Setup method, setup program, setup system, and automatic driving method

Abstract

To provide a setting method, setting program, setting system, and automatic driving method that can improve the work efficiency of work performed by work vehicles that automatically travel through fields. [Solution] The setting processing unit 211 sets information for automatically driving the work vehicle 10 in the field. The setting processing unit 211 sets whether or not to allow a part of the work vehicle 10 to jump out of the field when the work vehicle 10 is automatically driving in the field.

Description

Technical Field

[0001] The present invention relates to a technique for automatically driving a work vehicle in a field.

Background Art

[0002] Conventionally, when automatically driving a work vehicle in a field, a technique for generating an automatic driving route (target route) so that the work vehicle does not go out of the field is known. For example, a system is known that secures a predetermined safety margin from the outer edge (boundary) of the field to the inside and generates a target route inside the safety margin.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, if the target route is set by uniformly prohibiting the work vehicle from going out of the field, there arises a problem that the working range becomes narrow and the working efficiency decreases.

[0005] An object of the present invention is to provide a setting method, a setting program, a setting system, and an automatic driving method capable of improving the working efficiency of work by a work vehicle automatically driving in a field.

Means for Solving the Problems

[0006] The setting method according to the present invention is a method for setting information for automatically driving a work vehicle in a field, and is a method for setting whether to permit a part of the work vehicle to go out of the field when the work vehicle automatically drives in the field.

[0007] The setting program according to the present invention is a program for setting information for automatically driving a work vehicle in a field, and is a program for causing one or more processors to set whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically driving in the field.

[0008] The setting system according to the present invention is a system for setting information for automatically driving a work vehicle in a field, and is a system for setting whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically driving in the field.

[0009] The automatic driving method according to the present invention is a method for automatically driving a work vehicle in a field, which involves setting whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically driving in the field, and driving the work vehicle automatically according to the setting regarding the jump of the work vehicle out of the field. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a setting method, a setting program, a setting system, and an automatic driving method that can improve the work efficiency of work performed by a work vehicle that automatically drives in a field. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a diagram showing the configuration of an automated driving system according to an embodiment of the present invention. [Figure 2] Figure 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 3] Figure 3 shows an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of a target route for another work vehicle according to an embodiment of the present invention. [Figure 5]FIG. 5 is a diagram showing an example of a menu screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of a registration screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of a work plan list displayed on an operation terminal according to an embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing a route creation screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing a registration confirmation screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing a registration confirmation screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing a pop-up setting screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing a registration confirmation screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing a pop-up setting screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 14A] FIG. 14A is a diagram showing the size of a work machine according to an embodiment of the present invention. [Figure 14B] FIG. 14B is a diagram showing the size of a work machine according to an embodiment of the present invention. [Figure 15A] FIG. 15A is a diagram showing a route creation result screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 15B] FIG. 15B is a diagram showing a route creation result screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 16A] FIG. 16A is a diagram showing a route creation result screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 16B] FIG. 16B is a diagram showing a route creation result screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 17]FIG. 17 is a flowchart showing an example of the procedure of setting processing executed by the automatic driving system according to an embodiment of the present invention. [Figure 18A] FIG. 18A is a diagram showing a registration confirmation screen displayed on the operation terminal according to an embodiment of the present invention. [Figure 18B] FIG. 18B is a diagram showing a registration confirmation screen displayed on the operation terminal according to an embodiment of the present invention. [Figure 19A] FIG. 19A is a diagram showing a specific example of a method for changing the working range accompanying the change of the width of the sleeper ground according to an embodiment of the present invention. [Figure 19B] FIG. 19B is a diagram showing a specific example of a method for changing the working range accompanying the change of the width of the sleeper ground according to an embodiment of the present invention.

MODE FOR CARRYING OUT THE INVENTION

[0012] The following embodiments are an example of embodying the present invention and do not limit the technical scope of the present invention.

[0013] As shown in FIG. 1, the automatic driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. Further, the automatic driving system 1 includes a plurality of work vehicles 10. Each work vehicle 10 and the operation terminal 20 can communicate via a communication network N1. For example, each work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN. In this embodiment, the operation terminal 20 is a device that sets and manages work information regarding a plurality of work vehicles 10, and may be configured by, for example, a management device, a server device, a cloud server, or the like. Also, as another embodiment, the operation terminal 20 may be arranged for each work vehicle 10, and one operation terminal 20 may be configured to be able to operate one work vehicle 10.

[0014] In this embodiment, the case where the work vehicle 10 is a tractor will be used as an example. In other embodiments, the work vehicle 10 may be a rice transplanter, a combine harvester, construction machinery, or a snowplow. The work vehicle 10 is configured to automatically travel (autonomously travel) within the field, which is the work area, according to a pre-set target route. Furthermore, the work vehicle 10 can perform predetermined tasks while automatically traveling within the field. For example, each work vehicle 10 performs predetermined tasks while automatically traveling within the field according to a pre-set target route, based on the position information of the work vehicle 10's current position, which is determined by the positioning unit 16.

[0015] For example, the work vehicle 10a performs work in field F shown in Figure 3, automatically traveling along a pre-set target path R1. The work vehicle 10a is equipped with a work implement 14 (e.g., a tiller). The target path R1 includes multiple rows of straight work paths and non-work paths (turning paths) (not shown) connecting the work paths. Note that at least part of the multiple work paths may be curved paths. The work vehicle 10a performs tilling work in field F by traveling back and forth from one side (left side in Figure 3) to the other side (right side in Figure 3) along the target path R1. In Figure 3, the symbol A1 indicates the working range (tillage range) of the work vehicle 10a.

[0016] For example, as shown in Figure 4, the work vehicle 10b performs work while automatically driving in the same field F according to a pre-set target path R2. For example, the work vehicle 10b is equipped with a work implement 14 (tiller). The work vehicle 10b tills the area (work range A1) (see Figure 3) tilled by the work vehicle 10a. In the example shown in Figure 4, the work range A2 of the work vehicle 10b is divided into multiple work blocks B1 to B5 by the position where the work vehicle 10 travels during the pest control work (pest control path (inter-block path)). That is, work blocks B1 to B5 are areas divided by the pest control path.

[0017] The target path R2 includes multiple rows of straight work paths and non-work paths (turning paths) (not shown) connecting the work paths. Note that at least a portion of the work paths may be curved. The work vehicle 10b performs tilling work in field F by traveling back and forth from one side (left side in Figure 4) to the other side (right side in Figure 4) according to the target path R2. In Figure 4, the symbol A2 indicates the working range (tilling range) of the work vehicle 10b.

[0018] In this manner, the work vehicles 10a and 10b work in coordination in the same field F. For example, work vehicle 10a performs work first (plowing), and work vehicle 10b performs work after work vehicle 10a (plowing). The work performed by each work vehicle 10 is not limited. For example, work vehicle 10a may perform plowing first, and work vehicle 10b may perform ridging after work vehicle 10a. Alternatively, work vehicle 10a may perform ridging and planting first, and work vehicle 10b may perform weeding and pest control after work vehicle 10a.

