Autonomous driving system and autonomous driving method

Abstract

This invention provides an autonomous driving system that effectively switches between the working and non-working states of a work machine. [Solution] This autonomous driving system includes a control unit 4 that autonomously drives a work vehicle (tractor 1) equipped with an implement 2. The control unit 4 has an unmanned autonomous driving mode that allows autonomous driving even when the user is not present in the vehicle's body 3.

Description

Technical Field

[0001] The present invention relates to an autonomous driving system and an autonomous driving method for autonomously driving a work vehicle that travels while switching a mounted work implement between a working state and a non-working state and performs work.

Background Art

[0002] This type of work vehicle is disclosed in, for example, Patent Document 1. The agricultural work vehicle of Patent Document 1 autonomously drives the vehicle body based on an azimuth sensor and a GPS receiver, and is provided with a work implement lifting position sensor that stores the lowering operation of the work implement mounted on the vehicle body, and is configured to match the target tilling start position of the work implement with the end position of the lowering operation. Patent Document 1 states that this configuration enables easy performance of good tilling work without the occurrence of residual tilling or the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the configuration of Patent Document 1 above considers the lowering operation of the work implement, but does not sufficiently consider the raising operation of the work implement.

[0005] Therefore, in the conventional configuration, when a route for performing work with a work implement while reciprocating in a predetermined direction in a certain area is set, between the process of driving the work vehicle in one direction and the process of driving in the opposite direction, there may be a deviation at the end of the section where tilling work is performed at a predetermined depth, and there remains room for improvement from the viewpoint of achieving a more aesthetic finish.

[0006] The present invention has been made in view of the above circumstances, and its purpose is to enable good switching control between a state in which a work body is performing work and a state in which it is not, taking into consideration the position in which the work body is actually performing work with the work machine, in a work vehicle. [Means for solving the problem]

[0007] An autonomous driving system according to one embodiment includes a control unit that autonomously drives a work vehicle equipped with a work machine. The control unit has an unmanned autonomous driving mode that enables autonomous driving when a user is not present on the vehicle.

[0008] One embodiment of the autonomous driving method is a method for autonomously driving a work vehicle equipped with a work machine, and includes an unmanned autonomous driving mode that enables autonomous driving when a user is not present on the vehicle's body. [Brief explanation of the drawing]

[0009] [Figure 1] A side view showing a tractor according to one embodiment of the present invention, with the attached implement in a non-working state. [Figure 2] A top view of the tractor. [Figure 3] A plan view showing various control devices arranged around the seat. [Figure 4] A block diagram showing the main electrical configuration of the tractor. [Figure 5] A schematic diagram showing an example of an autonomous driving route when a tractor is autonomously driving and performing autonomous work. [Figure 6] This is a side view showing the working machine lowered from the state shown in Figure 1 and in the working state. [Figure 7] This diagram illustrates the control timing relationship when switching a work machine from a non-working state to a working state during autonomous driving and autonomous work. [Figure 8] This diagram illustrates the control timing relationship when switching a work machine from an operating state to a non-operating state during autonomous driving and autonomous work. [Figure 9] A flowchart illustrating the processes performed in the work machine control unit. [Figure 10] This diagram shows a wireless communication terminal used when the tractor is performing autonomous driving and work without a user on board. [Figure 11] This figure shows an example of how the autonomous driving monitoring screen is displayed on the display of a wireless communication terminal. [Modes for carrying out the invention]

[0010] Next, embodiments of the present invention will be described with reference to the drawings. In the following, the same reference numerals are used for the same components in each of the drawings, and redundant explanations may be omitted. In addition, the names of components etc. corresponding to the same reference numerals may be rephrased in a simplified manner, or rephrased using the names of higher-level or lower-level concepts.

[0011] The present invention relates to a work vehicle that can travel in groups, one or more units, within a predetermined field to perform all or part of agricultural work within the field. In this embodiment, a tractor is used as an example of a work vehicle, but work vehicles also include not only riding-type implements but also walking-type implements such as rice transplanters, combine harvesters, civil engineering and construction work equipment, and snowplows. In this specification, autonomous driving means that the tractor's driving configuration is controlled by the control unit (ECU) of the tractor, and the tractor travels along a predetermined route. Autonomous operation means that the tractor's operation configuration is controlled by the control unit of the tractor, and the tractor performs work along a predetermined route. In contrast, manual driving and manual operation means that each component of the tractor is operated by the user, and driving and work are performed.

[0012] In the following explanation, tractors that perform autonomous driving and operation may be referred to as "autonomous tractors," and tractors that perform manual driving and operation may be referred to as "manual tractors." Autonomous driving and operation include cases where a user is on board the tractor and cases where the user is not. On the other hand, when manual driving and operation are performed, a user will be on board the tractor.

[0013] Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing a state where the mounted work implement 3 is in a non-operating state in a tractor 1 according to an embodiment of the present invention. FIG. 2 is a plan view of the tractor 1. FIG. 3 is a plan view showing various operating devices arranged around the seat 13. FIG. 4 is a block diagram showing the main electrical configuration of the tractor 1.

[0014] The tractor 1 according to an embodiment of the present invention can be used as a manual driving tractor, but has a function as an autonomous driving tractor, and is configured to perform autonomous driving and autonomous work according to an autonomous driving route (route) generated by a route generation system in a state where a user is on board. However, this tractor 1 can also perform autonomous driving and autonomous work in a state where no user is on board. First, this tractor 1 will be described mainly with reference to FIGS. 1 and 2.

[0015] The tractor 1 includes a traveling body 2 as a vehicle body that autonomously travels in a field. Various work implements such as a tiller (management implement), a plow, a fertilizer applicator, a lawn mower, and a seeder can be selectively mounted on the traveling body 2. In this embodiment, a rotary tiller is mounted as the work implement 3.

[0016] Hereinafter, the configuration of the tractor 1 will be described in more detail. As shown in FIG. 1, the traveling body 2 of the tractor 1 is supported at its front part by a pair of left and right front wheels 7, 7 and at its rear part by a pair of left and right rear wheels 8, 8.

[0017] A bonnet 9 is arranged at the front part of the traveling body 2. In this embodiment, an engine 10 and the like, which are the driving sources of the tractor 1, are housed in the bonnet 9. This engine 10 can be constituted by, for example, a diesel engine, but is not limited thereto, and may be constituted by, for example, a gasoline engine. Further, in addition to or instead of the engine 10 as a driving source, an electric motor may be employed. Furthermore, the fuel tank may be arranged outside the bonnet 9.

[0018] Behind the bonnet 9, a cabin 11 for the user to board is arranged. Inside this cabin 11, a steering wheel 12 for the user to perform steering operations, a seat 13 on which the user can sit, and various operating devices for performing various operations are mainly provided. However, the work vehicle is not limited to the one with the cabin 11, and may have a configuration without the cabin 11.

[0019] Examples of the above operating devices include the monitor device 70 shown in FIG. 3, the throttle lever 15, the reverse lever 26, the main transmission lever (transmission operating tool) 27, the speed rotation number selection switch 29, the speed rotation number setting change dial (vehicle speed setting unit) 14, the dial setting switch 16, the sub-transmission lever 19, the PTO switch 17, the PTO transmission lever 18, the work implement lift switch (operating unit) 28, and the work implement lowering speed adjustment knob 75, etc. These operating devices are arranged near the seat 13 or near the steering wheel 12.

[0020] The monitor device 70 is configured to be able to display various information of the tractor 1. In addition, the monitor device 70 is equipped with input members such as buttons and dials, and by the user operating this input member, various instructions can be input to the tractor 1.

[0021] The throttle lever 15 is an operating tool for setting the output rotation speed of the engine 10.

[0022] The reverse lever 26 is an operating tool for switching the forward, reverse, and stop of the tractor 1. The main transmission lever 27 is an operating tool for continuously changing the speed at which the tractor 1 travels in the direction indicated by the reverse lever 26.

[0023] The speed and rotation speed selection switch 29 is an operating device for switching between two pre-set combinations of vehicle speed and engine rotation speed when the tractor 1, which performs manual driving and manual work, is in a mode (hereinafter referred to as the setting selection driving mode) in which it selects one of two pre-set combinations of vehicle speed and engine rotation speed. The speed and rotation speed setting change dial 14 is an operating device for adjusting the set values ​​of the vehicle speed of the tractor 1 and the rotation speed of the engine 10 for each of the two settings selected in the setting selection driving mode. The dial setting change switch 16 is an operating device for switching whether the speed and rotation speed setting change dial 14 changes the set value of the vehicle speed of the tractor 1 or the set value of the rotation speed of the engine 10.

[0024] However, the speed rotation setting dial 14 and the dial setting change switch 16 are also used to instruct the user to set the vehicle speed and number of engines during work and non-working times, as described later, when the user is riding in the tractor 1 and performing autonomous driving and work.

[0025] The sub-transmission lever 19 is an operating device for switching the gear ratio of the drive sub-transmission gear mechanism within the transmission 22.

[0026] The PTO switch 17 is an operating device for switching the transmission / disconnection of power to the PTO shaft (power transmission shaft), which is not shown in the figure and protrudes from the rear end of the transmission 22. The PTO speed change lever 18 is an operating device for changing the rotational speed of the PTO shaft.

[0027] The work implement lifting switch 28 is an operating device for raising or lowering the height of the work implement 3, which is attached to the traveling machine body 2, within a predetermined range. The work implement lowering speed adjustment knob 75 is an operating device for adjusting the speed at which the work implement 3 lowers.

[0028] As shown in Figure 3, the seat 13 is equipped with a seating sensor (detection unit) 13a that detects whether a user is sitting in the seat. This seating sensor 13a can be configured, for example, using a membrane switch.

[0029] As shown in Figure 1, the chassis 20 of the tractor 1 is provided at the bottom of the traveling machine body 2. The chassis 20 consists of the machine frame 21, transmission 22, front axle 23, and rear axle 24, etc.

