing unit 112 is also configured to switch the combine harvester 1 set to the automatic driving mode to the manual driving mode when the combine harvester 1 does not satisfy the automatic driving maintenance conditions. The vehicle control device 11 is also configured to stop the automatic driving when the combine harvester 1, which is automatically driving in the automatic driving mode, satisfies the automatic driving stop conditions, and to permit the resumption of automatic driving when the combine harvester 1 satisfies the automatic driving maintenance conditions. The vehicle control device 11 is also configured to permit the resumption of automatic driving when the combine harvester 1, which has stopped automatic driving, satisfies the automatic driving maintenance conditions, and the positioning accuracy of the combine harvester 1 is equal to or greater than a predetermined accuracy, and to notify the operator of warning information when the positioning accuracy of the combine harvester 1 is less than the predetermined accuracy.

[0095] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the automatic driving system 10 will be described with reference to FIG.

[0096] 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. Furthermore, the order of execution of each step in the automatic driving process may be different as long as the same operational effect is achieved. Furthermore, while the description here uses as an example a case where the vehicle control device 11 of the combine 1 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.

[0097] Here, it is assumed that the travel mode of the combine harvester 1 is set to the automatic travel mode in advance.

[0098] <Step S1> In step S1, the vehicle control device 11 determines whether or not an automatic traveling start instruction has been acquired. When the vehicle control device 11 acquires the automatic traveling start instruction from the operation terminal 30 (S1: Yes), the process proceeds to step S2. For example, when the combine harvester 1 satisfies the automatic traveling start conditions and the operator presses the start button K1 (see FIG. 4) on the operation terminal 30, the vehicle control device 11 acquires the automatic traveling start instruction from the operation terminal 30. The vehicle control device 11 waits until the combine harvester 1 satisfies the automatic traveling start conditions and acquires the automatic traveling start instruction from the operation terminal 30 (S1: No).

[0099] <Step S2> In step S2, the vehicle control device 11 starts the automatic traveling process. Specifically, the vehicle control device 11 causes the combine harvester 1 to start automatic traveling according to a target route R corresponding to the route data acquired from the operation terminal 30. For example, as shown in FIG. 3, the vehicle control device 11 causes the combine harvester 1 to start automatic traveling according to the target route R from a work start position S toward a work end position G. When the combine harvester 1 starts automatic traveling, it starts reaping work on the work route.

[0100] <Step S3> In step S3, the vehicle control device 11 determines whether the automatic travel stop condition is satisfied. For example, the vehicle control device 11 determines that the automatic travel stop condition is satisfied when, while the combine harvester 1 is automatically traveling, the operator sets the main speed change lever 93 to the intermediate position "N," the operator operates a pause operation unit (such as an operation lever, operation switch, or operation button), the positioning accuracy of the combine harvester 1 falls below a predetermined accuracy, the combine harvester 1 detects an obstacle, the combine harvester 1 receives an operation from the operator to set the reaping unit 3 to a non-working position, the operator leaves the driver's seat 91, the operator performs a steering operation, a communication abnormality occurs with the operation terminal 30, the operator performs an emergency stop operation on the operation terminal 30, or an abnormality (a malfunction of the combine harvester 1) occurs in the combine harvester 1. If the vehicle control device 11 determines that the automatic travel stop condition is satisfied (S3: Yes), it transitions the process to step S4. On the other hand, when the vehicle control device 11 determines that the automatic driving stop condition is not satisfied (S3: No), the process proceeds to step S10.

[0101] <Step S4> In step S4, the vehicle control device 11 stops the automatic traveling of the combine harvester 1 and stops the combine harvester 1. The vehicle control device 11 stops the automatic traveling of the combine harvester 1 and gradually decelerates the combine harvester 1 from its current vehicle speed and stops the combine harvester 1.

