Automated driving method and automated driving system

Abstract

This technology provides an improvement in the work efficiency of tasks performed on the outer perimeter of a field. [Solution] An exemplary automatic driving method is an automatic driving method for a work vehicle comprising a traveling body and a work machine attached to the traveling body, wherein the automatic driving is performed when the traveling body is located inside a field and the work machine, which is performing work, is located outside the field.

Description

Technical Field

[0006] , ,

[0007] , ,

[0001] The present invention relates to an automatic driving method and an automatic driving system.

Background Art

[0002] In order for a work vehicle to automatically drive in a field, it is necessary to register the field area in advance. Conventionally, a method has been used in which the operator drives the work vehicle along the outer periphery of the field and registers the field area from the position information of the work vehicle obtained at that time. The registered field area is an area where the work vehicle can safely drive and can be set as a driving permission area.

[0003] Patent Document 1 discloses a configuration that prevents a driving route from being generated outside the driving trajectory area by giving a notification when attempting to register an area outside the actually traveled driving trajectory area as a driving permission area.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, in a work vehicle, work may be performed by arranging a work implement outside the above-described driving permission area (field area). Examples of such work include, for example, bank painting work and mowing work. Improvement in the workability of such work is desired.

[0006] In view of the above points, an object of the present invention is to provide a technique capable of improving the workability of work on the outer peripheral side of a field.

Means for Solving the Problems

[0007] An exemplary automated driving method of the present invention is an automated driving method for a work vehicle comprising a traveling body and a work implement attached to the traveling body, wherein the automated driving is performed when the traveling body is located inside a field and the work implement, which is performing work, is located outside the field. [Effects of the Invention]

[0008] According to an exemplary example of the present invention, work efficiency on the outer perimeter of the field can be improved. [Brief explanation of the drawing]

[0009] [Figure 1] Diagram showing the schematic configuration of an automated driving system. [Figure 2] Side view showing the general configuration of the work vehicle. [Figure 3] A schematic diagram illustrating the work equipment installed on a work vehicle. [Figure 4] Block diagram showing the general configuration of the control device. [Figure 5] Flowchart showing the steps for autonomous driving [Figure 6] A schematic diagram illustrating the registration of workpiece information for an offset workpiece. [Figure 7] Diagram to explain the permitted work area [Figure 8] A diagram illustrating an example of setting up the first work area. [Figure 9] A diagram illustrating an example of generating the first work path. [Figure 10] A schematic diagram showing the state just before the work vehicle begins to automatically travel along the first work path. [Figure 11] A schematic diagram showing a work vehicle automatically traveling along only the first work path shown in the figure and arriving at the final destination. [Figure 12A] Diagram to explain the reversal path [Figure 12B] Diagram to explain the reversal path [Figure 12C] Diagram to explain the reversal path [Figure 13]Figure for explaining generation of the second working path

Best Mode for Carrying Out the Invention

[0010] Embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated unless particularly necessary. Also, in this specification, the directions are defined as follows. First, the direction in which the work vehicle travels straight is defined as the front-rear direction, and the front and rear are defined with the steering wheel being on the front side with respect to the driver's seat of the work vehicle. Also, when sitting on the driver's seat facing the front side, the right side as seen by the driver is defined as right, the left side as left, and the left-right direction orthogonal to the front-rear direction is defined. Further, the direction orthogonal to the front-rear direction and the left-right direction is defined as the up-down direction, and the direction of gravity is defined as down and the opposite side as up. The above directions are merely names used for explanation and are not intended to limit the actual positional relationship and direction.

[0011] <1. Overview of the automatic driving system> FIG. 1 is a diagram showing a schematic configuration of an automatic driving system 100 according to an embodiment of the present invention. As shown in FIG. 1, the automatic driving system 100 includes a work vehicle 1 and a control device 2.

[0012] [1-1. Work vehicle] FIG. 2 is a side view showing a schematic configuration of the work vehicle 1 according to an embodiment of the present invention. The work vehicle 1 of the present embodiment is a field work vehicle that performs work while traveling in a field 200. The work vehicle 1 includes a traveling body 11 and a work implement 12. The traveling body 11 travels in the field 200. The work implement 12 is attached to the traveling body 11. In the present embodiment, the work implement 12 is attached to the rear part of the traveling body 11. Specifically, the work vehicle 1 is a tractor that pulls the work implement 12 by the traveling body 11. However, the work implement 12 may be configured to be attached to the front part of the traveling body 11. That is, the work vehicle of the present invention may be configured such that the work implement 12 is attached to the front part of the traveling body 11.

[0013] The traveling body 11 includes a body portion 13 and a pair of traveling portions 14 that support the body portion 13 and are arranged at intervals in the left-right direction. Each traveling portion 14 includes a front wheel 14a and a rear wheel 14b. At least one of the front wheel 14a and the rear wheel 14b is provided so as to be able to transmit driving force from an engine 15 disposed in front of the body portion 13. By transmitting the driving force from the engine 15 to the traveling portion 14, the traveling body 11 can travel in the field 200. The body portion 13 includes a driver's cab 16 on which a driver rides. The driver's cab 16 includes a driver's seat 16a for the driver to sit on, a steering wheel 16b for steering the traveling body 11, and an operation unit (not shown) for the driver to perform various operations. Note that the steering wheel 16b is disposed in front of the driver's seat 16a.

[0014] The work implement 12 is connected to the rear of the body portion 13 via a connection mechanism 17. At the rear of the body portion 13, a PTO shaft (power take-off shaft) 18 for outputting the driving force of the engine 15 to the work implement 12 is disposed. The driving force of the engine 15 is transmitted to the PTO shaft 18 via a transmission 19.

[0015] The work vehicle 1 of the present embodiment is provided so that a plurality of types of work implements 12 can be replaced. The plurality of types of work implements 12 may include, for example, at least one of a tilling device, a plow, a fertilizer application device, a pesticide spraying device, a harvesting device, and a mowing device. Further, in the present embodiment, the plurality of types of work implements 12 include a work implement mounted in a state offset in either the left or right direction with respect to the traveling body 11. Such a work implement 12 will be hereinafter referred to as an offset work implement 12A. The offset work implement 12A may be, for example, a ridging machine that enables ridging work or a lawn mower (offset mower) that enables grass cutting work.