[0019] In the conventional field management system, a predetermined safety margin is secured inward from the outer edge (boundary) of the field, and a target path is generated inside this safety margin to allow the work vehicle to automatically drive and perform tasks. However, if the target path is set while uniformly prohibiting the work vehicle from going outside the field, the working range becomes narrower in order to secure a turning area in the non-working area (headland), resulting in a decrease in work efficiency. In contrast, the automated driving system 1 according to this embodiment has a configuration that can improve the work efficiency of work performed by a work vehicle that automatically drives in the field, as shown below. In particular, the automated driving system 1 has a configuration that allows setting whether or not to permit a part of the work vehicle to go outside the field when the work vehicle is automatically driving in the field.

[0020] The automated driving system 1 may include three or more work vehicles 10. For example, work vehicle 10c may be equipped with a ridging machine and perform the task of forming ridges in the area tilled by work vehicle 10b (ridging work). Also, for example, work vehicle 10d may be equipped with a planting machine and perform the task of planting plants in the area ridging by work vehicle 10c (planting work). Also, for example, work vehicle 10e may be equipped with a pest control machine and perform pest control work such as spraying pesticides on the plants planted by work vehicle 10d. In addition, the automated driving system 1 may include multiple work vehicles 10 that perform tasks such as turning, weeding, and harvesting.

[0021] [Work Vehicle 10] As shown in Figures 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a running device 13, a work machine 14, a communication unit 15, a positioning unit 16, and the like. The vehicle control device 11 is electrically connected to the memory unit 12, the running device 13, the work machine 14, the positioning unit 16, and the like. The vehicle control device 11 and the positioning unit 16 may also be capable of wireless communication. When describing a configuration common to work vehicle 10a and work vehicle 10b, it will be referred to as "work vehicle 10".

[0022] The communication unit 15 is a communication interface that connects the work vehicle 10 to the communication network N1 by wire or wireless connection and performs data communication with external devices such as the operation terminal 20 via the communication network N1 in accordance with a predetermined communication protocol. The work vehicle 10 can communicate wirelessly with each of the operation terminals 20 via the communication unit 15.

[0023] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various types of information. The storage unit 12 stores control programs, such as an automatic driving program, which causes the vehicle control device 11 to execute automatic driving processing. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may also be downloaded from a server (not shown) to the work vehicle 10 via a communication network N1 and stored in the storage unit 12. The storage unit 12 may also store route data of the target route generated at the operation terminal 20.

[0024] The running gear 13 is the drive unit that propels the work vehicle 10. As shown in Figure 2, the running gear 13 includes an engine 131 (drive source), front wheels 132, rear wheels 133, transmission 134, front axle 135, rear axle 136, steering wheel 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. Furthermore, the running gear 13 is not limited to a wheel type with front wheels 132 and rear wheels 133, but may also be a crawler type with crawlers provided on the left and right sides of the work vehicle 10.

[0025] The engine 131 is a power source such as a diesel engine or gasoline engine that is driven using fuel supplied to a fuel tank (not shown). The running gear 13 may be equipped with an electric motor as a power source together with the engine 131, or in place of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery installed on the work vehicle 10. The battery is charged by the power supplied from the generator. The vehicle control device 11 and electrical components such as the positioning unit 16 installed on the work vehicle 10 can be driven by the power supplied from the battery even after the engine 131 is stopped.

[0026] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and front axle 135, and to the rear wheels 133 via the transmission 134 and rear axle 136. The driving force of the engine 131 is also transmitted to the work equipment 14 via the PTO shaft (not shown). When the work vehicle 10 is driving automatically, the travel device 13 performs driving operations according to the commands of the vehicle control device 11.

[0027] The implements 14 are, for example, tillers, turners, cultivators, ridging machines, weeders, and pest control machines, and are detachable from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the implements 14. Figure 2 shows the case where the implement 14 is a cultivator.

[0028] The steering wheel 137 is an operating part that is operated by an operator or a vehicle control device 11. For example, in the travel device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to the operation of the steering wheel 137 by the vehicle control device 11, and the direction of travel of the work vehicle 10 is changed. When an operator performs a teaching operation, for example, the operator operates the steering wheel 137 to manually drive the work vehicle 10.

[0029] In addition to the steering wheel 137, the running gear 13 is equipped with a shift lever (not shown), accelerator, brakes, etc., which are operated by the vehicle control device 11. In the running gear 13, the gears of the transmission 134 are switched to forward gear or reverse gear, etc., in response to the operation of the shift lever by the vehicle control device 11, and the driving mode of the work vehicle 10 is switched to forward or reverse, etc. The vehicle control device 11 also controls the rotational speed of the engine 131 by operating the accelerator. The vehicle control device 11 also controls the rotation of the front wheels 132 and rear wheels 133 using electromagnetic brakes by operating the brakes.

[0030] The positioning unit 16 is a communication device comprising a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164. For example, as shown in Figure 2, the positioning unit 16 is installed on top of the cabin 18 where the operator sits. However, the installation location of the positioning unit 16 is not limited to the cabin 18. Furthermore, the positioning control unit 161, memory unit 162, communication unit 163, and positioning antenna 164 of the positioning unit 16 may be distributed and arranged at different locations on the work vehicle 10. As mentioned above, the positioning unit 16 is connected to the battery, and the positioning unit 16 can operate even when the engine 131 is stopped. In addition, the positioning unit 16 may be replaced with, for example, a mobile phone terminal, a smartphone, a tablet terminal, or a quantum compass.

[0031] The positioning control unit 161 is a computer system comprising one or more processors and storage memory such as non-volatile memory and RAM. The storage unit 162 is a non-volatile memory that stores a program for causing the positioning control unit 161 to perform positioning processing, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Alternatively, the program may be downloaded from a server (not shown) to the positioning unit 16 via a communication network N1 and stored in the storage unit 162.

[0032] The communication unit 163 is a communication interface that connects the positioning unit 16 to the communication network N1 by wire or wireless connection and performs data communication with external devices such as base stations (not shown) via the communication network N1 in accordance with a predetermined communication protocol.

[0033] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0034] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the work vehicle 10 is automatically driving in field F, the positioning antenna 164 receives radio waves (transmission time, orbital information, etc.) transmitted from each of several satellites. The positioning control unit 161 then calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. Alternatively, the positioning control unit 161 may perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)) which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 automatically drives using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or it may be a position shifted from the positioning position. The positioning control unit 161 may also use a quantum compass to calculate (position) the current position of the work vehicle 10.

[0035] The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to allow the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The vehicle control device 11 controls the work vehicle 10 by executing various control programs stored in advance in the ROM or memory unit 12 using the CPU.

[0036] The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. The vehicle control device 11 also executes an automatic driving process for the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning unit 16 and a pre-set target route.

[0037] The vehicle control device 11 functions as various processing units by executing various processes in accordance with the automatic driving program using the CPU. Furthermore, some or all of the processing units may be composed of electronic circuits. The automatic driving program may also be a program that causes multiple processors to function as processing units.