[0102] <Step S5> In step S5, the vehicle control device 11 determines whether the automatic traveling maintenance conditions are satisfied. For example, the vehicle control device 11 determines that the automatic traveling maintenance conditions are satisfied when the automatic traveling is stopped by the operator setting the main shift lever 93 to the intermediate position "N" (corresponding to the "first embodiment"). The vehicle control device 11 also determines that the automatic traveling maintenance conditions are satisfied when the automatic traveling is stopped by the operator performing a pause operation using an operation lever, an operation switch, or an operation button disposed (displayed) on the operation terminal 30 (corresponding to the "first embodiment"). The vehicle control device 11 also determines that the automatic traveling maintenance conditions are satisfied when the automatic traveling is stopped because the positioning accuracy of the combine harvester 1 falls below a predetermined accuracy (corresponding to the "second embodiment"). The vehicle control device 11 also determines that the automatic traveling maintenance conditions are satisfied when the automatic traveling is stopped because the combine harvester 1 detects an obstacle (corresponding to the "third embodiment").

[0103] Furthermore, the vehicle control device 11 determines that the automatic driving maintaining conditions are satisfied when the vehicle control device 11 receives an operation from the operator to set the reaping unit 3 to a non-working position while the automatic driving of the combine harvester 1 has stopped and the vehicle is stopped (corresponding to the above-mentioned "fourth embodiment"). Furthermore, the vehicle control device 11 determines that the automatic driving maintaining conditions are satisfied when the operator leaves the driver's seat 91 while the automatic driving of the combine harvester 1 has stopped and the vehicle is stopped (corresponding to the above-mentioned "fifth embodiment"). Furthermore, the vehicle control device 11 determines that the automatic driving maintaining conditions are satisfied when the vehicle control device 11 receives a steering operation of the steering unit (handle 92) from the operator while the automatic driving of the combine harvester 1 has stopped and the vehicle is stopped (corresponding to the above-mentioned "sixth embodiment"). Furthermore, the vehicle control device 11 determines that the automatic driving maintaining conditions are satisfied when a communication abnormality occurs between the combine harvester 1 and the operation terminal 30 while the automatic driving of the combine harvester 1 has stopped and the vehicle is stopped (corresponding to the above-mentioned "seventh embodiment").

[0104] In contrast, the vehicle control device 11 determines that the automatic travel stop condition is not satisfied when, for example, the combine harvester 1 receives an operation from the operator to set the reaping unit 3 to a non-working position while the combine harvester 1 is traveling automatically (corresponding to the above-mentioned "fourth embodiment"). The vehicle control device 11 also determines that the automatic travel stop condition is not satisfied when the operator leaves the driver's seat 91 while the combine harvester 1 is traveling automatically (corresponding to the above-mentioned "fifth embodiment"). The vehicle control device 11 also determines that the automatic travel stop condition is not satisfied when the operator performs a steering operation while the combine harvester 1 is traveling automatically (corresponding to the above-mentioned "sixth embodiment"). The vehicle control device 11 also determines that the automatic travel stop condition is not satisfied when a communication abnormality occurs between the combine harvester 1 and the operation terminal 30 while the combine harvester 1 is traveling automatically (corresponding to the above-mentioned "seventh embodiment"). The vehicle control device 11 also determines that the automatic travel stop condition is not satisfied when the operator performs an emergency stop operation on the operation terminal 30 or when an abnormality (a malfunction of the combine harvester 1) occurs in the combine harvester 1.

[0105] If the vehicle control device 11 determines that the autonomous driving maintenance conditions are satisfied (S5: Yes), it shifts the process to step S51. On the other hand, if the vehicle control device 11 determines that the autonomous driving maintenance conditions are not satisfied (S5: No), it shifts the process to step S6.

[0106] <Step S51> In step S51, the vehicle control device 11 maintains the automatic driving mode and shifts the processing to step S8.

[0107] <Step S6> In step S6, the vehicle control device 11 switches to the manual driving mode and moves the process to step S7.