[0016] Figure 3 is a schematic diagram illustrating the offset implement 12A. Figure 3 is a top-down view of the work vehicle 1. In Figure 3, the work vehicle 1 is moving straight forward. As shown in Figure 3, with the offset implement 12A attached, the work vehicle 1 can perform work on the outer edge 201 of the field 200. In Figure 3, within the outer edge 201 of the field 200, the hatched area 201a indicates a worked area, and the white-painted area 201b indicates an unworked area.

[0017] The work vehicle 1 is equipped with a mechanism to switch the offset direction of the offset work implement 12A. In the example shown in Figure 3, since the outer edge 201 to be worked on is on the right side of the work vehicle 1, the offset work implement 12A is offset to the right relative to the traveling body 11. If the outer edge 201 to be worked on is on the left side of the work vehicle 1, the offset work implement 12A is offset to the left relative to the traveling body 11. When the offset work implement 12A is offset to the right, at least a portion of it protrudes to the right relative to the traveling body 11. When the offset work implement 12A is offset to the left, at least a portion of it protrudes to the left relative to the traveling body 11.

[0018] In this embodiment, the work vehicle 1 can automatically switch the left and right offset directions of the offset work machine 12A. For example, the offset direction of the offset work machine 12A may be configured to be automatically switched in response to instructions from the operator. Instructions from the operator may be given, for example, by operating buttons (not shown) provided on the driver's unit 16 of the work vehicle 1, or by a portable communication terminal (not shown) that the operator can carry. Alternatively, the offset direction of the offset work machine 12A may be automatically switched by a command from a control device that is provided to control the operation of the offset work machine 12A. The control device referred to here may be, for example, the control device 2 shown in Figure 1.

[0019] The offset direction of the offset work implement 12A may be switched, for example, by a mechanism that slides the position of the offset work implement 12A in the left-right direction. Alternatively, the offset direction of the offset work implement 12A may be switched, for example, by a mechanism that rotates the offset work implement 12A. Furthermore, the offset direction of the offset work implement 12A may be switched, for example, by a combination of sliding and rotation.

[0020] The offset work implement 12A can be used by moving the work vehicle 1 in at least one direction, either forward or reverse, before and after the offset direction is switched. For example, the offset work implement 12A can be used regardless of the offset direction, whether the work vehicle 1 is moving forward or backward. Alternatively, the offset work implement 12A can be used by keeping the forward and reverse directions of the work vehicle 1 the same before and after the offset direction is switched. Alternatively, the offset work implement 12A can be used by switching the forward and reverse directions of the work vehicle 1 before and after the offset direction is switched. To give a specific example, the offset work implement 12A can be configured to perform driving operations by moving the work vehicle 1 forward, both before and after the offset direction is switched. Alternatively, for example, the offset work implement 12A can be configured to perform driving operations by switching the forward and reverse directions of the work vehicle 1 before and after the offset direction is switched.

[0021] [1-2. Control Device] Figure 4 is a block diagram illustrating the schematic configuration of a control device 2 according to an embodiment of the present invention. The control device 2 is a computer comprising, for example, an arithmetic unit, an input / output unit, and a storage unit 21. The arithmetic unit is an integrated circuit such as a processor or microprocessor. The storage unit 21 is a main memory device such as ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit 21 may further include an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). Various programs and data are stored in the storage unit 21. The arithmetic unit reads various programs from the storage unit 21 and executes them.

[0022] In this embodiment, the control device 2 can be operated as various functional units through the cooperation of the above-described hardware and software. As shown in Figure 4, the various functional units include a field registration processing unit 22, a work mode selection unit 23, a work equipment information registration processing unit 24, an area setting unit 25, a route generation unit 26, an automatic driving control unit 27, and a display control unit 28. The control device 2 may consist of a single piece of hardware, or it may consist of multiple pieces of hardware that can communicate with each other.

[0023] Each of the functional units 22-28 of the control device 2 may be implemented by having the arithmetic unit execute a program, i.e., by software, as described above, but may also be implemented by other methods. Each of the functional units 22-28 may be implemented using, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). In other words, each of the functional units 22-28 may be implemented by hardware using a dedicated IC or the like. Furthermore, each of the functional units 22-28 may be implemented using a combination of software and hardware. Moreover, each of the functional units 22-28 is a conceptual component. The function performed by one component may be distributed among multiple components. Furthermore, the functions of multiple components may be integrated into one component.

[0024] The control device 2 may be mounted on, for example, the work vehicle 1. Alternatively, the control device 2 may be mounted on a portable communication terminal (not shown) that is capable of communicating with the work vehicle 1. The portable communication terminal may be, for example, a tablet terminal, a smartphone, a laptop computer, a remote controller, etc. Also, for example, the control device 2 may consist of a control device mounted on the work vehicle 1 and a control device mounted on the portable communication terminal. Furthermore, for example, at least some of the functions of the control device 2 may be implemented by a server that is capable of communicating with the work vehicle 1 or the portable communication terminal via a network such as the Internet. Also, for example, some of the information stored in the storage unit 21 may be stored on the server.

[0025] Figure 4 shows not only the control device 2, but also elements 3 to 6 that are directly or indirectly connected to the control device 2. These elements 3 to 6 and the control device 2 may be connected, for example, by wire or wireless. Alternatively, these elements 3 to 6 may be connected, for example, by wire or wireless to a device that can communicate with the control device 2, and thus indirectly connected to the control device 2 through that device.

[0026] The positioning communication unit 3 is installed in the work vehicle 1. The positioning communication unit 3 includes a positioning antenna (not shown), and uses positioning signals received by the positioning antenna from positioning satellites to acquire the position of the work vehicle 1, for example, as latitude and longitude information. The positioning communication unit 3 outputs the position information of the work vehicle 1 to the control device 2. The positioning communication unit 3 may, for example, receive positioning signals from a reference station (not shown) in an appropriate manner and then perform positioning using the known RTK-GNSS (Real Time Kinematic GNSS) method. Alternatively, for example, the positioning communication unit 3 may perform positioning using the DGNSS (Differential GNSS) method.