[0038] Specifically, when the vehicle control device 11 receives a start-to-drive instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10. For example, when an operator presses the start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a start-to-drive instruction to the work vehicle 10. When the vehicle control device 11 receives a start-to-drive instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10 according to the target route. As a result, for example, work vehicle 10a starts automatic driving within field F according to the target route R1 (see Figure 3) and performs work with the implement 14 (e.g., tilling). Similarly, work vehicle 10b starts automatic driving within field F according to the target route R2 (see Figure 4) and performs work with the implement 14 (e.g., tilling). Note that work vehicle 10b may start automatic driving at a predetermined timing after work vehicle 10a has started automatic driving in response to the operator's start-to-drive instruction. In other words, in the automated driving system 1, while one work vehicle 10 is starting and finishing the first work, another work vehicle 10 may start the second work on the area where the first work has been completed. The start timing of each of the multiple tasks included in the work plan may be set in advance.

[0039] The target route R1, on which work vehicle 10a will automatically travel, and the target route R2, on which work vehicle 10b will automatically travel, are generated, for example, in the operation terminal 20. Each target route includes a work route within the work area and a movement route (including a turning route) in the non-work area (headland). Work vehicle 10a acquires route data corresponding to target route R1 from the operation terminal 20 and automatically travels according to target route R1, and work vehicle 10b acquires route data corresponding to target route R2 from the operation terminal 20 and automatically travels according to target route R2.

[0040] Furthermore, when the vehicle control device 11 receives a stop command from the operation terminal 20, it stops the automatic movement of the work vehicle 10. For example, when an operator presses the stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a stop command to the work vehicle 10.

[0041] [Operating terminal 20] As shown in Figure 1, the operating terminal 20 is an information processing device comprising a control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24, etc. The operating terminal 20 may be composed of a mobile device such as a tablet or a smartphone.

[0042] The communication unit 24 is a communication interface that connects the operating terminal 20 to the communication network N1 by wire or wireless connection and performs data communication with multiple external devices such as work vehicles 10 via the communication network N1 in accordance with a predetermined communication protocol.

[0043] The operation display unit 23 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator (user) can register various information (such as work vehicle information, field information, and work information described later) by operating the operation unit on the operation screen displayed on the display unit. The operator can also issue commands to start driving and stop driving to the work vehicle 10 by operating the operation unit. Furthermore, the operator can understand the driving status of the work vehicle 10 as it automatically drives along a target route in field F by looking at the driving trajectory displayed on the operation terminal 20, even when the operator is away from the work vehicle 10.

[0044] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 22 stores control programs, such as a setting program, which causes the control unit 21 to execute the setting process described later (see Figure 17). For example, the setting program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a reading device (not shown), such as a CD drive or DVD drive, provided by the operation terminal 20 and stored in the storage unit 22. Alternatively, the setting program may be downloaded from a server (not shown) to the operation terminal 20 via a communication network N1 and stored in the storage unit 22.

[0045] Furthermore, a dedicated application for automating the operation of the work vehicle 10 is installed in the memory unit 22. The control unit 21 starts the dedicated application and performs various processing tasks such as setting information related to the work vehicle 10, generating a target route for the work vehicle 10, and issuing automatic driving instructions to the work vehicle 10.

[0046] As shown in Figure 1, the control unit 21 includes various processing units such as a setting processing unit 211, a generation processing unit 212, and an output processing unit 213. The control unit 21 functions as these various processing units by executing various processes according to the setting program using the CPU. Some or all of these processing units may be composed of electronic circuits. The setting program may be a program that causes multiple processors to function as processing units.

[0047] The setting processing unit 211 sets information related to the work vehicle 10 (hereinafter referred to as "work vehicle information"). Specifically, the setting processing unit 211 sets information such as the model of the work vehicle 10, the location on which the positioning antenna 164 is attached to the work vehicle 10, the type of work equipment 14, the size (see Figures 14A and 14B below) and shape of the work equipment 14, the position of the work equipment 14 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 during operation, and the vehicle speed and engine speed of the work vehicle 10 during turning, by having the operator register this information on the operation terminal 20.

[0048] For example, in menu screen D1 shown in Figure 5, the operator selects "Register Implement" and registers the type of implement (cultivator, ridging machine, pest control machine, etc.) and implement information (work width, overlap width, etc.) on the registration screen (not shown). Here, the operator repeats the implement registration operation multiple times according to the work plan. For example, according to the crop cultivation plan, the implement registration operation is performed for each operation: tilling, turning, plowing, ridging, planting, weeding, pest control, and harvesting.

[0049] Next, the operator selects "Work Registration" on menu screen D1 shown in Figure 5, and registers multiple tasks included in the work plan on registration screen D2 (see Figure 6). For example, on registration screen D2 in Figure 6, the operator presses the "Add Work" button K21 to select a work implement from several pre-registered implements according to the work plan, and registers work information such as the work area, headland work method, unmanned / manned operation, turning method, vehicle speed, and engine speed. The work area is a setting item related to the area to be worked on in field F, and the operator selects one of the following: "Select crop type and pest control road to work", "Select crop type to work", or "Work on the entire field". For example, in tillage work, the operator may be able to select either "Select crop type and pest control road to work" or "Select pest control road to work". For example, if the operator wants to till immediately before making ridges or planting, they select "Select crop type and pest control road to work" and set the crop type and pest control road as the work area. The operator, for example, if they want to cultivate a pest control path, selects "Select pest control path and work" to set the pest control path as the work area. The setting processing unit 211 displays the work information registered by the operator in the work plan list D21. Specifically, in the setting screen for setting the work plan, the setting processing unit 211 displays a list of work details, identification information of the work vehicle 10 (main machine) and implement 14 (name, model number, etc.), and work area for each work.

[0050] Figure 6 shows the state in which work information related to the "plowing" operation has been registered. When the operator creates a work plan (for example, a crop cultivation plan), they press the "Add Work" button K21 on the registration screen D2 to register work information for each operation: plowing, turning, tilling, ridging, planting, weeding, pest control, and harvesting. Figure 7 shows the work plan list D21 with the work information for each of the operations registered. In this way, the setting processing unit 211 registers the first operation corresponding to the first work vehicle 10 that automatically travels within the first work area of ​​field F, and registers the second operation corresponding to the second work vehicle 10 that automatically travels within the second work area of ​​field F.

[0051] Next, the operator selects "Create Route" from menu screen D1 shown in Figure 5, and sets target routes corresponding to each of the multiple tasks included in the work plan on the route creation screen D3, etc. (see Figure 8, etc.). For example, on the route creation screen D3 in Figure 8, the operator selects the work plan to be performed (in this case, "Crop Cultivation Plan") from the work plan selection screen K31. After that, the operator selects the field to be performed, specifies the work area, sets the work direction, sets the start and end positions of the work, and sets the work details (e.g., pest control paths, furrow spacing, number of furrows, etc.) on the registration screen (not shown). Once the setting processing unit 211 has registered each setting, it displays the registration confirmation screen D4 (see Figure 9). The registration confirmation screen D4 displays the length of the outer edges of the work area (field). When the operator confirms the registration confirmation screen D4 and presses "Next", the setting processing unit 211 displays the registration confirmation screen D5 shown in Figure 10. The setting processing unit 211 displays the work area (e.g., planting area) and the route creation button K51 on the registration confirmation screen D5. If the operator determines that there are no problems with the set work area, they press the route creation button K51 to receive instructions to generate a target route.