[0108] <Step S7> In step S7, the vehicle control device 11 determines whether the combine harvester 1 satisfies the automatic driving start conditions. Specifically, the vehicle control device 11 determines whether the state of the combine harvester 1, such as the position, direction, brake, gear lever, and steering, each satisfies the automatic driving start conditions. If the vehicle control device 11 determines that the combine harvester 1 satisfies the automatic driving start conditions (S7: Yes), it shifts the processing to step S8. The vehicle control device 11 waits until the combine harvester 1 satisfies the automatic driving start conditions (S7: No).

[0109] <Step S8> In step S8, the vehicle control device 11 determines whether or not an automatic driving start instruction has been acquired. When the vehicle control device 11 acquires the automatic driving start instruction from the operation terminal 30 (S8: Yes), the vehicle control device 11 shifts the processing to step S9. The vehicle control device 11 waits until the automatic driving start instruction is acquired (S8: No).

[0110] <Step S9> In step S9, the vehicle control device 11 resumes the automatic traveling of the combine harvester 1. As a result, the combine harvester 1 resumes the automatic traveling from the stopping position according to the target route R and resumes the harvesting work on the work route. Note that the vehicle control device 11 may issue a warning to the operator if the positioning accuracy has not returned to a predetermined accuracy or higher at the time of resuming the automatic traveling.

[0111] <Step S10> In step S10, the vehicle control device 11 determines whether or not the work has been completed. Specifically, when the combine harvester 1 reaches the work end position G, the vehicle control device 11 determines that the work has been completed (S10: Yes) and terminates the automatic travel processing. On the other hand, if the combine harvester 1 has not reached the work end position G (S10: No), the vehicle control device 11 shifts the processing to step S3 and executes the above-mentioned processing. The vehicle control device 11 repeatedly executes the above-mentioned processing until the combine harvester 1 finishes the work.

[0112] As described above, the vehicle control device 11 sets the driving mode of the combine harvester 1 to automatic driving mode or manual driving mode, and maintains the automatic driving mode when the combine harvester 1 set to the automatic driving mode satisfies the automatic driving maintenance conditions. Furthermore, the vehicle control device 11 switches the combine harvester 1 set to the automatic driving mode to the manual driving mode when the combine harvester 1 does not satisfy the automatic driving maintenance conditions. Furthermore, the vehicle control device 11 stops the automatic driving when the combine harvester 1, which is automatically driving in the automatic driving mode, satisfies the automatic driving stop conditions, and allows the combine harvester 1 to resume automatic driving when it satisfies the automatic driving maintenance conditions.

[0113] According to the above configuration, the automatic driving mode can be maintained even if the operator performs an operation to stop the automatic driving, so the operator can resume the automatic driving without performing a predetermined operation (e.g., manual steering) to satisfy the automatic driving start conditions when resuming the automatic driving. This improves the operability of the user's operation of the automatically driving combine harvester 1.

[0114] [Other embodiments] The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

[0115] In the above-described embodiment, a combine harvester 1 is used as an example, but the configurations of the above-described embodiments can also be applied to other work vehicles. For example, the work vehicle of the present invention may be a tractor or a rice transplanter. Below, embodiments of a tractor and a rice transplanter will be described. Like the combine harvester 1, the tractor and the rice transplanter are equipped with a vehicle control device 11 (travel processing unit 111 and setting processing unit 112).

[0116] [Tractor] The tractor is equipped with a main speed change lever that can be operated to accelerate or decelerate the vehicle speed, and a switching lever (reverse) that switches the direction of travel (forward or reverse). The setting processing unit 112 maintains the automatic travel mode when the automatic travel of the tractor is stopped by operating the main speed change lever or the reverser. The main speed change lever and the reverser of the tractor are examples of the operation unit of the present invention.

[0117] For example, if the operator sets the main shift lever to the lowest speed position (for example, the vehicle speed "0" position) while the tractor is automatically traveling in the automatic traveling mode, the traveling processing unit 111 decelerates and stops the tractor. When the main shift lever is set to the lowest speed position and the tractor is stopped, the setting processing unit 112 determines that the automatic traveling maintenance conditions are met and maintains the automatic traveling mode. For this reason, even if the operator gets off the tractor after the tractor has stopped (or if a predetermined time has passed since the operator left the driver's seat), the setting processing unit 112 does not cancel the automatic traveling mode due to the operator leaving the driver's seat, and maintains the automatic traveling mode.