[0027] Sensor 4 is mounted on the work vehicle 1. Sensor 4 detects information related to the work vehicle 1 and outputs the detected information to the control device 2. Preferably, the work vehicle 1 is equipped with multiple types of sensors 4. In this case, each of the multiple types of sensors 4 may output the detected information to the control device 2. The multiple types of sensors may include, for example, an inertial measuring device and an obstacle sensor.

[0028] The inertial measurement device may include a 3-axis angular velocity sensor and a 3-directional acceleration sensor, and may be a device capable of measuring the attitude of the work vehicle 1. The obstacle sensor is a sensor that detects obstacles present around the work vehicle 1, and may be, for example, an ultrasonic sensor, a camera, radar, or LiDAR (Light Detection and Ranging).

[0029] The control unit 5 enables the operator to issue commands to the control device 2. The operator may be a person riding in the work vehicle 1 or a person not riding in the work vehicle 1. The control unit 5 may be provided on at least one of the following: the work vehicle 1 or the portable communication terminal. The control unit 5 may be, for example, a button, lever, dial, or touch panel. The control unit 5 may be a software switch instead of a hard switch.

[0030] The display unit 6 displays information as appropriate in response to commands from the control device 2. The display unit 6 may be, for example, a liquid crystal display or an organic EL (electroluminescence) display. The display unit 6 may have a touch panel configuration, in which case the display unit 6 may also serve as the operation unit 5. The display unit 6 may be provided on, for example, at least one of the work vehicle 1 and the portable communication terminal.

[0031] The field registration processing unit 22 performs the registration process for the field 200 in response to commands from an operator using the operation unit 5, for example. The registration process for the field 200 stores information such as the shape of the field 200 in the storage unit 21. The functions of the field registration processing unit 22 may also include editing and deleting information related to the registered fields.

[0032] When registering a field 200, for example, an operator manually drives the work vehicle 1 along the outer perimeter of the field 200, such as along the edge of the field. The shape of the field 200 is identified by the driving trajectory of the work vehicle 1 obtained using the positioning communication unit 3 during this driving. The area inside the identified shape of the field 200 is the field area. In this embodiment, the field area is the driving permission area. The driving permission area is the area where it is judged safe for the mobile machine 11 to drive, and is the area where the mobile machine 11 is permitted to drive. In this embodiment, the field registration process by the field registration processing unit 22 includes the registration of this driving permission area.

[0033] The work mode selection unit 23 selects a work mode. The work mode is selected, for example, by a command from an operator using the operation unit 5. However, the control device 2 may be configured to automatically select the work mode. In this embodiment, the work mode includes a first mode and a second mode. The first mode is a work mode in which the work target is inside the permitted travel area. The second mode is a work mode in which the work target is outside the permitted travel area.

[0034] In this embodiment, in the first mode, only the area inside the permitted driving area is the target of work. In the second mode, only the area outside the permitted driving area may be the target of work, or in addition to the area outside the permitted driving area, a portion of the permitted driving area adjacent to the permitted driving boundary may also be the target.

[0035] The work equipment information registration processing unit 24 performs a process to register information about the work equipment 12 used when performing work by automated driving. As a result of this process, the work equipment information is stored in the storage unit 21. For example, the work equipment information registration processing unit 24 requests the operator to input information about the work equipment 12. The request for information input may be made, for example, using the display unit 6. Then, the work equipment information registration processing unit 24 registers the information about the work equipment 12 input by the operator using the operation unit 5, etc. The information about the work equipment 12 may include, for example, the size, shape, and mounting position of the work equipment 12 on the driving machine body 11.

[0036] The area setting unit 25 sets the work area. The work area is the area in which work is performed by the work machine 12. In this embodiment, in the first mode, the work area is set inside the permitted travel area. In the second mode, the work area is set outside the permitted travel area. In the second mode, the work area set may extend from outside the permitted travel area to inside the permitted travel area.

[0037] The route generation unit 26 generates an automated driving route for the work vehicle 1 to automatically travel in the field 200. The method for generating the automated driving route may differ between the first mode and the second mode. Automated driving means that the devices related to driving on the work vehicle 1 are controlled by the control device 2, and at least steering is performed autonomously to follow a predetermined route. In addition to steering, automated driving may also include a configuration in which at least one of the following is performed autonomously: for example, vehicle speed and work performed by the work implement 12. Furthermore, automated driving may include both cases in which a person is on board the work vehicle 1 and cases in which a person is not on board the work vehicle 1.

[0038] For example, the automated driving may be automated straight-line driving where only the steering operation (operation of the steering wheel) is controlled automatically. In automated straight-line driving, for example, the control of vehicle speed, the control of raising and lowering the work equipment 12, and the control of turning the work equipment 12 on and off are performed manually. Alternatively, for example, the automated driving may be manned automated driving where the driver is in the driver's seat of the work vehicle 1 and the work by driving straight or turning is performed automatically. In manned automated driving, for example, it is possible to switch between automatic and manual control for vehicle speed control and the control of raising and lowering the work equipment 12. Alternatively, for example, the automated driving may be unmanned automated driving (robot driving) where the driver is not in the driver's seat of the work vehicle 1 and all operations are performed automatically.

[0039] Furthermore, in autonomous driving, the pre-set autonomous driving route may become inappropriate if, for example, the road surface conditions differ from those expected or the tire size is not appropriate. Also, for example, the vehicle's position information obtained through positioning may be inaccurate, causing a deviation from the autonomous driving route. Taking these points into consideration, the autonomous driving route may be corrected as appropriate by commands from the operator or commands from the control device 2 utilizing the feedback control function. The route generation unit 26 may also be equipped with such an autonomous driving route correction function.