[0052] [Ejection setting] Furthermore, the setting processing unit 211 can set whether or not to allow a part of the work vehicle 10 to extend beyond the boundary (outer edge) of field F when the work vehicle 10 is automatically traveling through field F. "A part of the work vehicle 10" includes the front, rear, and side parts of the vehicle body of the work vehicle 10, and the front, rear, and side parts of the work implement 14.

[0053] Specifically, the setting processing unit 211 displays on the registration confirmation screen D5 (see Figure 10) the option to select whether to allow or disallow (prohibit) the work vehicle 10 to go outside the field. For example, the setting processing unit 211 displays the option to select between "Batch Setting" and "Individual Setting" for the setting of the work vehicle 10 going outside the field. "Batch Setting" is a selection button for setting the same setting for all the outer edges of field F, whether to allow or disallow a part of the work vehicle 10 to go outside the field. "Individual Setting" is a selection button for setting whether to allow or disallow a part of the work vehicle 10 to go outside the field for specific locations in field F, for example, it is a selection button for individually setting whether to allow or disallow going outside for each outer edge of field F (or boundary line corresponding to the outer edge considering the safety margin). For example, the operator presses the batch setting button K52 to set permission / denial for all edges of the field to extend outside the field at once, and presses the individual setting button K53 to set permission / denial for each edge of the field to extend outside the field individually.

[0054] When the operator presses the batch setting button K52, the setting processing unit 211 displays the out-of-field setting screen D6 shown in Figure 11. The setting processing unit 211 displays on the out-of-field setting screen D6 the option to either allow or disallow the work vehicle 10 from going outside the field. The operator can select whether to allow or disallow the work vehicle 10 from going outside the field for all edges of field F at once. After selecting "Allow" or "Disallow," the operator presses the "Save and Return" button. When the operator selects "Allow" and presses the "Save and Return" button, the setting processing unit 211 sets the field to allow the work vehicle 10 from going outside the field for all edges of field F. When the operator selects "Disallow" and presses the "Save and Return" button, the setting processing unit 211 sets the environment so that the work vehicle 10 cannot go outside the field along all edges of field F.

[0055] For example, when the operator selects "Allow" and presses the "Save and Return" button, the setting processing unit 211 returns to the registration confirmation screen D5, as shown in Figure 12, and displays each outer edge of field F in a way that makes it identifiable that the work vehicle 10 is permitted to move outside the field. In Figure 12, each outer edge is represented by a solid line, but in other embodiments, the outer edges may be displayed in a predetermined color. The operator presses the route creation button K51 when they determine that there are no problems with the set work range and move-out settings.

[0056] When the operator presses the individual setting button K53 (see Figure 10), the setting processing unit 211 displays the overhang setting screen D7 shown in Figure 13. On the overhang setting screen D7, the setting processing unit 211 displays the option to allow or disallow the work vehicle 10 from overhanging outside the field for each outer edge. The operator can select an outer edge of field F and choose whether to allow or disallow the work vehicle 10 from overhanging outside the field. For example, if the operator taps the outer edge that allows the work vehicle 10 to overhang outside the field (the top edge in Figure 13), the setting processing unit 211 displays a selection screen K71 (pop-up display) to select whether to allow or disallow overhanging for that outer edge. After the operator selects "Allow," they press the setting button K72. If there are other edges of the field where the work vehicle 10 is permitted to fly outside the field, the operator then taps those edges, selects "Allow," and presses the setting button K72. After completing the "Allow" setting operation for each edge of the field where flyout is permitted, the operator presses the "Save and Return" button. As a result, the setting processing unit 211 sets whether to allow or disallow a portion of the work vehicle 10 to fly outside the field for each edge of the field F (an example of a specific location in the present invention). In another embodiment, the setting processing unit 211 may set a range selected by the operator within one edge (for example, the selected range shown in Figure 18B) as an allowed section where flyout outside the field is permitted.

[0057] When the operator sets the overhang settings for each edge of the field and presses the "Save and Return" button (see Figure 13), the setting processing unit 211 returns to the registration confirmation screen D5 and displays the edges of the field F where the work vehicle 10 is permitted to overhang outside the field. For example, the setting processing unit 211 displays the edges of the field F that are set to allow overhang and those that are set to not allow overhang in different ways (e.g., by color). The operator presses the route creation button K51 when they determine that there are no problems with the set work range and overhang settings.

[0058] In this embodiment, the setting processing unit 211 is configured to initially set "not permitted" for flying outside the field and to change the setting to "permitted" in response to the operator's actions. However, in other embodiments, the setting processing unit 211 may be configured to initially set "permitted" for flying outside the field and to change the setting to "not permitted" in response to the operator's actions.

[0059] Furthermore, when the setting processing unit 211 is configured to allow a portion of the work vehicle 10 to extend outside the field, it sets the maximum extension limit (extension limit width), which is the upper limit of how far the work vehicle 10 will extend. Specifically, the setting processing unit 211 sets the extension limit based on the size of the implement 14 or the field boundary detection result obtained when the work vehicle 10 performed a teaching run during field registration.

[0060] For example, when registering a field, the operator boards the work vehicle 10 and manually drives the work vehicle 10 along the perimeter of the area to be worked on. While the work vehicle 10 is driving along the perimeter, the setting processing unit 211 acquires the position information of the work vehicle 10 and also acquires detection results of the area around the work vehicle 10 from the detection unit (obstacle sensor, camera, etc.) mounted on the work vehicle 10. For example, the detection unit detects the position and height of obstacles such as ridges and structures near the boundary of the work area. Based on the detection results of the detection unit, the setting processing unit 211 calculates the upper limit of the length that the work vehicle 10 can extend beyond the field without contacting obstacles (extension allowance).

[0061] For example, the setting processing unit 211 sets the overhang allowance based on the size (length and width) of the implement 14. For example, in the work vehicle 10 shown in Figure 14A, when the rear (rear wheels) of the work vehicle 10 is closest to the boundary of field F, there is a possibility that the implement 14 will overhang out of the field by the length L1 of the implement 14, in which case the maximum overhang is L1. Also, for example, when the side (side wheels) of the work vehicle 10 is closest to the boundary of field F, there is a possibility that the implement 14 will overhang out of the field by the length of the portion of its width W1 that protrudes laterally from the side wheels, in which case the maximum overhang is that length.

[0062] Furthermore, as shown in Figure 14B, for example, in a work vehicle 10 with the implement 14 attached offset in the left-right direction, when the side of the work vehicle 10 (side wheels) approaches the boundary of the field F, the implement 14 may protrude out of the field by a width W1, in which case the maximum protrusion amount is the width W1. In another embodiment, if the implement 14 is a sprayer, the maximum length of the arm extending to the side of the work vehicle 10 becomes the maximum protrusion amount.

[0063] Furthermore, in the case of the work vehicle 10 shown in Figures 14A and 14B, if the front of the work vehicle 10 (front wheels) approaches the boundary of field F, there is a possibility that the front of the vehicle body, i.e., the length in front of the front wheels, will protrude outside the field. In this case, the maximum amount of protrusion will be the length of the portion in front of the front wheels.