[0030] The machine frame 21 is a support member at the front of the tractor 1 and supports the engine 10 directly or via vibration damping members, etc. The transmission 22 converts the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

[0031] As shown in Figure 4, the tractor 1 is equipped with a control unit 4 for controlling the operation of the undercarriage 2 (forward, reverse, stop, and turn, etc.) and the operation of the implement 3 (lifting, driving, and stopping, etc.). The control unit 4 is composed of a CPU, ROM, RAM, I / O, etc. (not shown), and the CPU can read and execute various programs from the ROM. The ROM stores operation programs, application programs, and various data. Through the cooperation of the above hardware and software, the control unit 4 can be operated as a storage unit 38, a route generation unit (route generation system) 39, and an autonomous driving control unit 32, etc. By providing the tractor with various components such as a positioning antenna 6 in conjunction with this, it becomes possible to make the tractor perform autonomous driving and autonomous work.

[0032] The control unit 4 is electrically connected to controllers and other devices for controlling each component of the tractor 1 (for example, the engine 10).

[0033] As the controllers described above, the tractor 1 includes at least an engine controller, a vehicle speed controller, a steering controller, a lifting controller, and a PTO controller, as shown in the figure. Each controller can control the various components of the tractor 1 in response to electrical signals from the control unit 4.

[0034] The engine controller controls the rotational speed of the engine 10, etc. The engine controller is electrically connected to a common rail system 41, which is a fuel injection device installed in the engine 10. The common rail system 41 injects fuel into each cylinder of the engine 10. In this case, by controlling the opening and closing of the fuel injection valves of the injectors for each cylinder of the engine 10, high-pressure fuel, which has been pumped from the fuel tank to the common rail system 41 by the fuel supply pump, is injected into each cylinder of the engine 10 from each injector, and the injection pressure, injection timing, and injection duration (injection amount) of the fuel supplied from each injector are controlled with high precision. By controlling the common rail system 41, the engine controller can, for example, stop the supply of fuel to the engine 10 and stop the engine 10 from running.

[0035] The vehicle speed controller controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is equipped with a transmission 42, which is, for example, a hydraulic continuously variable transmission with a movable swashplate. The vehicle speed controller can change the gear ratio of the transmission 22 by changing the angle of the swashplate of the transmission 42 using an actuator (not shown in the figure), thereby achieving a desired vehicle speed.

[0036] The steering controller controls the rotation angle of the steering wheel 12. Specifically, a steering actuator 43 is provided at the middle of the rotation axis (steering shaft) of the steering wheel 12. In this configuration, when the tractor 1 travels along a predetermined path (as an autonomous tractor), the control unit 4 calculates an appropriate rotation angle for the steering wheel 12 so that the tractor 1 travels along the path, and sends a control signal to the steering controller to achieve the obtained rotation angle. The steering controller drives the steering actuator 43 based on the control signal input from the control unit 4, and controls the rotation angle of the steering wheel 12. Note that the steering controller may adjust the steering angle of the front wheels 7 of the tractor 1 instead of adjusting the rotation angle of the steering wheel 12. In that case, the steering wheel 12 will not rotate even when turning.

[0037] The lifting controller controls the raising and lowering of the implement 3. Specifically, the tractor 1 is equipped with a lifting actuator 44 consisting of a known hydraulic lift cylinder near the three-point linkage mechanism connecting the implement 3 to the traveling body 2. In this configuration, the lifting controller drives the lift cylinder by opening and closing a solenoid valve (not shown) based on a control signal input from the control unit 4, thereby driving the implement 3 to raise and lower as appropriate. The lift cylinder is of the single-acting type, and is configured to raise the implement 3 by supplying hydraulic fluid to the cylinder and to lower the implement 3 by its own weight by discharging the hydraulic fluid from the cylinder. Although not shown, a known descent speed adjustment valve is located in the hydraulic fluid discharge path from the cylinder, and the user can adjust the speed at which the implement 3 descends by operating the opening degree of this descent speed adjustment valve with the implement descent speed adjustment knob 75 shown in Figure 3.

[0038] The lifting controller configured as described above allows the implement 3 to be supported at desired heights, such as a non-working height and a working height. In this embodiment, the implement 3 mounted on the traveling machine 2 is configured as a rotary tiller, so the work performed by the implement 3 refers to tilling work.

[0039] The PTO controller controls the rotation of the PTO shaft. Specifically, the tractor 1 is equipped with a PTO clutch 45 for switching the transmission / disconnection of power to the PTO shaft (power transmission shaft). In this configuration, the PTO controller switches the PTO clutch 45 based on a control signal input from the control unit 4, thereby rotating or stopping the implement 3 via the PTO shaft.

[0040] Furthermore, since the multiple controllers mentioned above (not shown in the diagram) control various parts such as the engine 10 based on signals input from the control unit 4, it can be understood that the control unit 4 is essentially controlling each part.

[0041] The tractor 1 equipped with the control unit 4 described above functions as a manually operated tractor. By having the user board the cabin 11 and perform various operations, the control unit 4 controls each part of the tractor 1 (the driving body 2, the implement 3, etc.), allowing the user to perform agricultural work while driving in the field.

[0042] In addition, the tractor of this embodiment 1 is equipped with various configurations for functioning as an autonomous tractor, as shown in Figure 4 and other figures. For example, tractor 1 is equipped with a positioning antenna 6 and the like, which are necessary for acquiring its own (driving machine 2) position information based on a positioning system. With this configuration, tractor 1 is able to acquire its own position information based on a positioning system and autonomously drive on a field (within a specific area).

[0043] Next, we will describe the configuration of the tractor 1 that enables autonomous driving and autonomous work. Specifically, as shown in Figure 4, the tractor 1 of this embodiment is equipped with a positioning antenna 6 in addition to the control unit 4 mentioned above.

[0044] The positioning antenna 6 receives signals from positioning satellites that constitute the Global Navigation Satellite System (GNSS). As shown in Figure 1, the positioning antenna 6 is mounted on the upper surface of the roof 5 of the cabin 11 of the tractor 1. The positioning signals received by the positioning antenna 6 are input to the position information calculation unit (position information acquisition unit) 49 shown in Figure 4. The position information calculation unit 49 calculates the position information of the tractor 1's vehicle body 2 (more precisely, the positioning antenna 6) as, for example, latitude and longitude information. The position information acquired by the position information calculation unit 49 is used for autonomous driving by the control unit 4.

[0045] In this embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used, but it is not limited to this, and other positioning systems may be used. For example, relative positioning systems (DGPS) or geostationary satellite augmentation systems (SBAS) may be used.

[0046] Furthermore, the tractor 1 is equipped with an inertial measuring device (not shown). This inertial measuring device has a known configuration that includes an angular velocity sensor and an acceleration sensor, and is configured to acquire the position of the tractor 1 even when the above-mentioned GNSS positioning becomes impossible due to circumstances such as radio wave reception.

[0047] A wireless communication antenna 48 is provided at an appropriate location on the outside of the cabin 11 of the tractor 1. This wireless communication antenna 48 is electrically connected to the wireless communication unit 40 of the tractor 1. The wireless communication antenna 48 is used to exchange instructions and information with the remote control device of the user when the tractor 1 is performing autonomous driving and work without a user on board. Details of this remote control device will be described later.

[0048] Next, we will explain the autonomous driving path, which is the route that tractor 1 travels when it performs autonomous driving and work. Figure 5 is a schematic diagram showing an example of the autonomous driving path P when tractor 1 performs autonomous driving and work.

[0049] If a user wants tractor 1 to perform autonomous driving and work while riding in tractor 1, they can operate the monitoring device 70 shown in Figure 3 and make various settings to generate an autonomous driving route P as shown in Figure 5.

[0050] The autonomous driving route P is generated to connect a predetermined work start position S and a work end position E. This autonomous driving route P is composed of alternating straight or broken autonomous work paths (linear paths where autonomous work is performed) P1 and U-shaped connecting paths (circuits including arc-shaped sections where turning and reversing operations are performed) P2 that connect the ends of the autonomous work paths P1.

[0051] As shown in Figure 5, when generating the autonomous driving route P, the headland and uncultivated land (side margins) are set as non-working areas 62 in the target field where work is not performed by the implement 3, and the area excluding this non-working area 62 becomes the working area 61. The above autonomous work paths (routes) P1, P1, ... are arranged in parallel in this working area 61, and connecting paths P2, P2, ... are generated to be placed in the non-working area 62 (headland). In this embodiment, the area combining the non-working area 62 and the working area 61 may be called a specific area 60.

[0052] In the example shown in Figure 5, the autonomous work paths P1, P1, ... are generated in a straight line, and the connecting paths P2, P2, ... are generated in a U-shape. Furthermore, each autonomous work path P1, P1, ... is positioned to pass through the work area 61, and the connecting path P2 is positioned to connect the ends of adjacent P1, P1 in the headland, which is the non-work area 62. In the autonomous travel path P thus created, a 180° change of direction occurs at each connecting path P2, so the direction of travel of the tractor 1 will be opposite to that of an autonomous work path P1 and an adjacent autonomous work path P1.

[0053] Instead of the autonomous driving route P information being generated by the route generation unit 39, data generated by an external computer (which may be the wireless communication terminal 81 described later) can also be input to the control unit 4 by appropriate means such as communication. Subsequently, by the user performing a predetermined operation on the tractor 1, the control unit 4 (autonomous driving control unit 32) controls the tractor 1 to autonomously drive along the autonomous driving route P, while the implement 3 performs agricultural work along the autonomous work path P1.

[0054] Next, the raising and lowering of the work machine 3 will be explained with reference to Figures 1 and 6. Figure 6 is a side view showing the work machine 3 lowered from the state in Figure 1 and in the working state.