[0040] The automatic driving control unit 27 automatically controls at least a part of the driving system of the work vehicle 1 when automatic driving is selected, for example, by a command from the operation unit 5. If the automatic driving mode is the automatic straight-line driving mode, the automatic driving control unit 27 automatically controls the steering operation so that the work vehicle 1 travels along a predetermined path. If the automatic driving mode is the manned automatic driving mode or the unmanned automatic driving mode, the automatic driving control unit 27 automatically controls the steering operation and vehicle speed adjustment. In addition, in the manned automatic driving mode and the unmanned automatic driving mode, the automatic driving control unit 27 automatically controls the raising and lowering of the work equipment 12, etc.

[0041] The display control unit 28 controls the display unit 6 to display information about the work vehicle 1 on the display unit 6 as appropriate for operators riding in the work vehicle 1 or operators operating the work vehicle 1 from the outside.

[0042] <2. Automatic Driving Method> Next, the automatic driving method performed by the automatic driving system 100 of this embodiment will be described. In detail, the automatic driving method of this embodiment is an automatic driving method for a work vehicle 1 comprising a traveling body 11 and a work machine 12, and is performed by a control device 2 (for example, a computer device). Figure 5 is a flowchart showing the flow of the automatic driving method according to an embodiment of the present invention.

[0043] In step S1, the field registration processing unit 22 performs the field area registration process. As a result, the field area is recorded in the storage unit 21. As described above, in this embodiment, the field area is synonymous with the permitted driving area. That is, the automatic driving method of this embodiment performs the registration of the permitted driving area in which the vehicle 11 is permitted to travel. In detail, the control device 2 performs this process. The program that causes the computer to execute the automatic driving method of this embodiment causes the computer to function as a means to register the permitted driving area in which the vehicle 11 is permitted to travel.

[0044] The registration process for the field area (permitted driving area) is performed, for example, when the operator presses the measurement start button to measure the driving trajectory of the work vehicle 1, and the operator drives the work vehicle 1 along the outer perimeter of the field. Alternatively, instead of the operator pressing the measurement start button, the system may be configured to automatically start the field area registration process when the control device 2 determines that predetermined conditions for starting measurement of the field area have been met. Once the field area registration process is complete, the process proceeds to the next step S2. If the field area (permitted driving area) has already been registered, the process in step S1 may be skipped.

[0045] In step S2, the work mode selection unit 23 selects a work mode. In this embodiment, either a first mode, which targets the area inside the permitted travel area, or a second mode, which targets the area outside the permitted travel area, is selected. That is, the automatic driving method of this embodiment performs the action of selecting one of the work modes, the first mode or the second mode. In detail, the control device 2 performs this process. The program that causes the computer to execute the automatic driving method of this embodiment causes the computer to function as a means to select one of the work modes, the first mode or the second mode.

[0046] In the first mode, work is mainly performed with implements 12 other than offset implements 12A, such as tillers. However, work using offset implements 12A may also be performed in the first mode. In the second mode, work is performed with offset implements 12A. The selection of the first mode or the second mode may be determined by instructions from the operator, or it may be determined automatically by the control device 2. For example, the control device 2 may be configured to automatically determine whether to use the first mode or the second mode depending on the type of implement 12 attached to the traveling machine body 11. If the selected work mode is the first mode, the process proceeds to step S3. If the selected work mode is the second mode, the process proceeds to step S3A.

[0047] Steps S3, S4, S5, and S6, which are performed when the first mode is selected, are processes that occur when a work area is set up within the permitted travel area and work is performed with the work machine 12 while automatically traveling within that work area. These processes may be the same as known processes, so they will be explained briefly.

[0048] In step S3, the work equipment information registration processing unit 24 performs a process to register information about the work equipment 12 to be used for work by automatic driving in the first mode. The information about the work equipment 12 may be entered by the operator using the operation unit 5 in response to a request from the control device 2. The information about the work equipment 12 may include, for example, the distance from the left-right center of the traveling machine body 11 to one end of the work equipment 12 in the left-right direction, the overall width of the work equipment 12, and the position of the work equipment 12. Once the processing in step S3 is completed, the process proceeds to the next step S4.

[0049] In this embodiment, the system is configured to select either the first mode or the second mode before registering the work equipment information. However, the system may also be configured to select the first mode or the second mode during the work equipment information registration process. Furthermore, if the work equipment information has already been registered, the process in step S3 may be skipped.

[0050] In step S4, the area setting unit 25 sets a work area (work area within the permitted area) within the previously registered permitted travel area. The work area within the permitted area may be, for example, an area where the work vehicle 1 performs work with a work implement 12 such as a tiller while traveling in a straight line. A headland area may be provided inside the permitted travel area but outside the work area within the permitted area. The headland area is an area where the work vehicle 1, which has traveled in a straight line along the straight path within the work area within the permitted area, performs a turning maneuver to move to the next straight path within the work area within the permitted area. The turning maneuver may or may not be automatic. Once the work area within the permitted area is set, the process proceeds to the next step S5. If the work area within the permitted area has already been registered, the process in step S4 may be skipped.

[0051] In step S5, the route generation unit 26 generates an automated driving route for the work vehicle 1 to automatically travel within the permitted work area. This automated driving route is, for example, a straight route provided within the permitted work area. Once the automated driving route is generated, the process proceeds to the next step S6. If an automated driving route has already been registered, the process in step S5 may be skipped.

[0052] In step S6, under the control of the automatic driving control unit 27, the vehicle is driven automatically along the generated automatic driving path. For example, the vehicle is driven automatically along a straight line provided within the permitted work area.

[0053] Furthermore, the automatic driving method of this embodiment prohibits automatic driving when the work equipment 12 is located outside the permitted driving area in the first mode. Specifically, the control device 2 performs this process. The program that causes the computer to execute the automatic driving method of this embodiment causes the computer to function as a means to prohibit automatic driving when the work equipment 12 is located outside the permitted driving area in the first mode.

[0054] The statement that the work machine 12 is located outside the permitted travel area means that at least a part of the work machine 12 is located outside the permitted travel area. Furthermore, prohibiting automatic driving when the work machine 12 is located outside the permitted travel area means stopping automatic driving if it is determined that the work machine 12 is located outside the permitted travel area during automatic driving. Stopping automatic driving may include, for example, stopping the driving or switching from automatic driving to manual driving. Furthermore, prohibiting automatic driving when the work machine 12 is located outside the permitted travel area may also mean, at a stage before automatic driving is performed, for example, not allowing the generation of an automatic driving route in which the work machine 12 is located outside the permitted travel area.