[0064] Thus, the maximum amount of the work vehicle 10 to protrude is the amount of the part (work implement 14 or vehicle body) that protrudes outside the field when the work vehicle 10 is traveling along the outermost perimeter (field boundary) of the drivable area of ​​field F. However, if a safety margin is secured a predetermined distance inward from the outer edge of field F, the amount of the work vehicle 10 to protrude will be the amount of the protrusion from the boundary line of the area excluding the safety margin.

[0065] The setting processing unit 211 determines, based on the detection results from the detection unit, that even if a part (part) of the work vehicle 10 protrudes outside the field by the maximum protrusion amount, it will not come into contact with an obstacle, and sets the maximum protrusion amount to the allowable protrusion amount. For example, the setting processing unit 211 determines that even if the implement 14 protrudes outside the field by the larger of the length L1 and width W1, it will not come into contact with an obstacle, and sets the larger of the length L1 and width W1 to the allowable protrusion amount. For example, if there are no obstacles around field F, the setting processing unit 211 sets the larger of the length L1 and width W1 of the implement 14 to the allowable protrusion amount.

[0066] In response to this, the setting processing unit 211 determines that the implement 14 will come into contact with an obstacle if it extends outside the field by the larger of the length L1 and width W1, that is, if the distance from the outer edge of the field F to the obstacle is smaller than the larger of the length L1 and width W1 of the implement 14, it sets the distance to the obstacle as the allowable extension amount. Note that the length L1 and width W1 of the implement 14 may be registered in advance on the registration screen of "Implement Registration" (see Figure 5).

[0067] The setting processing unit 211 may set the overhang allowance to the same value for all outer edges that the operator has permitted to overhang, or it may set different values ​​for each outer edge. For example, if there are no obstacles near any of the outer edges that the operator has permitted to overhang, the setting processing unit 211 sets the maximum overhang amount to the overhang allowance for all outer edges. Alternatively, the setting processing unit 211 may set the distance to the obstacle to the overhang allowance for outer edges that the operator has permitted to overhang and that have obstacles, and set the maximum overhang amount to the overhang allowance for outer edges that do not have obstacles. Furthermore, the setting processing unit 211 may set the distance to the obstacle to the overhang allowance for a portion of an outer edge that has obstacles, and set the maximum overhang amount to the overhang allowance for a portion of that outer edge that does not have obstacles. In other words, the setting processing unit 211 may set different overhang allowances for different portions of an outer edge.

[0068] As described above, the setting processing unit 211, in response to the operator's selection, permits a portion of the work vehicle 10 to extend outside the field F along its outer edge, and sets an allowable extension amount for the outer edge where extension permission has been set. The setting processing unit 211 may accept the operator's selection operation for the extension setting while the work vehicle 10 is actually driving, or it may accept the selection operation before the work vehicle 10 starts driving (for example, when generating the target route).

[0069] [Generating target paths] The generation processing unit 212 generates a target route for the work vehicle 10 to automatically travel in field F based on the work information and the setting information. For example, when the operator presses the route creation button K51 on the registration confirmation screen D5 (see Figures 10 and 12), the generation processing unit 212 generates a target route corresponding to each of the multiple tasks included in the work plan. The generation processing unit 212 may also generate multiple target routes corresponding to each of the tasks included in the crop cultivation plan, such as tilling, turning, cultivating, ridging, planting, weeding, pest control, and harvesting, all at once. For tasks among the multiple tasks that share the same implement 14 and work route (work range, work position), the generation processing unit 212 generates the same target route.

[0070] Furthermore, the generation processing unit 212 generates a target route based on the setting information regarding the work vehicle 10's ability to move outside the field. For example, if the work vehicle 10's ability to move outside the field is set to "not permitted," the generation processing unit 212 generates a target route that prevents the work vehicle 10 from moving outside the field. Conversely, if the work vehicle 10's ability to move outside the field is set to "permitted," the generation processing unit 212 generates a target route that ensures the amount the work vehicle 10 moves outside the field is less than the permitted amount.

[0071] Here, when the work vehicle 10 turns in the headland (non-working area) on the outer perimeter of field F, there is a high possibility that it will fly off the field. For this reason, the generation processing unit 212 appropriately generates a turning path in which the work vehicle 10 does not fly off the field, or a turning path in which the amount of flying off is less than the allowable amount of flying off.

[0072] Once the generation processing unit 212 has generated a route as described above, it displays the route generation result. Furthermore, if a portion of the work vehicle 10 extends outside the field in the generated route, and if the extension outside the field is set to "permitted," the generation processing unit 212 displays a message indicating that a route extending outside the field has been generated, along with an "allow" button to approve the extension outside the field, as shown in Figure 15A, on the route creation result screen D8. The generation processing unit 212 may also display the portion of the target route that extends outside the field in an identifiable manner on the route creation result screen D8. When the operator presses the "allow" button, the generation processing unit 212 updates the route creation result screen D8 to the screen shown in Figure 15B, enabling the selection of the save button. When the operator presses the "Save this route" button, the generation processing unit 212 registers the target route in association with the field.

[0073] Furthermore, if the setting for venturing outside the field is "permitted," and the amount of venturing outside the field in the generated path exceeds the permitted venting limit (in the case of a path generation error), the generation processing unit 212 may display an error screen on the path creation result screen D8, as shown in Figure 16A. In this case, the generation processing unit 212 displays a message on the path creation result screen D8 indicating that path generation was not possible, and omits the display of the generated path.

[0074] In another embodiment, the generation processing unit 212 may, in the event of a path generation error, display only the portion of the path on the path creation result screen D8 where the amount of overhang outside the field does not exceed the overhang allowance, as shown in Figure 16B. The generation processing unit 212 may also display information to resolve the error in the event of a path generation error. For example, the generation processing unit 212 may prompt a change in the headland width, suggest an optimal headland width, prompt a change in the overhang allowance, or suggest an optimal overhang allowance as the countermeasure information. Specifically, for example, if a path generation error occurs in a turning path generated with a turning pattern according to conditions set by the operator ("forward only" and "turning radius 5m"), the generation processing unit 212 may gradually change the turning radius from 5m to 3m, and if the path generation error still cannot be resolved, change the condition to "reverse allowed" and generate a turning path, and if the path generation error still cannot be resolved, further change the turning radius and generate a turning path. Furthermore, the generation processing unit 212 may change the conditions to generate a target route and ultimately present the operator with a route that resolves the route generation error.

[0075] Furthermore, in the event of a path generation error, the generation processing unit 212 may indicate how much the headland width and overhang allowance can be reduced. For example, in some operations involving crop dies, increasing the headland width may not increase the work area due to fractional values. In this case, the generation processing unit 212 may indicate to the operator how much the headland width can be increased. Also, if the overhang allowance is set to be relatively large and the operator wants to minimize the overhang, the generation processing unit 212 may indicate to the operator how much the overhang allowance can be reduced.

[0076] Furthermore, if the setting for flying outside the field is "not permitted," and a path leading outside the field is generated, the generation processing unit 212 may similarly display the error screen as a path generation error.

[0077] The generation processing unit 212 generates multiple target paths corresponding to each of the tasks included in the work plan (crop cultivation plan), such as tilling, inversion, plowing, ridging, planting, weeding, pest control, and harvesting, and registers them in association with the work plan. In this way, the generation processing unit 212 generates multiple target paths corresponding to each of the tasks in a single operation according to the work plan. The operator can easily check the work plan using the work plan list D21, and can also easily check the target paths corresponding to each task. For example, the control unit 21 may display the target path corresponding to a task when the operator selects a predetermined task in the work plan list D21 (see Figure 7). This allows the operator to easily check the target path for each task.