[0055] As shown in Figure 1, an implement 3 is mounted on the rear of the tractor 1's undercarriage 2. As previously mentioned, a portion of the engine 10's driving force is transmitted to the implement 3 via the PTO shaft, allowing the implement 3 to be driven to perform tilling work. Multiple tilling tines (working bodies) 25 are provided at the bottom of the implement 3, which are rotated around a horizontally positioned shaft.

[0056] The rotation axis 25c of the tilling tines 25 is shown in Figures 1 and 2, etc. By lowering the implement 3 to the working height shown in Figure 6, the rotating tilling tines 25 come into contact with the soil, and tilling work can be performed on the field to a predetermined depth corresponding to that working height. Tilling work can also be stopped by stopping the rotation of the tilling tines 25 or by raising the implement 3 to the non-working height shown in Figure 1. Raising and lowering the implement 3 can be done by the user by operating the implement lifting switch 28, or it can be automatically controlled by the implement control unit 34.

[0057] In this embodiment, the "working state" of the implement 3 means the state in which the implement 3 has been lowered to the working height and the tilling tines 25 are rotating. The "non-working state" means any state other than the working state described above, for example, the state in which the implement 3 has been raised to the non-working height and the tilling tines 25 have stopped rotating.

[0058] Furthermore, in this embodiment, when the tractor 1 performs autonomous driving and autonomous work, the vehicle speed of the tractor 1 and the rotational speed of the engine 10 can be pre-set for both the working state and the non-working state of the implement 3. This setting is performed by the speed / rotational speed setting change dial 14 and the dial setting change switch 16. When the implement 3 switches between the working state and the non-working state while the tractor 1 is performing autonomous driving and autonomous work, the vehicle speed of the tractor 1 and the rotational speed of the engine 10 are controlled to switch between the above-mentioned settings in conjunction with this change.

[0059] Furthermore, the vehicle speed of tractor 1 and the rotational speed of engine 10 in both working and non-working states can be changed by the user operating the speed / rotational speed setting dial 14, etc., not only when tractor 1 is stopped, but also while tractor 1 is performing autonomous driving and autonomous work.

[0060] Next, the control unit 4 will be described with reference to Figure 4. As described above, the control unit 4 comprises a storage unit 38, a route generation unit 39, and an autonomous driving control unit 32.

[0061] The memory unit 38 stores various information necessary for the tractor 1 to autonomously drive and perform tasks. Details of what this memory unit 38 stores will be described later.

[0062] The route generation unit 39 generates an autonomous driving route P for the tractor 1 to autonomously drive and perform tasks based on various information stored in the memory unit 38. The information of the autonomous driving route P generated by the route generation unit 39 is stored in the memory unit 38.

[0063] The autonomous driving control unit 32 performs overall control over autonomous driving and autonomous work. This autonomous driving control unit 32 is configured to switch between a manned autonomous driving mode (first mode) in which autonomous driving and work are performed with a user on board, and an unmanned autonomous driving mode (second mode) in which autonomous driving and work are performed without a user on board, enabling the tractor 1 to autonomously drive along the autonomous driving path P stored in the memory unit 38.

[0064] The autonomous driving control unit 32 includes a command output unit 33, a work equipment control unit 34, a vehicle speed control unit 35, a steering control unit 36, and a remaining distance acquisition unit (distance acquisition unit) 37.

[0065] As the tractor 1 travels along the autonomous driving path P in the field (specific area 60) shown in Figure 5, the command output unit 33 outputs a work command to control the implement 3 to an operating state and a non-operating command to control the implement 3 to a non-operating state at appropriate timings, in order to perform work with the implement 3 in the portion corresponding to the work area 61.

[0066] The work equipment control unit 34 shown in Figure 4 controls the work equipment 3 to switch from a non-working state to a working state, or from a working state to a non-working state, in accordance with the work command or non-working command output by the command output unit 33. Specifically, the work equipment control unit 34 sends a signal to the PTO clutch 45 to switch the transmission / disconnection of power to the PTO shaft, and also sends a signal to the lifting actuator 44 to control the lifting and lowering of the work equipment 3.

[0067] The vehicle speed control unit 35 controls the vehicle speed of the traveling machine 2 by sending control signals to the transmission 42, etc. The vehicle speed control unit 35 controls the vehicle speed of the traveling machine 2 to switch from the vehicle speed when not working to the vehicle speed when working, or from the vehicle speed when working to the vehicle speed when not working, in accordance with the work command or non-work command output by the command output unit 33. The vehicle speed when working (first vehicle speed) is the vehicle speed when the work machine 3 is in the working state, and the vehicle speed when not working (second vehicle speed) is the vehicle speed when the work machine 3 is in the non-working state. The vehicle speed when working and the vehicle speed when not working are set by the speed rotation speed setting change dial 14 as described above.

[0068] The steering control unit 36 ​​automatically steers the vehicle 2 along the autonomous driving path P by sending a control signal to the steering actuator 43.

[0069] The remaining distance acquisition unit 37 acquires the distance between the rotation axis 25c of the tilling tines 25 of the implement 3 and the switching target position described later, and outputs it to the command output unit 33. Further details about the remaining distance acquisition unit 37 will be described later.

[0070] Next, we will explain the timing of switching between the working state and non-working state of the work machine 3 during autonomous driving and autonomous work.

[0071] When tractor 1 is autonomously driven and performing work with implement 3, the timing for switching implement 3 from working state to non-working state or working state could be such that, for example, when tractor 1, traveling along the autonomous driving path P in Figure 5, enters the working area 61 from the non-working area 62, the tilling tines 25 are rotated and implement 3 is lowered to the working height. Alternatively, when tractor 1 exits the working area 61 into the non-working area 62, the rotation of the tilling tines 25 is stopped and implement 3 is raised from the working height.

[0072] As mentioned above, when the tractor 1 is autonomously driving, it obtains its own position information using a satellite positioning system (from the position information calculation unit 49 in Figure 4). However, as shown in Figure 1, for example, the position of the tilling tines 25 of the implement 3 on the tractor 1 (position of the rotation axis 25c) is located behind the position where the positioning antenna 6 is attached. Therefore, there may be a discrepancy between the timing when the positioning antenna 6 enters and exits the work area 61 and the timing when the tilling tines 25, which actually work on the soil, enter and exit the work area 61. Moreover, as mentioned above, the direction in which the tractor 1 travels is opposite between the two adjacent autonomous work paths P1, P1. Therefore, if the control system were to simply start tilling when the positioning antenna 6 enters the work area 61 and stop tilling when the positioning antenna 6 leaves the work area 61, the edges of the area where tilling was actually performed by the implement 3 may not align between the adjacent autonomous work paths P1, P1. In that case, the appearance was poor, and the subsequent finishing process became more time-consuming.

[0073] Alternatively, instead of using the positioning antenna 6, it is conceivable to control the start / stop timing of tilling work based on the timing of the rear end of the implement 3 entering and exiting the work area 61. However, even in this case, when using implements with a large front-to-back length (for example, a plow), the area where work is actually performed may be significantly misaligned between adjacent autonomous work paths P1, P1.

[0074] Therefore, the control unit 4 provided in the tractor 1 of this embodiment controls the timing of starting and stopping the tilling work based on the position of the rotation axis 25c of the tilling tines 25 in which tilling work is performed. This tine axis position divides the area in the front-rear direction of the machine into two equal parts, and can therefore be said to be the center position of work in the implement 3.

[0075] First, the information stored in the memory unit 38 will be explained in detail. As shown in Figure 4, the memory unit 38 includes a work equipment distance storage unit (work equipment distance acquisition unit) 51, a region storage unit 52, a route storage unit 53, a work margin distance storage unit 54, a vehicle speed setting storage unit 55, and a descent required time storage unit (required time storage unit) 56.

[0076] The implement distance memory unit 51 stores the implement horizontal distance L shown in Figures 1 and 2, etc. (i.e., the horizontal distance from the position of the rotation axis 25c of the tilling tines 25 to the position of the positioning antenna 6). In the following description, the position of the rotation axis 25c of the tilling tines 25 may be referred to as the tine axis position, and the position of the positioning antenna 6 may be referred to as the antenna position. The implement horizontal distance L is input by the user before the tractor 1 starts autonomous driving. Specifically, when the user inputs the distance between the rotation axis 25c of the tilling tines 25 and the positioning antenna 6, for example using the monitoring device 70, the implement distance memory unit 51 stores this distance value as the implement horizontal distance L.

[0077] However, convenience can be enhanced by storing in the control unit 4, etc., a correspondence between the work equipment that can be attached to the mobile body 2 and the work center position of said work equipment, and configuring the system so that the horizontal distance L of the work equipment is automatically set simply by the user selecting, for example, the model name of the work equipment on the monitoring device 70.

[0078] The area storage unit 52 shown in Figure 4 stores information about the work area 61 (specifically, information about the location and shape of the work area 61, etc.) that has been set in advance by the user, and information about the remaining non-work area 62. The information about the work area 61 can be set, for example, by the user operating the monitoring device 70 as appropriate before starting autonomous driving and autonomous work.

[0079] The route memory unit 53 stores information about the autonomous driving route P, which is the route along which the tractor 1 autonomously drives and performs autonomous work.

[0080] The work margin distance storage unit 54 stores a margin distance M to perform extra work in the non-work area 62 along the connecting path P2 before and after work on the autonomous work path P1, so that even if errors occur in the raising and lowering of the implement 3 when the tractor 1 is performing autonomous driving and work, no work will be missed at the edge of the work area 61 (near the boundary with the non-work area 62). As shown in Figure 5, for each of the autonomous work paths P1 arranged in the work area 61, a point along the connecting path P2, separated by a margin distance M from its upstream and downstream ends (in other words, the boundary between the work area 61 and the non-work area 62), is set as the switching target position (reference position), which is the point where the implement 3 should be switched between working and non-working states. Therefore, the work margin distance storage unit 54 can be said to be a setting unit for setting the switching target position.