[0055] Furthermore, in the first mode, the automatic driving method of this embodiment prohibits automatic driving when the vehicle body 11 is located outside the permitted driving area. Specifically, the control device 2 performs this process. The program that causes the computer to execute the automatic driving method of this embodiment causes the computer to function as a means to prohibit automatic driving when the vehicle body 11 is located outside the permitted driving area in the first mode.

[0056] Prohibiting automatic driving when the mobile unit 11 is outside the permitted driving area may mean stopping automatic driving if it is determined that the mobile unit 11 is outside the permitted driving area during automatic driving. Stopping automatic driving may include, for example, stopping the driving or switching from automatic driving to manual driving. Furthermore, prohibiting automatic driving when the mobile unit 11 is outside the permitted driving area may also mean, at a stage before automatic driving is performed, for example, not allowing the generation of an automatic driving route in which the mobile unit 11 is outside the permitted driving area.

[0057] Next, we will describe the processes in steps S3A, S4A, S5A, and S6A that are performed when the second mode is selected. These processes are performed when the offset work implement 12A is attached to the traveling machine body 11 and work is performed on the outer edge of the field.

[0058] In step S3A, the work equipment information registration processing unit 24 performs a process to register information about the work equipment (i.e., the offset work equipment 12A) to be used for work by automatic driving in the second mode. The information about the offset work equipment 12A may be entered by the operator using the operation unit 5 in response to a request from the control device 2, for example.

[0059] Figure 6 is a schematic diagram illustrating the registration of workpiece information for the offset workpiece 12A. In Figure 6, the dashed line BL indicates the left-right center position of the traveling machine body 11. The information of the offset workpiece 12A to be registered may include the first lateral distance W1, second lateral distance W2, third lateral distance W3, and first vertical distance L1 shown in Figure 6. The first lateral distance W1 is the distance between the left-right center of the traveling machine body 11 and the left-right inner end of the offset workpiece 12A. The second lateral distance W2 is the left-right width of the offset workpiece 12A. The third lateral distance W3 is the distance between the left-right center of the traveling machine body 11 and the left-right outer end of the offset workpiece 12A. For example, the third lateral distance W3 is obtained by adding the first lateral distance W1 and the second lateral distance W2 (W3 = W1 + W2), so if the first lateral distance W1 and the second lateral distance W2 are input, the third lateral distance W3 does not need to be input. The first longitudinal distance L1 is the distance between the rear end of the traveling machine body 11 and the rear end of the offset work implement 12A. Note that, as described above, the offset work implement 12A may be mounted in front of the traveling machine body 11, in which case the first longitudinal distance L1 is the distance between the front end of the traveling machine body 11 and the front end of the offset work implement 12A.

[0060] Furthermore, if the dimensions of the traveling machine 11 have not been registered in advance, the dimensions of the traveling machine 11 may be registered at the same time as the information of the offset work implement 12A is registered. The dimensions of the traveling machine 11 to be registered may include, for example, the distance between the center position of the traveling machine 11 in the left-right direction and one end in the left-right direction (machine half width Wa). The dimensions of the traveling machine 11 to be registered may also include, for example, the length of the traveling machine 11 in the front-rear direction (machine length La).

[0061] Furthermore, the information of the registered offset work machine 12A may include, for example, information regarding whether or not the offset direction has been switched. Also, for example, if the information of the registered offset work machine 12A changes due to a switch in the offset direction, the information related to that change may be included.

[0062] Returning to Figure 5, once the process of registering the information for the offset work implement 12A is complete, the process proceeds to the next step S4A. Note that if the information for the offset work implement 12A has already been registered, the process in step S3A may be skipped.

[0063] In step S4A, the area setting unit 25 first sets the work permission area 220. Figure 7 is a diagram illustrating the work permission area 220. The work permission area 220 is the area that the offset work machine 12A is permitted to pass through. The automatic travel method of this embodiment sets the work permission area 220, which has an outer perimeter outside the travel permission area 210, based on the information of the travel permission area 210 and the information of the work machine 12.

[0064] In detail, the information for the permitted travel area 210 is the outer perimeter position of the permitted travel area 210. The information for the work machine 12 is the information for the offset work machine 12A, which is the amount of protrusion (protrusion distance) Wx from the side of the traveling body 11 of the offset work machine 12A. This protrusion distance Wx is obtained by subtracting the half width Wa of the machine body from the third lateral distance W3 shown in Figure 6 (Wx = W3 - Wa). The area setting unit 25 sets the outer perimeter position of the permitted travel area 220 to a position that is extended outward by the protrusion distance Wx from the outer perimeter position of the permitted travel area 210. The area inside this outer perimeter position corresponds to the permitted work area 220. The permitted work area 220 is the area that includes the permitted travel area 210.

[0065] In the second mode, automatic travel is permitted when the work implement 12 (specifically the offset work implement 12A) is located within the permitted work area 220. Conversely, automatic travel is prohibited when the offset work implement 12A is located outside the permitted work area 220. In other words, even in the second mode, there is a provision for prohibiting automatic travel depending on the position of the work implement 12, thereby ensuring the safety of automatic travel. In this embodiment, the state in which the offset work implement 12A is located outside the permitted work area 220 corresponds to the state in which the traveling machine body 11 is located outside the permitted travel area 210.

[0066] When the area setting unit 25 sets the work area 220, it sets the work area included in the work area 220. This work area corresponds to the first work area of ​​the present invention. In other words, the automatic driving method of this embodiment sets the first work area in the work area 220 where work is performed by the work machine 12 (specifically the offset work machine 12A).