[0078] Here, the operator selects a field, selects a task (work plan), confirms the target route, and issues a work commencement order before starting work. When the operator issues a work commencement order, the output processing unit 213 outputs the route data of the target route generated by the generation processing unit 212 to the work vehicle 10. Specifically, the output processing unit 213 outputs the route data of target route R1 to the work vehicle 10a and the route data of target route R2 to the work vehicle 10b.

[0079] When route data generated at the operation terminal 20 is transferred to each work vehicle 10, the route data is stored in the storage unit 12. Each work vehicle 10 detects its current position using the positioning antenna 164 and performs automatic driving processing based on the route data. Specifically, the vehicle control device 11 of each work vehicle 10 automatically drives the work vehicle 10 according to the settings regarding the work vehicle 10 leaving the field.

[0080] While each work vehicle 10 is automatically moving, the operator can monitor the driving status, work status, etc. within the field F using the control terminal 20.

[0081] The operating terminal 20 may also be able to access the website (agricultural support site) of the agricultural support service provided by the server via the communication network N1. In this case, the operating terminal 20 can function as an operating terminal for the server by having a browser program executed by the operation control unit. The server then has the above-described processing units and executes each of them.

[0082] [Setup Process] An example of the setting process performed by the control unit 21 of the operation terminal 20 will be described below with reference to Figure 17. For example, the setting process is started by the control unit 21 when it receives a setting operation from the operator to generate a target route for the work vehicle 10.

[0083] Furthermore, the present invention may be considered as an invention of a setting method (an example of the setting method of the present invention) in which the control unit 21 performs part or all of the setting process, or as an invention of a setting program (an example of the setting program of the present invention) for causing the control unit 21 to perform part or all of the setting method. In addition, the setting process may be performed by one or more processors.

[0084] <Step S1> In step S1, the control unit 21 performs work registration. For example, on the registration screen D2 in Figure 6, when the operator presses the add work button K21 to select a work implement from a number of pre-registered implements according to the work plan and performs an operation to register work information such as the work area, headland work method, unmanned / manned operation, turning method, vehicle speed, and engine rotation speed, the control unit 21 registers the work information in association with the work. Based on the operator's registration operation, the control unit 21 registers the work information for each of the multiple tasks included in the work plan. For example, when the operator performs an operation to register work information for tillage, inversion, cultivation, ridging, planting, weeding, pest control, and harvesting in order to create a crop cultivation plan, the control unit 21 registers the work information for each of the aforementioned tasks in association with the crop cultivation plan.

[0085] <Step S2> Next, in step S2, the control unit 21 displays a work plan (work plan list D21) containing work information for multiple registered tasks. For example, as shown in Figure 7, the control unit 21 displays the work plan list D21 for crop cultivation on the operation display unit 23.

[0086] <Step S3> Next, in step S3, the control unit 21 displays the registration screen for each setting information. Specifically, the operator selects "Create Route" from the menu screen D1 (see Figure 5), selects the work plan (in this case, "Crop Cultivation Plan") from the route creation screen D3 (see Figure 8), and on the registration screen (not shown), selects the field, specifies the work area, sets the work direction, sets the work start and end positions, and sets the work details (e.g., pest control path, furrow spacing, number of furrows, etc.). Once the control unit 21 has registered each setting information, it displays the registration confirmation screen D5 (see Figure 10).

[0087] <Step S4> Next, in step S4, the control unit 21 determines whether it has received a setting operation from the operator regarding the departure of the work vehicle 10 from the field. Specifically, if the operator selects "Batch setting" or "Individual setting" on the registration confirmation screen D5 (S4: Yes), the control unit 21 proceeds to step S5. On the other hand, if the operator presses the route creation button K51 on the registration confirmation screen D5 (S4: No), the control unit 21 proceeds to step S6.

[0088] <Step S5> In step S5, the control unit 21 performs processing related to the vehicle exit setting. Specifically, when the operator presses the batch setting button K52 (see Figure 10), the control unit 21 displays the vehicle exit setting screen D6 shown in Figure 11, allowing the operator to select whether to allow or disallow the work vehicle 10 to exit outside the field for all edges of field F. For example, if the operator selects "Allow" and presses the "Save and Return" button, the control unit 21 sets the vehicle exit setting to allow the work vehicle 10 to exit outside the field for all edges of field F. If the operator selects "Disallow" and presses the "Save and Return" button, the control unit 21 sets the vehicle exit setting to prohibit the work vehicle 10 from exiting outside the field for all edges of field F.

[0089] Furthermore, when the operator presses the individual setting button K53 (see Figure 10), the control unit 21 displays the jump setting screen D7 shown in Figure 13, allowing the operator to select whether to permit or prohibit the work vehicle 10 from jumping out of the field for each outer edge. For example, if the operator taps the outer edge (top edge in Figure 13) that permits the work vehicle 10 from jumping out of the field, the control unit 21 displays a selection screen K71 (pop-up display) to select whether to permit or prohibit jumping out of the field for that outer edge. The operator sets each outer edge to permit jumping and presses the "Save and Return" button. In this way, the control unit 21 sets whether to permit or prohibit the work vehicle 10 from jumping out of the field for each outer edge of field F. When the control unit 21 finishes the jump setting, it moves the process to step S6.

[0090] <Step S6> In step S6, the control unit 21 determines whether or not it has received an instruction from the operator to generate a target route. If the control unit 21 has received an instruction from the operator to generate a target route (S6: Yes), it proceeds to step S7. For example, if the operator presses the route creation button K51 on the registration confirmation screen D5 (see Figures 10 and 12), the control unit 21 proceeds to step S7. The control unit 21 repeats the processes in steps S4 and S5 until the operator presses the route creation button K51 on the registration confirmation screen D5 (S6: No).

[0091] <Step S7> In step S7, the control unit 21 generates target paths corresponding to each of the multiple tasks included in the work plan. Here, the control unit 21 generates multiple target paths all at once, corresponding to each of the tasks included in the crop cultivation plan: tilling, inversion, plowing, ridging, planting, weeding, pest control, and harvesting.

[0092] Furthermore, when the control unit 21 is set to allow the work vehicle 10 to fly out of the field, it generates the target path based on the permitted amount of flying out. Specifically, the control unit 21 generates the target path within a range where the amount the work vehicle 10 flies out of the field does not exceed the permitted amount of flying out. For example, the control unit 21 generates a turning path as appropriate so that the amount of flying out does not exceed the permitted amount of flying out.

[0093] Even if the setting is configured to prevent the work vehicle 10 from flying outside the field, the control unit 21 may still select the optimal turning pattern and generate a turning path.

[0094] <Step S8> In step S8, the control unit 21 displays the generated route on the route creation result screen D8 (see Figures 15A and 15B).

[0095] If a portion of the work vehicle 10 extends outside the field along the generated route, and if the extension outside the field is set to "permitted," the control unit 21 displays a message indicating that a route extending outside the field has been generated, along with an "allow" button to approve the extension outside the field, as shown in Figure 15A, on the route creation result screen D8, and further displays the portion extending outside the field for identification.