[0081] The margin distance M stored in the work margin distance memory unit 54 may be changeable by the user by operating, for example, the monitoring device 70 of the tractor 1. Alternatively, the margin distance M may be configured to be unchangeable from, for example, the factory default setting.

[0082] The margin distance M is the same for the switching target position set just before entering the work area 61 from the non-work area 62, and for the switching target position set after exiting the work area 61 to the non-work area 62. Furthermore, although many switching target positions are set along the autonomous driving path P, the margin distance M remains constant throughout the entire autonomous driving path P. Therefore, for example, when the work area 61 is set in a rectangular shape as shown in Figure 5, it is possible to control the tractor 1 so that the edges of the area where work is actually performed are aligned between the stroke in which it is driven in one direction and the stroke in which it is driven in the opposite direction, thereby achieving a good appearance.

[0083] The vehicle speed setting memory unit 55 stores the values ​​set by the speed rotation speed setting change dial 14 for the vehicle speed during work and the vehicle speed when not working.

[0084] The descent time storage unit 56 stores the time from when the work machine 3, which is at a non-working height, starts to descend until it reaches the working height.

[0085] In this configuration, the command output unit 33 calculates the claw shaft position based on the position of the positioning antenna 6 calculated by the position information calculation unit 49 and the horizontal distance L of the work machine stored in the work machine distance storage unit 51, in order to cause the work machine control unit 34 to control the raising and lowering of the work machine 3 at the appropriate timing.

[0086] When the tractor 1 moves from the non-working area 62 to the working area 61, the command output unit 33 controls the lifting actuator 44, etc., via the implement control unit 34, so that when the obtained tine shaft position reaches the switching target position before entering the working area 61, the implement 3 lowers to the working height and the tilling tines 25 begin to rotate (the implement 3 enters the aforementioned working state). Furthermore, when the tractor 1 moves from the working area 61 to the non-working area 62, the command output unit 33 controls the lifting actuator 44, etc., via the implement control unit 34 so that when the obtained tine shaft position reaches the switching target position after entering the non-working area 62, the rotation of the tilling tines 25 stops and the implement 3 begins to rise from the working height (the implement 3 enters the aforementioned non-working state).

[0087] The switching target position can be calculated using the information of the work area 61 stored in the area storage unit 52, the information of the autonomous driving route P stored in the route storage unit 53, and the margin distance M stored in the work margin distance storage unit 54.

[0088] Next, we will explain the control performed by the autonomous driving control unit 32 and the work machine control unit 34 when the mobile unit 2 and the work machine 3 move from a non-working area to a working area. Figure 7 is a diagram illustrating the relationship of control timing when switching the work machine 3 from a non-working state to a working state during autonomous driving and autonomous work.

[0089] As described above, when the tractor 1 is autonomously driving and working, and the vehicle body 2 and implement 3 are driving in the non-working area 62 (connecting path P2), as shown in Figure 1, the implement 3 rises to the non-working height (specifically, the highest height), and the tilling tines 25 do not rotate because the PTO clutch 45 is disengaged (non-working state). At this time, the implement control unit 34 is in a mode that maintains the above non-working height (lift-up mode). Therefore, the tilling tines 25 are stationary and not in contact with the ground, and no tilling work is performed.

[0090] When the traveling machine 2 has almost completed its journey along the connecting path P2 and the work machine 3 is approaching the switching target position, a control signal (work command) instructing the work machine 3 to switch to the working state is output from the command output unit 33 to the work machine control unit 34 and the vehicle speed control unit 35, as shown in Figure 7(a). Details of the timing at which the command output unit 33 outputs the work command will be described later.

[0091] When a work command is input, the implement control unit 34 sends a signal to the PTO clutch 45 instructing it to release the PTO stop, as shown in Figure 7(b). However, the implement control unit 34 is configured to wait for a certain period of time after the work command is input before sending the instruction to release the PTO stop, for reasons such as ensuring preparation time for control. This waiting time TW1 can be, for example, a predetermined time between 50 and 500 milliseconds. When the PTO clutch 45 receives the instruction to release the PTO stop, it enters a engaged state, and the tilling tines 25 begin to rotate accordingly.

[0092] The implement control unit 34 controls the implement 3 to lower simultaneously with the instruction to release the PTO stop. Specifically, by opening a solenoid valve (not shown), the pressurized oil from the lifting actuator 44 (lift cylinder) is discharged, causing the implement 3 to begin descending under its own weight, as shown in Figure 7(d). Since the tilling tines 25 have already started rotating, the implement 3 enters working mode when it has descended and reached the working height. It takes a considerable amount of time for the implement 3, which was not at the working height, to descend and reach the working height. The descent speed of the implement 3 varies depending on the opening degree of the aforementioned descent speed adjustment valve and the weight of the implement 3, so the time it takes for the implement 3 to descend and reach the working height (required descent time TR1) varies depending on the situation.

[0093] The weight of the implement 3 fluctuates due to soil adhesion, etc., and since the tractor 1 in this embodiment does not have a sensor to directly detect the weight of the implement 3, the estimation accuracy of the required lowering time TR1 is not necessarily high. On the other hand, although not shown, the tractor 1 is equipped with an implement height sensor (e.g., a potentiometer) that detects the support height of the implement 3, so it is possible to measure the time from when the lowering of the implement 3 starts until it actually reaches the working height using a timer circuit (measurement unit) not shown. Therefore, the command output unit 33 actually measures the required lowering time TR1 when the implement 3 is lowered and stores it in the required lowering time storage unit 56, and improves accuracy by using the contents of the required lowering time storage unit 56 to estimate the required lowering time TR1 the next time the implement 3 is lowered. However, for example, when a new implement 3 is attached to the traveling body 2, the required lowering time is unknown, so in that case a predetermined initial value (initialized time) is stored in the required lowering time storage unit 56 and used for the initial estimation. The initial setting for this time can be done as appropriate, such as by determining the average time required for descent. Once the required descent time TR1 is measured, the contents of the required descent time storage unit 56 are updated from the initial value to the measured value. After that, the contents of the required descent time storage unit 56 are updated as needed with the latest measured value.

[0094] On the other hand, as shown in Figure 7(f), as soon as a work command is input from the command output unit 33, the vehicle speed control unit 35 starts increasing or decreasing the speed of the tractor 1 from its current speed (usually roughly matching the set value of the vehicle speed when not working) to approach the set value of the vehicle speed when working. In this way, since the vehicle speed change control starts almost simultaneously with the output of the work command by the command output unit 33, the vehicle speed of the tractor 1 becomes equal to the set value of the vehicle speed when working at an appropriate point before the implement 3 reaches the working height. Note that how the vehicle speed changes during the process from the vehicle speed when not working to the vehicle speed when working can be determined as appropriate; for example, it may change linearly, or it may change in a piecewise or curved manner.

[0095] Incidentally, when the tractor 1 is traveling on the connecting road P2, the timing at which the tine shaft position of the implement 3 reaches the switching target position can be estimated based on the distance from the current tine shaft position to the switching target position (hereinafter sometimes referred to as the remaining distance) and the vehicle speed of the traveling machine 2. The remaining distance mentioned above can be obtained by the remaining distance acquisition unit 37, which calculates it based on the position information of the traveling machine 2 (more precisely, the positioning antenna 6), the horizontal distance L of the implement mentioned above, and the switching target position.

[0096] Furthermore, the vehicle speed of the traveling machine 2 (tractor 1) changes from the set value of the non-working vehicle speed to the set value of the working vehicle speed while the tine shaft position of the implement 3 is reaching the switching target position. Therefore, the command output unit 33 calculates the timing for outputting a work command, taking into account the remaining distance, the set value of the non-working vehicle speed, the rate of change in speed from the set value of the non-working vehicle speed to the set value of the working vehicle speed, the waiting time TW1, and the required descent time TR1, so that the implement 3 enters the working state when the tine shaft position of the implement 3 reaches the switching target position. As a result, even if the non-working vehicle speed is the same, if the working vehicle speed is greater than the non-working vehicle speed, the timing of outputting the work command will be earlier, and if the working vehicle speed is less than the non-working vehicle speed, the timing of outputting the work command will be later. Furthermore, the timing of the work command output will differ depending on whether the vehicle speed increases or decreases at a constant rate from the non-working speed to the working speed, or whether the vehicle speed initially increases or decreases at a large rate from the non-working speed, and then increases or decreases at a small rate as it approaches the working speed. By having the command output unit 33 output the work command at such timings, the work by the implement 3 (tilling claws 25) can be started from the switching target position. In addition, in this embodiment, since the control is based on the claw shaft position of the implement 3, the edge of the area where the tilling claws 25 operate at the intended depth and the switching target position can be precisely matched. Therefore, the appearance of the work is improved.

[0097] Furthermore, the switching target position is set to be located slightly in front of the boundary between the non-working area 62 and the working area 61, as viewed from the tractor 1 traveling on the connecting road P2. This margin prevents unworked areas from occurring in the working area 61 even if the lowering timing of the implement 3 is delayed.

[0098] When the implement 3 reaches the working height, as shown in Figure 7(c), the implement control unit 34 switches from lift-up mode to auto-rotary mode and performs control to maintain the working height. Subsequently, the tine shaft position of the implement 3 enters the working area 61. The tractor 1 travels along the autonomous work path P1 in the working area 61 at the speed set as the vehicle speed during operation, while the tilling tines 25 of the implement 3 perform the work.

[0099] Next, we will explain the control when the mobile unit 2 and the work machine 3 move from the work area 61 to the non-work area 62, the opposite of the above. Figure 8 is a diagram illustrating the relationship of control timing when switching the work machine 3 from the work state to the non-work state during autonomous driving and autonomous work.