[0067] An example of setting the first work area 230 will be explained with reference to Figure 8. Figure 8 is a diagram illustrating an example of setting the first work area 230. In Figure 8, the dashed line DL indicates a portion of the outer perimeter of the permitted travel area 210. The dashed line DDL indicates a portion of the outer perimeter of the permitted work area 220. Figure 8 shows a method for setting the first work area 230 on one side of the permitted travel area 210. The first work area 230 is set for each side that constitutes the outer perimeter of the permitted travel area 210.

[0068] The area setting unit 25 first sets a fourth lateral distance W4, which is the distance between one side of the permitted travel area 210 and the left-right inner end of the offset work machine 12A. The fourth lateral distance W4 is set based on instructions from the operator or a judgment by the control device 2. By setting the fourth lateral distance W4, the position in which the work will be performed by the offset work machine 12A is determined, with the outer perimeter of the permitted travel area 210 as the reference.

[0069] The inner end position of the offset work machine 12A in the left-right direction may be set on the outer perimeter of the permitted travel area 210. In this case, the fourth lateral distance W4 becomes zero. An example of such a case is when the offset work machine 12A is used as a ridge-forming machine and forms a ridge adjacent to the outer perimeter of the permitted travel area 210.

[0070] Furthermore, the inner end position of the offset work implement 12A in the left-right direction may be set outside the outer circumference of the permitted travel area 210. In this case, the fourth lateral distance W4 may be set to a positive value for convenience. For example, one such case is when a brush cutter is used as the offset work implement 12A to cut weeds that are located away from the outer circumference of the permitted travel area 210. An example of a case where weeds are located away from the outer circumference of the permitted travel area 210 is when a ditch is located adjacent to the outer circumference of the permitted travel area 210. Ditch information (e.g., ditch width) may be registered in advance in the storage unit 21, and the fourth lateral distance W4 may be automatically set using the ditch information.

[0071] Furthermore, the inner end position of the offset work implement 12A in the left-right direction may be set inside the outer circumference of the permitted travel area 210. In this case, the fourth lateral distance W4 may be set to a negative value for convenience. In this configuration, a part of the first work area 230 is set within the permitted travel area 210. With this configuration, when performing grass cutting work using a brush cutter as the offset work implement 12A, grass can be cut uniformly both inside and outside the outer circumference of the permitted travel area 210.

[0072] When the area setting unit 25 sets a fourth lateral distance W4, it sets a first straight line Li1 that is parallel to one side of the permitted driving area 210 and passes through a position that is a distance of the fourth lateral distance W4 from that side in the left-right direction. The area setting unit 25 also sets a second straight line Li2 that is parallel to the first straight line Li1 and passes through a position that is a distance of the second lateral distance W2 (see Figure 6) outward in the left-right direction from the first straight line Li1. The strip-shaped area sandwiched between the first straight line Li1 and the second straight line Li2 may be the first work area 230 set on one side of the permitted driving area 210. However, in this example, the area setting unit 25 further sets a third straight line Li3 and a fourth straight line Li4 to set the first work area 230.

[0073] The third straight line Li3 is a straight line perpendicular to one side of the permitted driving area 210 and passing through a position at a distance of 1 longitudinal distance L1 in the direction extending one end of that side. The fourth straight line Li4 is a straight line perpendicular to one side of the permitted driving area 210 and passing through a position at a distance of 1 longitudinal distance L1 in the direction extending the other end of that side. The area setting unit 25 sets the area enclosed by the first straight line Li1, the second straight line Li2, the third straight line Li3, and the fourth straight line Li4 as the first work area 230.

[0074] The above setting process is performed for each side of the permitted driving area 210, thereby completing the setting of the first work area 230. Here, the first work area 230 is set for all sides of the permitted driving area 210, but it is also possible to set the first work area 230 for only some sides. Furthermore, there may be multiple first work areas 230 set for each side of the permitted driving area 210. One example of having multiple first work areas 230 is to consider when performing automated driving operations along each side multiple times, shifting their locations each time. In addition, the first work areas 230 set for each side may be deleted as appropriate. Once the setting of the first work area 230 is complete, the process proceeds to the next step S5A (see Figure 5). If the first work area 230 has already been registered, the process in step S4A may be skipped.

[0075] In step S5A, the path generation unit 26 generates an automatic travel path that enables the offset work machine 12A to work in the first work area 230. This automatic travel path is generated in the permitted travel area 210 and corresponds to the first work path of the present invention. That is, the automatic travel method of this embodiment generates a first work path 30 in the permitted travel area 210 that enables the work machine 12 to work in the first work area 230. As a result, a work path is generated for when the work machine 12 works outside the permitted travel area 210, in addition to the work path for when the work machine 12 works within the permitted travel area 210. Therefore, an appropriate work path is generated according to the type of work machine 12, and the work machine 12 can perform work with high accuracy.

[0076] Figure 9 is a diagram illustrating an example of the generation of the first work path 30. As shown in Figure 9, the first work path 30 (shown by a thick solid line) is generated corresponding to the first work areas 230 provided on each side of the permitted travel area 210. The first work path 30 provided corresponding to each first work area 230 extends in a direction along each side of the permitted travel area 210. Each first work path 30 is set within the permitted travel area 210. Each first work path 30 is set at a position that passes through the center of the traveling machine body 11 in the left-right direction. Each first work path 30 is set at a predetermined distance away from each side of the permitted travel area 210 inward. The predetermined distance away is, in detail, a distance away obtained by subtracting the fourth lateral distance W4 from the first lateral distance W1, inward from each side.

[0077] Once the setting of the first work path 30 is complete, the process proceeds to the next step S6A (see Figure 5). In this example, the first work path 30 is configured to be set for all sides of the permitted travel area 210. However, as mentioned above, the first work area 230 may be set for only some sides of the permitted travel area 210. For this reason, the first work path 30 may also be configured to be set for only some sides of the permitted travel area 210. Furthermore, if there are multiple first work areas 230 set for each side of the permitted travel area 210, there may also be multiple first work paths 30 set for each side of the permitted travel area 210. In addition, if the first work path 30 has already been registered, the process in step S5A may be skipped.