[0118] Also, for example, if the operator sets the reverser to the intermediate position "N" while the tractor is automatically traveling in the automatic traveling mode, the traveling processing unit 111 decelerates and stops the tractor. When the reverser is set to the intermediate position "N" and the tractor is stopped, the setting processing unit 112 determines that the automatic traveling maintenance conditions are satisfied, and maintains the automatic traveling mode.

[0119] In another embodiment, the setting processing unit 112 may be configured to determine that the automatic driving maintenance conditions are met and maintain the automatic driving mode when the automatic driving of the tractor is stopped by operating the main shift lever or the reverser and the parking brake lever is set to the braking position.

[0120] [Rice transplanter] The rice transplanter is equipped with pedals (push pedal, speed change pedal) that can be used to start, stop, and accelerate / decelerate the vehicle speed, and a switching lever (reverser) that switches the direction of travel (forward / reverse). The setting processing unit 112 maintains the automatic travel mode when the rice transplanter stops automatic travel by operating the pedal or reverser. The pedal and reverser of the rice transplanter are examples of the operating unit of the present invention.

[0121] For example, if the operator sets the pedal to "0" (vehicle speed "0"), i.e., takes his / her foot off the pedal, while the rice transplanter is automatically traveling in the automatic traveling mode, the traveling processing unit 111 decelerates and stops the rice transplanter. When the operator takes his / her foot off the pedal and the rice transplanter comes to a halt, the setting processing unit 112 determines that the automatic traveling maintenance conditions are met and maintains the automatic traveling mode. For this reason, even if the operator gets off the rice transplanter after it has stopped (or if a predetermined time has passed since the operator left the driver's seat), the setting processing unit 112 does not cancel the automatic traveling mode due to the operator leaving the driver's seat, and maintains the automatic traveling mode.

[0122] For example, if the operator sets the reverser to the intermediate position "N" while the rice transplanter is automatically traveling in the automatic traveling mode, the traveling processing unit 111 determines that the automatic traveling maintenance conditions are met, just like a tractor, and maintains the automatic traveling mode.

[0123] The rice transplanter may also be equipped with a vehicle speed maintenance control (auto-cruise control) function. For example, the rice transplanter is equipped with an auto-cruise lever (vehicle speed maintenance operation unit). Auto-cruise control is a control that keeps the rice transplanter running at a predetermined vehicle speed even when the driver's foot is taken off the speed change pedal. Auto-cruise control is started when the auto-cruise lever is operated while the rice transplanter is running. The auto-cruise lever can be operated to the ON side or the OFF side.

[0124] The vehicle speed during auto-cruise control is set based on the operating position of the gear pedal at the time the auto-cruise lever is operated to the ON side. Auto-cruise control can be terminated by operating the auto-cruise lever to the OFF side. Auto-cruise control also terminates automatically by depressing the gear pedal. When the auto-cruise lever is operated to the OFF side and the gear pedal is operated, the rice transplanter continues automatic driving at a vehicle speed according to the operating position of the gear pedal, and when the auto-cruise lever is operated to the OFF side and the gear pedal is not operated, the vehicle speed gradually decreases until the automatic driving stops (the vehicle comes to a stop).

[0125] In a rice transplanter equipped with a vehicle speed maintenance control (auto-cruise control) function, for example, if the vehicle control function is released (the auto-cruise lever is operated to the OFF side) while the rice transplanter is automatically traveling in the automatic traveling mode, the traveling processing unit 111 will decelerate and stop the rice transplanter unless the speed change pedal is operated. If the rice transplanter is stopped due to the release of the vehicle speed maintenance control function (the auto-cruise lever being operated to the OFF side), the setting processing unit 112 will determine that the automatic traveling maintenance conditions are met and will maintain the automatic traveling mode. The auto-cruise lever of the rice transplanter is an example of an operating unit of the present invention.