[0100] When tractor 1 is autonomously driving and working, and the vehicle body 2 and implement 3 are traveling in the work area 61 (autonomous work path P1), implement 3 is working at the working height, and the tilling tines 25 are rotating because the PTO clutch is engaged (working state). At this time, the implement control unit 34 is in a mode that maintains the above working height (auto-rotary mode). As a result, tilling work is performed at a depth corresponding to the working height by the rotating tilling tines 25.

[0101] When the mobile unit 2 has finished traveling along the autonomous work path P1 and the work machine 3 is approaching the switching target position, at an appropriate timing, as shown in Figure 8(a), a control signal (non-work command) instructing the work machine 3 to switch to a non-work state is output from the command output unit 33 to the work machine control unit 34 and the vehicle speed control unit 35. Details of the timing of the transmission of the non-work command will be described later.

[0102] When a non-work command is input, the implement control unit 34 sends a signal to the PTO clutch 45 instructing it to stop the PTO, as shown in Figure 8(b). However, as with the case where a work command is input, the implement control unit 34 is configured to wait for a predetermined time after a non-work command is input before sending the instruction to stop the PTO. This waiting time TW2 can be, for example, a constant time between 50 and 500 milliseconds. The waiting time TW2 in the case of a non-work command may be the same as or different from the waiting time TW1 in the case of a work command, but it is desirable that the waiting time TW1 is longer than the waiting time TW2. When the PTO clutch 45 receives the instruction to stop the PTO, it enters a disengaged state, and after a short time, the rotation of the tilling tines 25 stops.

[0103] The implement control unit 34 transmits a PTO stop instruction to the PTO clutch 45 and, at the same time, switches from auto-rotary mode to lift-up mode as shown in Figure 8(c). The implement control unit 34 also waits for a delay time TD, described later, after receiving the PTO stop instruction, and then controls the supply of hydraulic fluid to the hydraulic cylinder to raise the implement 3.

[0104] This delay time TD is intended to prevent soil from piling up as the implement 3 rises. In other words, if the implement 3 is raised at the same time that the rotation of the tilling tines 25 is stopped, the stopped tilling tines 25 will lift the soil, causing the soil to piling up locally. Therefore, in this embodiment, the implement 3 is not raised immediately after the rotation of the tilling tines 25 is stopped, thereby preventing the formation of such soil pilings and improving the appearance.

[0105] After this delay time TD has elapsed, the implement 3 begins to rise. Therefore, at this point, the implement 3 is in a non-working state. Although it takes a considerable amount of time for the implement 3 to rise from the working height to the non-working height, the rate at which the hydraulic fluid is supplied to the hydraulic cylinder is constant, so the rate at which the implement 3 rises is constant, unlike when it is descending. Therefore, the time it takes for the implement 3 to rise and reach the non-working height (required rising time TR2) is a constant value.

[0106] On the other hand, as shown in Figure 8(f), the vehicle speed control unit 35 does not switch the vehicle speed when a non-work command is input from the command output unit 33. The vehicle speed control unit 35 starts increasing / decelerating the tractor 1's speed from its current speed (usually roughly matching the set value of the vehicle speed during work) to the set value of the vehicle speed during non-work when a predetermined time TC has elapsed since the implement control unit 34 transmitted the PTO stop instruction to the PTO clutch 45. This predetermined time TC is longer than the delay time TD. The way the vehicle speed changes during the process from the vehicle speed during work to the vehicle speed during non-work can be determined as appropriate; for example, it may change linearly, or it may change in a piecewise or curved manner.

[0107] Incidentally, as mentioned above, the timing at which the tine shaft position of the work implement 3 reaches the switching target position can be estimated based on the distance from the current tine shaft position to the switching target position (the remaining distance mentioned above) and the vehicle speed of the traveling machine 2.

[0108] Furthermore, the vehicle speed of the traveling machine 2 (tractor 1) is equal to the set value of the vehicle speed of the tractor 1 during operation and remains almost constant until the tine shaft position of the implement 3 reaches the switching target position. Therefore, the command output unit 33 calculates the timing for outputting a non-work command, taking into account the remaining distance, the set value of the vehicle speed during operation, the waiting time TW2, and the delay time TD, so that the implement 3 changes from the working state to the non-working state when the tine shaft position of the implement 3 reaches the switching target position. By outputting a non-work command at the timing obtained in this way, the work by the implement 3 (tilling tines 25) can be completed at the switching target position, resulting in a better appearance of the work.

[0109] Furthermore, the switching target position is set to be located slightly beyond the boundary between the work area 61 and the non-work area 62, as viewed from the tractor 1 traveling on the autonomous work path P1. This margin prevents the creation of unworked areas in the work area 61, even if the raising timing of the implement 3 is accelerated.

[0110] Since the implement control unit 34 is in lift-up mode, when the implement 3 reaches a non-working height, the implement control unit 34 performs control to maintain that non-working height. Also, around the time the implement 3 reaches the non-working height, the vehicle speed of the tractor 1 becomes approximately equal to the set value for the vehicle speed when not working. The tractor 1 travels along the connecting road P2 in the non-working area 62 at the speed set as the vehicle speed when not working, without the implement 3 performing any work.

[0111] Thus, in this embodiment, the timing of the implement control unit 34 raising and lowering the implement 3 is controlled by the command output unit 33 based on the tine shaft position, thereby aligning the ends of the sections actually tilled (to a predetermined tilling depth) by the implement 3 in each autonomous work path P1 across multiple autonomous work paths P1. As a result, a visually appealing finish can be achieved.

[0112] Next, we will explain the lifting and lowering control of the work implement 3 when the vehicle speed setting is changed during the process of moving from the non-working area to the working area.

[0113] Figure 7(a) shows the timing for outputting work commands. As mentioned above, this timing is calculated by the command output unit 33 at an appropriate point in time prior to that (for example, the point indicated by the symbol Tx) based on the set values ​​of the vehicle speed during non-working and working times at that point Tx.

[0114] However, suppose that after the timing for outputting the work command is calculated at Tx, but before that timing arrives, the user operates the speed rotation setting change dial 14 to instruct the system to change at least one of the settings for the non-working vehicle speed and the working vehicle speed. Here, when the tractor 1 moves from the non-working area to the working area, as shown in Figure 7(f), the tractor 1 begins to change from the non-working vehicle speed to the working vehicle speed even before the tine shaft position reaches the switching target position, and is controlled so that the vehicle speed of the tractor 1 is at the working vehicle speed by the time the tine shaft position reaches the switching target position. Therefore, if the non-working vehicle speed or the working vehicle speed is changed as instructed by the user, the timing at which the tine shaft position reaches the switching target position shown in Figure 7(e) will change from the timing estimated at Tx.

[0115] Whether the timing at which the claw shaft position reaches the switching target position is brought forward or delayed depends on the user's instructions for changing the vehicle speed. If at least one of the vehicle speeds (both non-operating and operating) is increased, the above timing is likely to be brought forward.

[0116] If the timing at which the claw shaft position reaches the switching target position shifts backward, the work command should be delayed by that amount. Similarly, if the timing shifts forward, and this can be accommodated by having sufficient time leeway, the work command should be advanced by that amount.

[0117] However, there may be cases where the above timing is brought forward and there is insufficient time. In this case, two control methods are possible. The first is to tolerate a delay in the timing of when the implement 3 enters the working state, but to minimize the delay as much as possible, the work command is issued immediately. In this case, the responsiveness of the vehicle speed change operation can be ensured, and a decrease in appearance can be suppressed. The second is to withhold changes to the set values ​​of the vehicle speed when not working or when working, regardless of user operation, and for the switch to the working state that is to be performed this time, the vehicle speed is controlled with the set value before the change, the work command is issued without changing the timing, and the set value of the vehicle speed is actually changed after the claw shaft position reaches the switching target position. In this case, the appearance of the work can be improved. Alternatively, the vehicle speed may be temporarily controlled to a provisional speed different from the user's instruction, and the timing of the work command may be changed so that the timing of when the implement 3 enters the working state is sufficient.

[0118] Next, we will explain the control process when the vehicle speed setting is changed by user operation during the transition from the work area to the non-work area.

[0119] Figure 8(a) shows the timing for outputting non-work commands. As mentioned above, this timing is calculated by the command output unit 33 at an appropriate point in time prior to that (for example, the point indicated by the symbol Tx) based on the set value of the vehicle speed during work at that point Tx.

[0120] However, suppose that after the timing for outputting a non-work command is calculated at Tx, the user operates the speed rotation setting change dial 14 to instruct the system to change at least one of the settings for the working vehicle speed and the non-working vehicle speed before that timing arrives. Here, when the tractor 1 moves from the working area to the non-working area, as shown in Figure 8(f), the tractor 1 travels at the working vehicle speed until the tine shaft position reaches the switching target position, and a little after the tine shaft position reaches the switching target position, the vehicle speed of the tractor 1 is switched to the non-working vehicle speed. Therefore, if the non-working vehicle speed setting is changed, there is no change in the timing at which the tine shaft position reaches the switching target position shown in Figure 8(e). However, if the working vehicle speed setting is changed, if it is changed as instructed by the user, the timing at which the tine shaft position reaches the switching target position will change from the timing estimated at Tx.

[0121] Whether the timing at which the claw shaft position reaches the switching target position is brought forward or delayed depends on the user's instruction to change the vehicle speed. If the vehicle speed during operation is increased, the above timing will be brought forward; if it is decreased, the timing will be delayed.

[0122] If the timing at which the claw shaft position reaches the switching target position shifts backward, the non-work command should be delayed by that amount. Similarly, if the above timing shifts forward, and this can be accommodated with sufficient time, the non-work command should be advanced by that amount.