[0078] In step S6A, under the control of the automatic driving control unit 27, automatic driving is performed along each generated first work path 30. As can be seen from the above, the automatic driving method of this embodiment allows automatic driving when the work machine 12 is located outside the permitted driving area 210 in the second mode. Specifically, the control device 2 performs this process. The program that causes the computer to execute the automatic driving method of this embodiment causes the computer to function as a means to allow automatic driving when the work machine 12 is located outside the permitted driving area 210 in the second mode.

[0079] In this embodiment, in the first mode, where the work area is set inside the permitted travel area 210, automatic travel is prohibited when the work implement 12 is located outside the permitted travel area 210. On the other hand, in the second mode, where the work area is set outside the permitted travel area 210, automatic travel is exceptionally permitted when the work implement 12 is located outside the permitted travel area 210. This exception in the second mode expands the scope of application for automatic travel operations and improves work efficiency.

[0080] Furthermore, the automatic driving method of this embodiment, similar to the first mode, also prohibits automatic driving when the driving unit 11 is outside the permitted driving area 210 in the second mode. Therefore, while prioritizing safety in the first mode, exceptions are permitted in the second mode to the extent that safety is not compromised, thereby improving work efficiency.

[0081] The starting position for automatic driving along each of the first work paths 30, which are straight paths, may be, for example, a position where the rear end of the mobile body 11 touches the outer perimeter of the permitted driving area 210. The ending position for automatic driving along each of the first work paths 30 may be a position where the front end of the mobile body 11 touches the outer perimeter of the permitted driving area 210. The starting and ending positions may be changed as appropriate, and may be positions where the mobile body 11 does not touch the outer perimeter of the permitted driving area 210.

[0082] Furthermore, the position of the mobile vehicle 11 during automatic driving, which is initiated assuming it will follow the first work path 30, may be offset relative to the first work path 30 within the range of the permitted driving area 210. In other words, the first work path 30 may be offset within the range of the permitted driving area 210. This allows the path for performing automatic driving operations to be adjusted to an appropriate position, for example, if the setting of the fourth lateral distance W4 (see Figure 8, etc.) is inappropriate. Offset adjustment may be performed as appropriate by an operator using an offset adjustment control unit during automatic driving, for example. Also, if an offset is performed, the work path after the offset may be registered as the correct work path in the storage unit 21.

[0083] Furthermore, the vehicle may travel along a route that reverses the front-to-back orientation of the vehicle 11 during automatic travel along each of the first work paths 30. In other words, the automatic travel method of this embodiment may reverse the orientation of the vehicle 11 while it is automatically traveling along the first work path 30.

[0084] Here, the reason for reversing the front-to-back orientation of the mobile body 11 will be explained with reference to Figures 10 and 11. Figure 10 is a schematic diagram showing the state immediately before the work vehicle 1 begins automatic travel along the first work path 30. Figure 11 is a schematic diagram showing the state after the work vehicle 1 has automatically traveled only along the first work path 30 shown in the figure and arrived at the end position. In Figures 10 and 11, the hatched area of ​​the first work area 230 is the worked area 230a, and the white-painted area is the unworked area 230b. As can be seen from Figures 10 and 11, in a configuration where the mobile body 11 of the work vehicle 1 automatically travels and performs work only along the first work path 30, the work by the offset work machine 12A will not be performed for at least the length of the mobile body 11. By reversing the front-to-back orientation of the mobile body 11, this problem can be resolved.

[0085] Here, we show an example of a reversal path that reverses the front-to-back orientation of the mobile machine 11. Figures 12A to 12C are diagrams illustrating the reversal path 31. As shown in Figures 12A to 12C, the reversal path 31 consists of a first turning path 31a, a second turning path 31b, and a position adjustment path 31c. Figures 12A, 12B, and 12C are arranged in chronological order. The mobile machine 11 travels forward along the first work path 30 until just before traveling along the reversal path 31.

[0086] In this example, as shown in Figure 12A, the first turning path 31a is the path in which the mobile machine 11 on the first work path 30 turns in a direction away from the work target edge 210a (to the left in this example). The work target edge is 210a, which is the edge on the outer circumference of the permitted travel area 210 that the mobile machine 11 performing automatic travel travels near. The radius of the reverse turn may be any radius that the mobile machine 11 can turn. The radius of the reverse turn may be set in advance by the operator, for example, or it may be set automatically by the control device 2. The first turning path 31a is the path from the starting position of the reversing path 31 to the position where the mobile machine 11 is directly facing the work target edge 210a.

[0087] In this example, as shown in Figure 12B, the second turning path 31b is a path that approaches the work target edge 210a while turning forward, drawing an arc in the opposite direction to the first turning path 31a. The first turning path 31a and the second turning path 31b have the same turning radius. In the example shown in Figure 12B, the second turning path 31b is a path that turns the mobile machine 11, which is located at the end point of the first turning path 31a, to the right while moving forward. The second turning path 31b is the path from the end point of the first turning path 31a to the position where the mobile machine 11's front-rear direction is parallel to the work target edge 210a (which may be referred to as the first work path 30). At the end point of the second turning path 31b, the front-rear direction of the mobile machine 11 is opposite to that of the starting position of the reversal path 31. That is, the front-rear direction of the mobile machine 11 is reversed. Furthermore, at the time the reversal occurs, the mobile unit 11 returns to the first work path 30.

[0088] In this example, as shown in Figure 12C, the position where the traveling machine 11 reverses direction and returns to the first work path 30 is a position where the traveling work has already been completed. For this reason, the reversal path 31 in this example includes a position adjustment path 31c that aligns the position of the offset work machine 12A with the boundary between the worked area 230a and the unworked area 230b. In the position adjustment path 31c, the traveling machine 11 is reversed along the first work path 30 so that the position of the offset work machine 12A aligns with the aforementioned boundary position. No traveling work using the offset work machine 12A is performed during this reverse movement. After the travel along the position adjustment path 31c is completed, the traveling machine 11 is reversed along the first work path 30 with the work using the offset work machine 12A in the starting state. This reverse movement may or may not be automatic. By performing work using the offset work machine 12A while reversing, it is possible to eliminate the occurrence of an unworked area equivalent to the length of the traveling machine 11 as described above.