[0096] Furthermore, if the setting for venturing outside the field is "permitted," and the amount of venturing outside the field exceeds the permitted venting limit (in the case of a route generation error), the control unit 21 will display an error screen on the route creation result screen D8, as shown in Figure 16A. Alternatively, the control unit 21 may display only the portion of the route where the amount of venturing outside the field does not exceed the permitted venting limit, as shown in Figure 16B.

[0097] When the operator presses the "Allow" button on the screen shown in Figure 15A, and then presses the "Save this route" button on the screen shown in Figure 15B, the control unit 21 registers the target route in association with the field. When the operator presses the "Back" button on the route creation result screen D8 shown in Figure 16A, the control unit 21 may display a screen for changing the headland width and the overhang allowance, and accept the operation to change the headland width and the overhang allowance.

[0098] <Step S9> In step S9, the control unit 21 determines whether or not it has received a work start instruction from the operator. If the control unit 21 receives the work start instruction from the operator (S9: Yes), it proceeds to step S10. The control unit 21 waits until it receives the work start instruction (S9: No).

[0099] <Step S10> In step S10, the control unit 21 outputs the generated target path data to the work vehicles 10. For example, the control unit 21 outputs the target path data generated for the entire field F to each work vehicle 10 that performs tillage and inversion operations, respectively, the target path data generated for a work block to each work vehicle 10 that performs tillage, ridging, planting, weeding, and harvesting operations, respectively, and the target path data generated for a pest control road to the work vehicle 10 that performs pest control operations. Each work vehicle 10 automatically drives according to the target path at a preset timing for each operation: tillage, inversion, tillage, ridging, planting, weeding, pest control, and harvesting.

[0100] As described above, the automated driving system 1 according to this embodiment sets information for automatically driving the work vehicle 10 in the field F. Specifically, the automated driving system 1 can set whether or not to allow a part of the work vehicle 10 to extend outside the field when the work vehicle 10 is automatically driving in the field F. For example, the automated driving system 1 can set whether or not to allow a part of the work vehicle 10 to extend outside the field at a specific point at the edge of the field F, for example, the outer edge of the field F or the boundary line excluding the safety margin. The automated driving system 1 can also set whether or not to allow a part of the work vehicle 10 to extend outside the field for each of the multiple outer edges of the field F. Furthermore, the automated driving system 1 automatically drives the work vehicle 10 according to the settings regarding the work vehicle 10 extending outside the field.

[0101] With the above configuration, it is possible to set the setting for the work vehicle 10 to move outside the field according to the condition of the field F and the condition of obstacles around the field F, such as allowing the work vehicle 10 to move outside the field for the entire field F, or allowing the work vehicle 10 to move outside the field for only a specific part of the field F (for example, one side of the outer edge), thereby improving the work efficiency of the work performed by the work vehicle 10.

[0102] [Other embodiments] The present invention is not limited to the embodiments described above, and may also be in the following embodiments. For example, the setting processing unit 211 may prohibit a portion of the work vehicle 10 from going outside the field for a specific area of ​​the outer edge of the field where a portion of the work vehicle 10 is permitted to go outside the field. Figure 18A shows a state in which the work vehicle 10 is permitted to go outside the field for each outer edge of field F. In the registration confirmation screen D5 shown in Figure 18A, the setting processing unit 211 displays a prohibition setting button K54 for prohibiting going outside the field. When the operator presses the prohibition setting button K54, the setting processing unit 211 displays the prohibition setting screen D9 shown in Figure 18B and accepts the operation to set the section in which going outside the field is prohibited. For example, on the prohibition setting screen D9, if the operator selects (taps) two points within the outer edge where flying outside the field is permitted and presses the setting button K81, the setting processing unit 211 sets the section between the two points as a prohibited section (an example of a specific area in the present invention) where flying outside the field is prohibited.

[0103] In another embodiment, the setting processing unit 211 may set an area specified by the operator within the field as a prohibited area. For example, if the operator specifies the entrance / exit, discharge location, replenishment location, etc., of field F, the setting processing unit 211 may prohibit entry into the specified area.

[0104] When the prohibited section is set, the generation processing unit 212 generates a target path (such as a turning path) so that the work vehicle 10 does not go outside the field in the prohibited section. In addition, the operator may be able to set the permissible amount of going outside the prohibited section. For example, when the operator selects (taps) two points on the outer edge, the setting processing unit 211 may display a setting screen for the permissible amount of going outside the prohibited section and accept input from the operator for the permissible amount of going outside.

[0105] In another embodiment, the setting processing unit 211 may set the section between two points to a permitted section that allows for cropping outside the field when the operator selects (taps) two points within a desired outer edge. For example, in the cropping setting screen D7 shown in Figure 13, if the operator taps an outer edge (top edge), then subsequently selects (taps) two points on that top edge, selects "Allow," and presses the setting button K72, the setting processing unit 211 sets the section between the two points to the permitted section.

[0106] In the embodiment described above, the setting processing unit 211 sets whether or not to allow a part of the work vehicle 10 to fly out of the field, depending on the operator's actions (see Figures 10 to 13, etc.). In another embodiment, the setting processing unit 211 may automatically set whether or not to allow a part of the work vehicle 10 to fly out of the field, regardless of the operator's actions. For example, the setting processing unit 211 determines whether or not the work vehicle 10 can fly out of the field and the amount it can fly out based on the detection results obtained from the detection unit (obstacle sensor, camera, etc.) (position and height of obstacles such as ridges and structures near the boundary of the work area) and the state of the work vehicle 10 (height from the ground when the work implement 14 is not working or when turning, height from the ground to the vehicle body), and sets whether or not to allow or deny the flying out of the field based on the determination result. Alternatively, the setting processing unit 211 may automatically set whether or not to allow or deny the flying out of the field based on the determination result for each outer edge, for example.

[0107] Furthermore, if the setting processing unit 211 automatically sets whether or not to allow or deny flying outside the field, it may display on the registration confirmation screen D5 (see Figure 10, etc.) in a way that allows identification of the areas where flying outside the field is permitted and the areas where flying outside the field is prohibited.

[0108] Furthermore, the setting processing unit 211 may set a height that allows the workpiece to jump out of the field based on the height of the obstacle. For example, if an obstacle exists in an area from the ground up to a height H0, the setting processing unit 211 sets the allowable jump height to be at least H0 for the outer edge of the location of the obstacle. In this case, the setting processing unit 211 allows the workpiece 14 or the vehicle body to jump out of the field if its height H1 from the ground is greater than height H0, and prohibits jumping out of the field if its height H1 is less than height H0. The setting processing unit 211 may set an allowable jump height for each outer edge where an obstacle exists, or it may set an allowable jump height for each location where an obstacle exists.

[0109] Furthermore, the setting processing unit 211 may set permission or denial for the vehicle to jump out of the field based on information such as the work performance and driving history of other tasks included in the work plan, and the detection results of the detection unit during the task in question.