[0123] However, there may be cases where the above timing is brought forward and there is insufficient time. In this case, there are two possible control methods, similar to those for the work command described above. The first is to tolerate a delay in the timing when the work implement 3 enters a non-working state, but to minimize the delay as much as possible, a non-work command is issued immediately. In this case, the responsiveness of the vehicle speed change operation can be ensured, and a decrease in appearance can be suppressed. The second is to withhold the change in the set value of the vehicle speed during work, regardless of user operation, and for the switch to the non-working state that is to be performed this time, the vehicle speed is controlled with the set value before the change, and the non-work command is issued without changing the timing, and the set value of the vehicle speed is actually changed after the claw shaft position reaches the switching target position. In this case, the appearance of the work can be improved. Alternatively, the vehicle speed may be temporarily controlled to a provisional speed different from the user's instruction, and the timing of the non-work command may be changed so that the timing when the work implement 3 enters a non-working state is sufficient.

[0124] The control methods shown in Figures 7 and 8 are applied when rotational drive of the tilling tines 25 via the PTO shaft is required, as is the case with the rotary tiller used in this embodiment, and when lifting and lowering control of the implement 3 is required. Some implements do not require drive of the workpiece or lifting and lowering control, so in the tractor 1 of this embodiment, the type of implement is input by the user (for example, via the monitoring device 70 or the wireless communication terminal 81 described later) before starting autonomous driving and autonomous work, and PTO control and lifting and lowering control as shown in Figures 7 and 8 are performed only when necessary.

[0125] In other words, for a predetermined work machine, the timing for switching from a non-working state where work is not performed by the work body equipped with the work machine to a working state where work is performed (the timing for outputting the work command described above) is controlled so that the time it takes for the work center position of the work body to reach the switching target position is approximately equal to the sum of the switching preparation time from when the work command is output until the actual switching to the working state begins (the time corresponding to the waiting time TW1 described above) and the switching time required from when the switching to the working state begins until the switching is completed (i.e., the machine becomes working) (the time required for lowering TR1 described above). On the other hand, the timing for switching from a working state where work is performed to a non-working state where work is not performed by the work body (the timing for outputting the non-work command described above) is controlled so that the time it takes for the work center position of the work body to reach the switching target position is approximately equal to the switching preparation time from when the work command is output until the actual switching to the non-working state begins (the time corresponding to the sum of the waiting time TW2 and delay time TD described above).

[0126] Next, we will explain the control process when the user operates the implement lifting switch 28 shown in Figure 3 while the tractor 1 is performing autonomous driving and work. Figure 9 is a flowchart illustrating the process performed by the implement control unit 34.

[0127] The work equipment control unit 34 monitors the input of work commands or non-work commands from the command output unit 33, and at the same time, it also monitors the control signals (lifting commands as operation unit commands) that are input to the work equipment control unit 34 when the work equipment lifting switch 28 is operated. When a work command or non-work command from the command output unit 33 conflicts with a lifting command based on the operation of the work equipment lifting switch 28, the work equipment control unit 34 always prioritizes the lifting command and controls the lifting actuator 44, etc., in order to prevent control against the operator's will.

[0128] As explained in the flowchart of Figure 9, the work machine control unit 34 first determines whether or not a work command or non-work command to be output by the command output unit 33 has been input (step S101).

[0129] If, in step S101, a work command or non-work command has been input, the work equipment control unit 34 further determines whether or not a lifting command associated with the operation of the work equipment lifting switch 28 has been input (step S102).

[0130] If, as determined in step S102, a lifting command has been input, the work equipment control unit 34 will control the work equipment 3 to move up and down according to the lifting command, rather than a work command or a non-work command (step S103). In other words, the work equipment control unit 34 will prioritize the lifting command over a work command or a non-work command and will control the lifting and lowering of the work equipment 3 based on the lifting command. After that, the process returns to step S101.

[0131] If, as determined in step S102, no lifting or lowering command has been input, the work equipment control unit 34 controls the work equipment 3 to lift or lower according to the input work command or non-work command (step S104). After that, the process returns to step S101.

[0132] If, in step S101, no work command or non-work command has been entered, the work equipment control unit 34 determines whether or not a lifting command based on the operation of the work equipment lifting switch 28 has been entered (step S105).

[0133] If, based on the judgment in step S105, a lifting / lowering command has been input, the work equipment control unit 34 controls the work equipment 3 to raise or lower according to the lifting / lowering command (step S103). After that, the process returns to step S101. If no lifting / lowering command has been input, the process in step S103 is not performed, and the process returns to step S101.

[0134] By performing the above processing, for example, even if a work command is input from the command output unit 33 to the work equipment control unit 34, if the user has operated the work equipment lifting switch 28 to the upward position at that time, the control to lower the work equipment 3 will not be performed as shown in Figure 7(d), and the work equipment 3 will maintain a non-working height.

[0135] Furthermore, for example, if a non-work command is input from the command output unit 33 to the work equipment control unit 34, and the work equipment 3 starts to rise accordingly as shown in Figure 8(d), but the user operates the work equipment lifting switch 28 to the lowering position during the rise, the upward control is stopped, and the work equipment control unit 34 immediately starts lowering control of the work equipment 3.

[0136] With this configuration, the tractor 1 of this embodiment can, in principle, perform autonomous driving and work, while also being able to switch the working state and non-working state of the implement 3 in accordance with the user's wishes.

[0137] Furthermore, as explained in step S103, if the work machine 3 is raised or lowered based on a lifting command based on the operation of the work machine lifting switch 28, rather than a work command or non-work command output by the command output unit 33, the user may be notified of this fact, for example, by displaying a message to that effect on the display (display unit) of the monitoring device 70, or by using a lamp or buzzer.

[0138] Next, we will explain the case where autonomous driving and autonomous work are performed without a user on board the tractor 1. Figure 10 shows the wireless communication terminal 81 used when autonomous driving and autonomous work are performed without a user on board the tractor 1. Figure 11 shows an example of the display of the autonomous driving monitoring screen 100 on the display 83 of the wireless communication terminal 81.

[0139] As described above, the autonomous driving control unit 32 of the tractor 1 can switch between a manned autonomous driving mode, in which the tractor drives and works autonomously with a user on board, and an unmanned autonomous driving mode, in which the tractor drives and works autonomously without a user on board, enabling autonomous driving. This mode switching can be performed by the user, for example, by operating the monitoring device 70.

[0140] In manned autonomous driving mode, autonomous driving and work of tractor 1 cannot begin unless the seating sensor 13a shown in Figure 3 detects that a user is seated. On the other hand, in unmanned autonomous driving mode, autonomous driving and work of tractor 1 cannot begin if the seating sensor 13a detects that a user is seated. However, in unmanned autonomous driving mode, the system may be configured to start autonomous driving and work even when the seating sensor 13a detects that a user is seated.

[0141] Furthermore, when the tractor 1 is performing autonomous driving and work in manned autonomous driving mode, if the user riding on it operates the main gear lever 27 shown in Figure 3, the control by the autonomous driving control unit 32 will end, but the vehicle 2 will not stop and can immediately switch to manual driving and manual work.

[0142] On the other hand, when the tractor 1 is performing autonomous driving and work in unmanned autonomous driving mode, the aforementioned control devices provided on the tractor 1 are not expected to be used. Therefore, in unmanned autonomous driving mode, operations such as the speed rotation setting dial 14 shown in Figure 3 are disabled. Also, if the main transmission lever 27 is operated while the tractor 1 is performing autonomous driving and work in unmanned autonomous driving mode, control by the autonomous driving control unit 32 ends, and the tractor 1 stops immediately. The user then transitions to manual driving and manual work from the state where the vehicle 2 has stopped.

[0143] Furthermore, if the user operates the implement lifting switch 28 while the tractor 1 is performing autonomous driving and work in unmanned autonomous driving mode, the control by the autonomous driving control unit 32 terminates, and the tractor 1 immediately stops. At this time, the wireless communication terminal 81, described later, notifies the user that autonomous driving has stopped by displaying a message or the like. In addition, the tractor 1 may also provide notification using, for example, the monitoring device 70. After that, the user needs to switch to manual driving and manual work by performing a predetermined operation from the state in which the driving machine 2 has stopped.

[0144] When the tractor 1 is to perform autonomous driving and work in unmanned autonomous driving mode, the user uses the wireless communication terminal (wireless communication device) 81 shown in Figure 10 as a remote control device to give instructions to the tractor 1 from the outside.

[0145] As shown in Figure 10, the wireless communication terminal 81 is configured as a tablet-type computer equipped with a touch panel 82. The user can refer to and confirm information displayed on the display (display unit) 83 of the wireless communication terminal 81. The user can also operate the touch panel 82 or hardware keys 84 located near the display 83 to transmit control signals for controlling the tractor 1 to the control unit 4 of the tractor 1. The control signals that the wireless communication terminal 81 outputs to the control unit 4 may include, but are not limited to, signals related to the autonomous driving / autonomous work route, and start and stop signals for autonomous driving / autonomous work.

[0146] Furthermore, the wireless communication terminal 81 is not limited to a tablet computer; it can also be configured with, for example, a notebook computer. Additionally, the function for generating the autonomous driving route P may be configured to be provided by the wireless communication terminal 81 rather than the tractor 1.

[0147] Next, the screen displayed on the wireless communication terminal 81 when the tractor 1 performs autonomous driving and autonomous work will be explained with reference to Figure 11.

[0148] When the autonomous driving control unit 32 is in unmanned autonomous driving mode and the tractor 1 starts autonomous driving and autonomous work, the display screen of the display 83 switches to the autonomous driving monitoring screen 100 shown in Figure 11.

[0149] To the right of the autonomous driving monitoring screen 100 is a driving status display unit 103 that displays image data including the autonomous driving route that the tractor 1 is traveling. The image data displayed in the driving status display unit 103 can be, for example, as shown in Figure 11, a map data overlay with the shape of the field and the shape of the work area, with the driving trajectory of the tractor 1 shown on top of that using hatching.