[0089] By the way, in order for the traveling machine 11 to perform travel operations after reversing its front-to-back direction, the offset direction of the work implement 12 must be reversed before and after the vehicle reverses direction. In the example shown in Figures 12A to 12C, the offset direction of the offset work implement 12A is switched while the traveling machine 11 is traveling along the first turning path 31a. However, the timing of the offset direction switch of the offset work implement 12A may be at other times.

[0090] In addition, the automatic driving method of this embodiment may include setting a second work area 240 (see Figure 13) in the permitted driving area 210 where work is performed by the work machine 12, and generating a second work path 40 (see Figure 13) that enables work in the second work area 240 in the first mode following work in the second mode. This process may be performed by the control device 2.

[0091] Figure 13 is a diagram illustrating the generation of the second work path 40. When generating the second work path 40, just as the first work area (shown by a dashed line in Figure 13) was set before the generation of the first work path 30 (shown by a thick dashed line in Figure 13), the second work area 240 should first be set. Then, just as with the generation of the first work path 30, the second work area 240 should be generated based on the set second work area 240 so that the offset work machine 12A can perform work in the second work area 240. In the example shown in Figure 13, it is assumed that work performed outside the permitted travel area 210 (for example, grass cutting) is extended to be performed inside the permitted travel area 210. The second work path 40 is located in a position shifted inward from the first work path 30, as shown by the white arrow in Figure 13. This allows for continuous work from work outside the permitted travel area 210 to work inside the permitted travel area 210, thereby improving work efficiency.

[0092] <3. Things to keep in mind> Various technical features disclosed herein can be modified in various ways without departing from the spirit of the technical creation. Furthermore, multiple embodiments and modifications shown herein may be combined as possible. Also, the field shapes shown in the drawings are illustrative only, and the field shapes may be modified as appropriate.

[0093] <4. Addendum> An exemplary automatic driving method of the present invention is an automatic driving method for a work vehicle comprising a traveling body and a work machine attached to the traveling body, wherein the method may be configured to: register a driving permission area in which the traveling body is permitted to travel; select either a first mode in which the work target is inside the driving permission area and a second mode in which the work target is outside the area; and prohibit automatic driving in the first mode and permit automatic driving in the second mode when the work machine is located outside the driving permission area. (First configuration)

[0094] The automatic driving method of the first configuration described above may be a configuration (second configuration) that prohibits automatic driving when the vehicle is located outside the permitted driving area, in either the first mode or the second mode.

[0095] The automatic driving method of the first or second configuration described above performs the action of setting a work permit area having an outer perimeter outside the travel permit area based on the information of the travel permit area and the information of the work machine, and in the second mode, the automatic driving may be permitted when the work machine is located within the work permit area (third configuration).

[0096] The automatic driving method of the third configuration described above may be a configuration (fourth configuration) that performs the following: setting a first work area in the work permission area where work is performed by the work machine, and generating a first work path in the driving permission area that enables work in the first work area by the work machine.

[0097] In the automated driving method of the fourth configuration described above, the first work path may be configured to be offset within the range of the permitted driving area (fifth configuration).

[0098] The automatic driving method of the fourth or fifth configuration described above may be a configuration (sixth configuration) in which the direction of the driving machine is reversed while the driving machine is automatically driving along the first work path.

[0099] In the automated driving method of any of the fourth to sixth configurations described above, a part of the first work area may be set as the driving permission area (seventh configuration).

[0100] The automatic driving method of any of the fourth to seventh configurations described above may be a configuration (eighth configuration) that performs the following: setting a second work area in the permitted driving area where work is performed by the work machine, and generating a second work path that enables work in the second work area in the first mode following work in the second mode.

[0101] Furthermore, an exemplary automatic driving system of the present invention comprises a work vehicle equipped with a traveling body and a work machine attached to the traveling body, and a control device for controlling the automatic driving of the work vehicle, wherein the control device may be configured to register a driving permission area in which the traveling body is permitted to drive, select a work mode, which is either a first mode in which the work target is inside the driving permission area or a second mode in which the work target is outside the area, and prohibit automatic driving when the work machine is located outside the driving permission area in the first mode and permit it in the second mode.

[0102] An exemplary program of the present invention is a program that causes a computer to execute an automatic driving method for a work vehicle comprising a traveling body and a work machine attached to the traveling body. The program causes the computer to function as a means for: registering a driving permission area in which the traveling body is permitted to drive; selecting either a first mode in which the work target is inside the driving permission area or a second mode in which the work target is outside the driving permission area; and prohibiting automatic driving in the first mode and permitting it in the second mode when the work machine is located outside the driving permission area. [Explanation of Symbols]

[0103] 1. Work vehicles 2. Control device 11. Driving vehicle 12. Work Machines 30...First work route 40...Second work route 210... Driving permitted area (field area) 220...Work permission area 230...1st work area 240...Second work area

Claims

1. An automatic driving method for a work vehicle comprising a traveling body and a work machine attached to the traveling body, An automatic driving method that performs automatic driving when the traveling machine is located inside the field and the working machine is located outside the field while performing work.

2. The automatic driving method according to claim 1, wherein the automatic driving method is performed by prohibiting automatic driving when the driving vehicle is located outside the field.

3. The work permit area having a perimeter outside the area of ​​the aforementioned field is established. The automatic driving method according to claim 1, wherein automatic driving is permitted when the work machine is located within the permitted work area.

4. The automatic driving method according to claim 3, wherein the permitted work area is set based on information of the field area and information of the work machine.

5. The work area in the aforementioned work permit area is set to be a work area in which work is performed by the aforementioned work machine, To generate a work path in the field area that enables the work area to be performed by the implement, An automated driving method according to claim 3 or 4, which performs the following:

6. The automatic driving method according to claim 5, wherein the work path can be offset within the area of ​​the field.

7. A work vehicle comprising a mobile unit and a work machine attached to the mobile unit, A control device for controlling the automatic driving of the aforementioned work vehicle, Equipped with, The control device is an automatic driving system that performs automatic driving when the traveling machine is located inside the field and the working machine is located outside the field while performing work.

Images