[0126] [Notes on the Invention] The following will provide an outline of the invention extracted from the above-described embodiments. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0127] <Appendix 1> An automatic driving method for automatically driving a work vehicle along a target route, comprising: setting the driving mode of the work vehicle to an automatic driving mode or a manual driving mode; maintaining the automatic driving mode when the work vehicle set to the automatic driving mode satisfies an automatic driving maintaining condition; An automated driving method that performs the above.

[0128] <Appendix 2> When the work vehicle set to the automatic driving mode does not satisfy the automatic driving maintenance condition, the work vehicle is switched to the manual driving mode. 1. The automated driving method according to claim 1.

[0129] <Appendix 3> When the work vehicle that is automatically traveling in the automatic traveling mode satisfies an automatic traveling stop condition, the automatic traveling is stopped, permitting the work vehicle to resume autonomous driving when the autonomous driving maintenance condition is satisfied; 10. The automated driving method according to claim 1 or 2.

[0130] <Appendix 4> When the automatic driving of the work vehicle is stopped by operating an operation unit that temporarily stops the automatic driving, the automatic driving mode is maintained. 4. The automatic driving method according to any one of appendices 1 to 3.

[0131] <Appendix 5> When the work vehicle stops autonomous driving because the positioning accuracy falls below a predetermined accuracy, the work vehicle maintains the autonomous driving mode. 4. The automatic driving method according to any one of appendices 1 to 3.

[0132] <Appendix 6> When the work vehicle detects an obstacle and the automatic driving mode is stopped, the automatic driving mode is maintained. 4. The automatic driving method according to any one of appendices 1 to 3.

[0133] <Appendix 7> When an operation to set a work implement to a non-working position is received while the work vehicle is automatically traveling in the automatic traveling mode, the work vehicle switches to the manual traveling mode; maintaining the automatic driving mode when an operation to set the work implement to the non-work position is accepted while the work vehicle is stopped in the automatic driving mode; 4. The automatic driving method according to any one of appendices 1 to 3.

[0134] <Appendix 8> When the operator leaves the driver's seat while the work vehicle is automatically traveling in the automatic traveling mode, the mode is switched to the manual traveling mode; When the operator leaves the driver's seat while the work vehicle is stopped in the automatic driving mode, the automatic driving mode is maintained. 4. The automatic driving method according to any one of appendices 1 to 3.

[0135] <Appendix 9> When the work vehicle receives a steering operation to a steering unit while automatically traveling in the automatic traveling mode, the work vehicle switches to the manual traveling mode; When the steering operation to the steering unit is received while the work vehicle is stopped in the automatic driving mode, the automatic driving mode is maintained. 4. The automatic driving method according to any one of appendices 1 to 3.

[0136] <Appendix 10> When the communication state between the work vehicle and the operation terminal drops to a predetermined state while the work vehicle is automatically traveling in the automatic traveling mode, the mode is switched to the manual traveling mode; When the communication state between the work vehicle and the operation terminal drops to the predetermined state while the work vehicle is stopped in the automatic driving mode, the automatic driving mode is maintained. 4. The automatic driving method according to any one of appendices 1 to 3.

[0137] <Appendix 11> When the work vehicle that has stopped autonomous driving satisfies the autonomous driving maintenance condition, permitting the work vehicle to resume autonomous driving when the positioning accuracy of the work vehicle is equal to or greater than a predetermined accuracy; If the positioning accuracy of the work vehicle is less than the predetermined accuracy, warning information is issued to an operator. An automatic driving method according to any one of appendices 1 to 10. [Explanation of symbols]

[0138] 1: Combine (work vehicle) 3: Reaping section (work machine) 9: Control section 10:Automated driving system 11: Vehicle control device 30: Operation terminal 31: Operation control section 91: Driver's seat 92: Steering wheel (steering part) 93: Main shift lever (operating part) 94: Sheet detection unit 111: Driving processing unit 112: Setting processing section 311: Setting processing section 312: Output processing section D1: Operation screen F: Field R: Target route S:Work start position G: Work end position

Claims

1. An automatic driving method for automatically driving a work vehicle along a target route, comprising: setting the driving mode of the work vehicle to an automatic driving mode or a manual driving mode; maintaining the automatic driving mode when the work vehicle set to the automatic driving mode satisfies an automatic driving maintaining condition; An automated driving method that performs the above.