[0150] At the top left of the autonomous driving monitoring screen 100, a start / pause button 105 is displayed for starting or pausing autonomous driving. When the user manually moves the tractor 1 to the autonomous driving starting position and touches the start / pause button 105, a control signal instructing the user to start autonomous driving is transmitted from the wireless communication terminal 81 to the control unit 4 of the tractor 1, allowing the tractor 1 to start autonomous driving. Furthermore, when the tractor 1 is performing autonomous driving, touching the start / pause button 105 allows the user to pause or resume the autonomous driving of the tractor 1.

[0151] On the autonomous driving monitoring screen 100, the vehicle speed display unit 106, the engine speed display unit 107, and the hitch height adjustment unit (operation unit) 108 are arranged vertically to the right of the start / pause button 105.

[0152] The vehicle speed display unit 106 displays the current vehicle speed of the tractor 1, which is obtained based on data transmitted from the vehicle speed sensor (not shown in the figure).

[0153] The engine speed display unit 107 displays the current rotational speed of the engine 10, which is obtained based on data sent from the engine speed sensor (not shown in the figure).

[0154] The hitch height adjustment unit 108 displays the height of the implement 3 numerically, based on data received from the implement height sensor mentioned above. Up and down buttons are located to the right of the displayed number, and by operating these buttons, instructions can be given to raise or lower the implement 3. In response to the operation of the hitch height adjustment unit 108, the wireless communication terminal 81 outputs a raise or lower command to the tractor 1.

[0155] To the right of the vehicle speed display unit 106 and the engine speed display unit 107, there is a setting adjustment unit that allows adjustment of the vehicle speed and engine speed of the tractor 1 for the working state and non-working state, respectively.

[0156] To explain in more detail, to the right of the vehicle speed display unit 106 and the engine speed display unit 107, there is a vehicle speed adjustment unit (vehicle speed setting unit) 111 for work, an engine speed adjustment unit 112 for work, a vehicle speed adjustment unit (vehicle speed setting unit) 113 for non-work, and an engine speed adjustment unit 114 for non-work.

[0157] The vehicle speed adjustment unit 111 displays the set value of the tractor 1's vehicle speed (vehicle speed during operation) when the implement 3 is in operation. The engine speed adjustment unit 112 displays the set value of the engine speed 10 when the implement 3 is in operation. In both the vehicle speed adjustment unit 111 and the engine speed adjustment unit 112, up and down buttons are located to the right of the displayed set value, and the set value can be increased or decreased by operating these buttons.

[0158] The non-working vehicle speed adjustment unit 113 displays the set value of the tractor 1's vehicle speed (non-working vehicle speed) when the implement 3 is not in operation. The non-working engine speed adjustment unit 114 displays the set value of the engine speed 10 when the implement 3 is not in operation. Similar to the working vehicle speed adjustment unit 111 and the working engine speed adjustment unit 112, the set values ​​in the non-working vehicle speed adjustment unit 113 and the non-working engine speed adjustment unit 114 can be increased or decreased by operating the up and down buttons next to the numerical values.

[0159] In this unmanned autonomous driving mode, the working vehicle speed adjustment unit 111 and the non-working vehicle speed adjustment unit 113 have the same function as the speed rotation setting change dial 14 provided on the tractor 1, and the hitch height adjustment unit 108 has the same function as the implement lifting switch 28 provided on the tractor 1.

[0160] Even in unmanned autonomous driving mode, the timing of outputting work commands or non-work commands is controlled substantially in the same way as in the manned autonomous driving mode described above. Furthermore, in unmanned autonomous driving mode, if a work command or non-work command output by the command output unit 33 conflicts with a lifting / lowering command output based on the operation of the hitch height adjustment unit 108, the lifting / lowering command will take precedence, just as in the manned autonomous driving mode. However, since the user is not on board the tractor 1, the various messages described above are, in principle, displayed on the display of the wireless communication terminal 81 rather than the monitor device 70.

[0161] As described above, the tractor 1 of this embodiment comprises a traveling body 2, a command output unit 33, a work implement control unit 34, a vehicle speed control unit 35, a work margin distance storage unit 54, and a remaining distance acquisition unit 37. The traveling body 2 can be fitted with a work implement 3. The command output unit 33 outputs a work command to control the work implement 3 to an working state and a non-work command to control the work implement 3 to a non-work state. The work implement control unit 34 controls the working state of the work implement 3 according to the work command or the non-work command. The vehicle speed control unit 35 can switch the vehicle speed of the tractor 1. The work margin distance storage unit 54 sets a switching target position where the work implement control unit 34 performs switching control of the working state of the work implement 3 by setting a margin distance M. The remaining distance acquisition unit 37 acquires the remaining distance, which is the distance from the tine shaft position of the work implement 3 to the switching target position. The vehicle speed control unit 35 switches the vehicle speed of the tractor 1 from the vehicle speed during work to the vehicle speed during non-work in response to a non-work command, and also switches the vehicle speed of the tractor 1 from the vehicle speed during non-work to the vehicle speed during work in response to a work command. When the command output unit 33 outputs a non-work command as shown in Figure 8, it controls the output timing of the non-work command based on the vehicle speed during work and the remaining distance. When the command output unit 33 outputs a work command as shown in Figure 7, it controls the output timing of the work command based on the vehicle speed during non-work, the rate of change in speed from the vehicle speed during non-work to the vehicle speed during work, and the remaining distance.

[0162] This allows the command output unit 33 to output non-work commands and work commands at appropriate timings when switching the work machine 3 from working to non-working, and when switching it from non-working to working. This reduces the error in the boundary between the part where work is performed by the work machine 3 and the part where it is not.

[0163] Furthermore, in the tractor 1 of this embodiment, as shown in Figure 8(f), the vehicle speed control unit 35 starts switching control from the vehicle speed during work to the vehicle speed during non-work after the implement control unit 34 switches the implement 3 from the work state to the non-work state in response to a non-work command. Also, as shown in Figure 7(f), the vehicle speed control unit 35 starts switching control from the vehicle speed during non-work to the vehicle speed during work before the implement control unit 34 switches the implement 3 from the non-work state to the work state in response to a work command.

[0164] This allows the vehicle speed to be maintained while the work equipment 3 is in operation.

[0165] Furthermore, the tractor 1 of this embodiment includes a timer circuit (not shown) and a lowering time storage unit 56. The timer circuit measures the time required to switch the implement 3 from a non-working state to a working state (lowering time TR1). The lowering time storage unit 56 stores the time measured by the timer circuit. The command output unit 33 controls the timing of the output of work commands based on the contents stored in the lowering time storage unit 56. If the timer circuit has not measured the required time, the lowering time storage unit 56 stores the initially set time. If the timer circuit has measured the required time, the contents stored in the lowering time storage unit 56 are updated to the measured value.

[0166] This allows the system to measure and store the time required to switch the work machine 3 from a non-working state to a working state, and control the timing of outputting work commands based on this time, thereby enabling the output of work commands at the appropriate timing. Furthermore, for example, when switching from a non-working state to a working state for the first time, although the measured value cannot be obtained in advance, by setting an appropriate time as the initial setting, the command output unit 33 can output work commands at generally good timing.

[0167] Furthermore, in the tractor 1 of this embodiment, the vehicle speed during work and the vehicle speed when not working can be changed by operating the speed rotation setting change dial 14, or the vehicle speed adjustment unit 111 during work and the vehicle speed adjustment unit 113 during non-work. When the vehicle speed during work and / or the vehicle speed when non-work is changed, the command output unit 33 controls the timing of outputting work commands or non-work commands based on the changed vehicle speed during work / non-work.

[0168] This allows the command output unit 33 to output work commands and non-work commands at the appropriate timing while changing the vehicle speed according to the user's request.

[0169] Furthermore, the tractor 1 of this embodiment is equipped with an autonomous driving control unit 32 that can switch the tractor 1 between a manned autonomous driving mode and an unmanned autonomous driving mode for autonomous driving. The manned autonomous driving mode is a mode in which autonomous driving can be terminated without stopping the tractor 1 by operating the main transmission lever 27. The unmanned autonomous driving mode is a mode in which autonomous driving is terminated by stopping the tractor 1 by operating the main transmission lever 27. When the autonomous driving control unit 32 is in manned autonomous driving mode, it can change the settings of the vehicle speed during work and the vehicle speed when not working in response to an operation on the speed rotation setting change dial 14 provided on the tractor 1. When the autonomous driving control unit 32 is in unmanned autonomous driving mode, it can change the settings of the vehicle speed during work and the vehicle speed when not working in response to an operation on the working vehicle speed adjustment unit 111 and the unmanned vehicle speed adjustment unit 113 provided on the wireless communication terminal 81 that communicates wirelessly with the tractor 1.

[0170] As a result, in manned autonomous driving mode, the vehicle speed can be changed by a user riding in the tractor 1 operating the speed and rotation speed setting dial 14, and in unmanned autonomous driving mode, the vehicle speed can be changed by a user outside the tractor 1 operating the working vehicle speed adjustment unit 111 and the non-working vehicle speed adjustment unit 113 of the wireless communication terminal 81.

[0171] Furthermore, the tractor 1 of this embodiment includes a position information calculation unit 49, an implement lifting switch 28, and an autonomous driving control unit 32. The position information calculation unit 49 acquires position information of the traveling machine 2. The implement lifting switch 28 is located on the traveling machine 2. The autonomous driving control unit 32 autonomously drives the traveling machine 2 along a predetermined autonomous driving path P. The implement control unit 34 controls the working state of the implement 3 based on the work command or non-work command output by the command output unit 33 and the lifting command output in response to the operation of the implement lifting switch 28 when the autonomous driving control unit 32 is autonomously driving the traveling machine 2. The implement control unit 34 prioritizes the lifting command over the work command or non-work command to control the working state of the implement 3.

[0172] This allows for control that prioritizes the user's intentions when switching between the working and non-working states of the work machine 3.

[0173] Furthermore, in the tractor 1 of this embodiment, if a work command or non-work command is input while the implement control unit 34 is controlling the working state of the implement 3 based on a lifting command, the implement control unit 34 will not control the working state of the implement 3 based on the work command or non-work command.

[0174] This ensures that control tailored to the user's intentions is not hindered.

[0175] Furthermore, in the tractor 1 of this embodiment, if a lifting command is input while the implement control unit 34 is controlling the working state of the implement 3 based on a work command or non-work command, the implement control unit 34 controls the working state of the implement 3 based on the lifting command.

[0176] This allows the system to perform control in accordance with the user's intentions, even if autonomous driving-based control was already in place, by canceling that control.

[0177] Furthermore, the tractor 1 of this embodiment is equipped with a seating sensor 13a that detects whether or not a user is present in the vehicle body 2. The autonomous driving control unit 32 can switch between a manned autonomous driving mode and an unmanned autonomous driving mode to autonomously drive the vehicle body 2 along the autonomous driving path P. In manned autonomous driving mode, the implement control unit 34 switches the working state of the implement 3 based on work commands or non-work commands output by the command output unit 33, or based on lifting commands output based on the operation of the implement lifting switch 28. In unmanned autonomous driving mode, the implement control unit 34 switches the working state of the implement 3 based on work commands or non-work commands output by the command output unit 33, but does not switch the working state of the implement 3 based on lifting commands output in response to the operation of the implement lifting switch 28.

[0178] As a result, in unmanned autonomous driving mode where a user is not expected to be on board, situation-appropriate control can be achieved by ignoring the operation of the work equipment lifting switch 28.

[0179] Furthermore, in the tractor 1 of this embodiment, the autonomous driving control unit 32 does not stop the autonomous driving of the vehicle body 2 when the implement lifting switch 28 is operated while the vehicle body 2 is autonomously driving in manned autonomous driving mode. On the other hand, when the implement lifting switch 28 is operated while the vehicle body 2 is autonomously driving in unmanned autonomous driving mode, the autonomous driving of the vehicle body 2 is stopped.

[0180] This allows the system to appropriately respond to unexpected situations by stopping autonomous driving in unmanned autonomous driving mode, where a user is not expected to be on board, in response to the operation of the work equipment lifting switch 28.

[0181] Furthermore, in the tractor 1 of this embodiment, in the manned autonomous driving mode, if the implement control unit 34 performs priority control to control the working state of the implement 3 by prioritizing the lifting command over work commands or non-work commands, this fact is displayed on the monitor device 70. In the unmanned autonomous driving mode, if the implement control unit 34 performs priority control, this fact is displayed on the wireless communication terminal 81. Moreover, in the unmanned autonomous driving mode, if the autonomous driving of the vehicle body 2 is stopped based on the operation of the implement lifting switch 28, this fact is displayed on the wireless communication terminal 81.

[0182] This allows the user to be appropriately informed of the situation in both manned and unmanned autonomous driving modes.

[0183] Although preferred embodiments of the present invention have been described above, the above configuration can be modified as follows, for example.

[0184] The setting of the implement horizontal distance L and the setting of the margin distance M may be performed by the wireless communication terminal 81 instead of, or in addition to, the monitoring device 70 of the tractor 1.

[0185] The vehicle may be equipped with two speed rotation setting dials 14, allowing for simultaneous adjustment of the vehicle speed during work and the vehicle speed when not working.

[0186] The autonomous driving monitoring screen 100 displayed on the display 83 is not limited to the one shown in Figure 11, and the screen layout and other elements can be changed as desired.

[0187] A range of operating and non-operating vehicle speeds that must be met is predetermined, and if an operating or non-operating vehicle speed falls outside this range, special lifting / lowering control may be performed. For example, the lifting / lowering control of the work implement 3 may be started earlier or later than usual. Alternatively, or in addition to the above, special vehicle speed control may be performed. For example, the switching between non-operating speed and operating speed may be started earlier or later than usual.

[0188] When using a plow, harrow, mower, tedder, or stubble cultivator as a work implement, control is performed to lower the implement in response to a work command and raise it in response to a non-work command, similar to the rotary tiller described in the above embodiment. However, the switching between work and non-work states does not necessarily involve raising or lowering. For example, when using a broadcaster or sprayer as a work implement, the work implement control unit 34 performs spraying / spraying stop control instead of raising and lowering control. In this case, the user instructs the switching of the work state of the work implement not by the work implement lifting / lowering switch 28, but by an appropriate operating unit (not shown) provided in the cabin 11. Therefore, the operating unit command is output in accordance with the operation of the operating unit.

[0189] <Notes on the invention> In view of the present invention, an autonomous driving work system having the following configuration is provided. That is, this autonomous driving work system comprises a vehicle body, a location information acquisition unit, a command output unit, a work machine control unit, and a setting unit. The vehicle body can be fitted with a work machine. The location information acquisition unit acquires location information of the vehicle body. The command output unit outputs a work command to control the work machine to an operating state and a non-operating command to control the work machine to a non-operating state. The work machine control unit controls the operating state of the work machine according to the work command or the non-operating command. The setting unit sets a reference position from which the operating state of the work machine is switched by the control of the work machine control unit. The reference position is set at a predetermined distance from the boundary between the working area and the non-working area. Furthermore, if the vehicle body is located between the boundary and the reference position, the command output unit outputs the command.

[0190] This allows the command output unit to output non-work commands and work commands at the appropriate timing when switching the work machine from working to non-working state, and vice versa. This reduces the error in the boundary between the part where work is performed by the work machine and the part where it is not.

[0191] An autonomous driving work system according to one embodiment is an autonomous driving work system that causes a work vehicle, which performs work using a work machine, to autonomously drive along an autonomous driving path, wherein the autonomous driving path includes a plurality of work paths arranged in a work area where work is performed by the work machine, and connecting paths that connect the work paths, and when the work vehicle moves from the work path to the connecting path, the work machine is switched from an operating state to a non-operating state after the position of the work vehicle has switched from the work path to the connecting path.

[0192] Another embodiment of the autonomous driving work system is an autonomous driving work system that causes a work vehicle to autonomously drive along an autonomous driving path, wherein the autonomous driving path includes a plurality of work paths arranged in a work area where work is performed by the work machine, and connecting paths connecting the work paths, and when the work vehicle moves from the connecting paths to the work paths, the work machine is switched from a non-working state to a working state before the position of the work vehicle switches from the connecting paths to the work paths.

[0193] An autonomous driving work method according to one embodiment is an autonomous driving work method in which a work vehicle that performs work with a work machine autonomously drives along an autonomous driving path, wherein the autonomous driving path includes a plurality of work paths arranged in a work area in which work is performed by the work machine, and connecting paths that connect the work paths, and when the work vehicle moves from the work path to the connecting path, the work machine is switched from a working state to a non-working state after the position of the work vehicle has switched from the work path to the connecting path.

[0194] Another embodiment of the autonomous driving work method is an autonomous driving work method in which a work vehicle that performs work with a work machine autonomously drives along an autonomous driving path, wherein the autonomous driving path includes a plurality of work paths arranged in a work area where work is performed by the work machine, and connecting paths that connect the work paths, and when the work vehicle moves from the connecting paths to the work paths, the work machine is switched from a non-working state to a working state before the position of the work vehicle switches from the connecting paths to the work paths.

[0195] An autonomous driving system according to one embodiment includes a control unit that causes a work vehicle to drive autonomously. The control unit can select between a manned autonomous driving mode in which a user is in the work vehicle and the vehicle drives autonomously, and an unmanned autonomous driving mode in which the vehicle drives autonomously without a user in the work vehicle.

[0196] One embodiment of the autonomous driving method is a method for making a work vehicle autonomously drive, and it is possible to select between a manned autonomous driving mode in which a user is on board the work vehicle and autonomous driving is performed, and an unmanned autonomous driving mode in which a user is not on board the work vehicle and autonomous driving is performed. [Explanation of Symbols]

[0197] 1. Tractor (work vehicle) 2. Running body (vehicle section) 3. Work equipment 33 Command Output Unit 34. Work Machine Control Unit 35 Vehicle Speed ​​Control Unit 37 Remaining distance acquisition part 54 Working margin distance memory unit (setting unit)

Claims

1. It is equipped with a control unit that enables autonomous driving of a work vehicle equipped with work equipment, The control unit has an unmanned autonomous driving mode that enables autonomous driving when the user is not present on the vehicle. Autonomous driving system.

2. When the work vehicle is autonomously driven in the unmanned autonomous driving mode, if the control unit of the work vehicle is operated, the control unit disables the operation of the control unit. The autonomous driving system according to claim 1.

3. The aforementioned operating unit is an operating device for changing the vehicle speed of the work vehicle, When the operating device is operated while the work vehicle is autonomously driving in the unmanned autonomous driving mode, the control unit stops the work vehicle. The autonomous driving system according to claim 2.

4. When the work vehicle is autonomously driving in the unmanned autonomous driving mode, if the work equipment lifting / lowering operation unit for raising and lowering the work equipment of the work vehicle is operated, the control unit stops the work vehicle. An autonomous driving system according to any one of claims 1 to 3.

5. The settings relating to the operation of the work vehicle in the unmanned autonomous driving mode are performed by a remote control device for giving instructions to the work vehicle from an external source when the work vehicle is autonomously driven in the unmanned autonomous driving mode. An autonomous driving system according to any one of claims 1 to 4.

6. If the work vehicle stops while it is autonomously driving in the aforementioned unmanned autonomous driving mode, the remote control device shall be notified. The autonomous driving system according to claim 5.

7. A method for autonomously driving a work vehicle equipped with work implements, It has an unmanned autonomous driving mode that allows the vehicle to operate autonomously even when the user is not present on the vehicle's body. Autonomous driving methods.

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