2. When the work vehicle set to the automatic driving mode does not satisfy the automatic driving maintenance condition, the work vehicle is switched to the manual driving mode. The automatic driving method according to claim 1 .

3. When the work vehicle that is automatically traveling in the automatic traveling mode satisfies an automatic traveling stop condition, the automatic traveling is stopped, permitting the work vehicle to resume autonomous driving when the autonomous driving maintenance condition is satisfied; The automatic driving method according to claim 1 .

4. When the automatic driving of the work vehicle is stopped by operating an operation unit that temporarily stops the automatic driving, the automatic driving mode is maintained. The automatic driving method according to any one of claims 1 to 3.

5. When the work vehicle stops autonomous driving because the positioning accuracy falls below a predetermined accuracy, the work vehicle maintains the autonomous driving mode. The automatic driving method according to any one of claims 1 to 3.

6. When the work vehicle detects an obstacle and the automatic driving mode is stopped, the automatic driving mode is maintained. The automatic driving method according to any one of claims 1 to 3.

7. When an operation to set a work implement to a non-working position is received while the work vehicle is automatically traveling in the automatic traveling mode, the work vehicle switches to the manual traveling mode; maintaining the automatic driving mode when an operation to set the work implement to the non-work position is accepted while the work vehicle is stopped in the automatic driving mode; The automatic driving method according to any one of claims 1 to 3.

8. When the operator leaves the driver's seat while the work vehicle is automatically traveling in the automatic traveling mode, the mode is switched to the manual traveling mode; When the operator leaves the driver's seat while the work vehicle is stopped in the automatic driving mode, the automatic driving mode is maintained. The automatic driving method according to any one of claims 1 to 3.

9. When the work vehicle receives a steering operation to a steering unit while automatically traveling in the automatic traveling mode, the work vehicle switches to the manual traveling mode; When the steering operation to the steering unit is received while the work vehicle is stopped in the automatic driving mode, the automatic driving mode is maintained. The automatic driving method according to any one of claims 1 to 3.

10. When the communication state between the work vehicle and the operation terminal drops to a predetermined state while the work vehicle is automatically traveling in the automatic traveling mode, the mode is switched to the manual traveling mode; When the communication state between the work vehicle and the operation terminal drops to the predetermined state while the work vehicle is stopped in the automatic driving mode, the automatic driving mode is maintained. The automatic driving method according to any one of claims 1 to 3.

11. When the work vehicle that has stopped autonomous driving satisfies the autonomous driving maintenance condition, permitting the work vehicle to resume autonomous driving when the positioning accuracy of the work vehicle is equal to or greater than a predetermined accuracy; If the positioning accuracy of the work vehicle is less than the predetermined accuracy, warning information is issued to an operator. The automatic driving method according to any one of claims 1 to 3.

12. An automatic driving program that causes a work vehicle to automatically drive along a target route, setting the driving mode of the work vehicle to an automatic driving mode or a manual driving mode; maintaining the automatic driving mode when the work vehicle set to the automatic driving mode satisfies an automatic driving maintaining condition; An automated driving program for executing the above on one or more processors.

13. An automatic driving system that automatically drives a work vehicle along a target route, setting the driving mode of the work vehicle to an automatic driving mode or a manual driving mode; An automatic driving system including a setting processing unit that maintains the automatic driving mode when the work vehicle set to the automatic driving mode satisfies an automatic driving maintenance condition.

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