[0110] In another embodiment of the present invention, the setting processing unit 211 may set whether or not to allow a portion of the work vehicle 10 to veer outside the field for a specific location on a non-working path in the headland. For example, if there is a non-working path on which it is determined that a portion of the work vehicle 10 will veer outside the field at a specific location (e.g., one side of the outer edge) when the work vehicle 10 attempts to travel, the setting processing unit 211 may set permission / denial for veering outside the field for multiple non-working paths corresponding to that specific location at once, or it may set permission / denial for veering outside the field individually for each of the multiple non-working paths corresponding to that specific location.

[0111] In another embodiment of the present invention, the setting processing unit 211 may set whether or not to allow a part of the work vehicle 10 to fly out of the field, based on information regarding the implements 14 attached to the work vehicle 10. For example, some implements 14, such as those towed by the work vehicle 10, cannot be allowed to fly out of the field. Therefore, the setting processing unit 211 may set whether or not to allow the implements 14 to fly out of the field, depending on the type of implement.

[0112] In another embodiment of the present invention, the setting processing unit 211 may set whether or not to allow a part of the work vehicle 10 to extend outside the field for each part of the work vehicle 10. For example, the setting processing unit 211 may allow the front of the work vehicle 10 to extend outside the field, while prohibiting the rear of the work vehicle 10 from extending outside the field. In this way, it is possible to select whether or not to allow each part of the work vehicle 10 to extend outside the field, thereby improving work efficiency while considering safety.

[0113] In another embodiment of the present invention, the setting processing unit 211 may set the vehicle speed when the work vehicle 10 is traveling in an area where it is permitted to go outside the field to a slower speed than the vehicle speed when the work vehicle 10 is traveling without going outside the field.

[0114] In another embodiment of the present invention, when the work vehicle 10 travels outside the field, automatic driving may be permitted on the condition that an operator is monitoring it (such as being on board the work vehicle 10, monitoring a monitor, or otherwise being in a state where the work vehicle 10 can be stopped at any time).

[0115] In another embodiment of the present invention, the setting processing unit 211 may set the working area A1 inside the field F to be narrower if it does not want the work vehicle 10 to fly out of the field.

[0116] In another embodiment of the present invention, the setting processing unit 211 may display the overshoot allowance, which is the upper limit of the amount of overshoot permitted when the work vehicle 10 overshoots the field, and the headland width. The operator may also be able to change the overshoot allowance and the headland width. If the operator changes the overshoot allowance and the headland width, the generation processing unit 212 may generate a target path based on the changed overshoot allowance and headland width.

[0117] Furthermore, if the overhang allowance and the headland width are changed, the setting processing unit 211 may change the size and shape of the work area A1 within the field F. For example, as shown in Figure 19A, if the corner of the field F (lower left corner in the figure) is curved inward, the setting processing unit 211 sets the shape of the work area A1 to match the outer shape. Here, the setting processing unit 211 sets the headland width Xa in the left-right direction from the outer edge of the corner, and the headland width Xb in the up-down direction. If the operator widens the headland width at the bottom edge of the field F from X1 to X2, the setting processing unit 211 changes the size and shape of the work area A1 as shown in Figure 19B. For example, if the headland width widens to a position where the bottom edge of the work area A1 no longer contacts the outer edge of the field F, the setting processing unit 211 changes the corner of the work area A1 (lower left corner) to a simplified shape as shown in Figure 19B. As a result, the headband widths Xa and Xb are omitted. If the operator narrows the headband width from X2 to X1 in the state shown in Figure 19B, the setting processing unit 211 changes the corner (lower left corner) of the work area A1 to the shape shown in Figure 19A. In this way, the setting processing unit 211 may change the size and shape of the work area A1 in accordance with the change in headband width.

[0118] The setting system of the present invention may consist of an operating terminal 20 alone, or a work vehicle 10 and the operating terminal 20, or a work vehicle 10 alone. The setting system may also consist of a server equipped with each processing unit included in the operating terminal 20.

[0119] [Notes on the invention] The following is an overview of the invention extracted from the embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0120] <Note 1> A setting method for setting information to enable an automated operation of a work vehicle in a field, A setting method for determining whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically traveling through the field.

[0121] <Note 2> The setting determines whether or not to allow a part of the work vehicle to extend outside the field at a specific point at the edge of the field. The setup method is described in Appendix 1.

[0122] <Note 3> For each of the multiple outer edges of the field, a setting is made to allow a part of the work vehicle to extend outside the field. The setting method described in Appendix 1 or 2.

[0123] <Note 4> With respect to a specific area within the outer edge of the field where a portion of the work vehicle is permitted to extend outside the field, the extension of a portion of the work vehicle outside the field is prohibited. The setup method is described in Appendix 3.

[0124] <Note 5> The target route for the automated operation of the aforementioned work vehicle includes a work route in which the work vehicle operates automatically while performing a predetermined task, and a non-work route in which the work vehicle operates automatically without performing the predetermined task. To set whether or not to allow a portion of the work vehicle to veer outside the field on the non-working route at the specified location, The setup method is described in Appendix 2.

[0125] <Note 6> Based on information regarding the implement attached to the work vehicle, the system sets whether or not to allow a part of the work vehicle to veer outside the field. The setting method is described in one of the appendices 1 to 5.

[0126] <Note 7> For each part of the work vehicle, a setting is made to determine whether or not to allow a part of the work vehicle to extend outside the field. The setting method is described in one of the appendices 1 to 6.

[0127] <Note 8> When allowing a portion of the work vehicle to extend outside the field, the maximum extension limit of the work vehicle's extension is set based on the size of the implement attached to the work vehicle, or the field boundary detection result obtained when the work vehicle performed a teaching run during field registration. The setting method is described in one of the appendices 1 to 7.

[0128] <Note 9> Based on the aforementioned allowable deviation, a target path is generated for the work vehicle to travel automatically. The setup method is described in Appendix 8.

[0129] <Note 10> Based on the aforementioned allowable overhang, the turning pattern of the turning path included in the target path is determined. The setup method is described in Appendix 9.

[0130] <Note 11> A setting program for setting information to automatically drive a work vehicle in a field, A setting program that causes one or more processors to set whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically traveling through the field.

[0131] <Note 12> A setting system for setting information to enable the automatic operation of work vehicles in a field, A setting system for determining whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically traveling through the field.

[0132] <Note 13> An automated driving method for automatically driving a work vehicle in a field, Setting whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically traveling through the field, The work vehicle is to be driven automatically according to the settings regarding the vehicle's departure from the field. An automated driving method that performs this task. [Explanation of symbols]

[0133] 1: Automated driving system 10: Work vehicles 11: Vehicle control system 12: Storage section 13: Running gear 14: Work Machines 15: Communications Department 16: Positioning Unit 18: Cabin 20: Operating terminal 21: Control Unit 22: Storage section 23: Operation display section 24: Communications Department 211: Configuration Processing Unit 212: Generation Processing Unit 213: Output Processing Unit

Claims

1. A setting method for setting information to enable an automated operation of a work vehicle in a field, A setting method for determining whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically traveling through the field.

2. The setting determines whether or not to allow a part of the work vehicle to extend outside the field at a specific point at the edge of the field. The setting method according to claim 1.

3. For each of the multiple outer edges of the field, a setting is made to allow a part of the work vehicle to extend outside the field. The setting method according to claim 1.

4. With respect to a specific area within the outer edge of the field where a portion of the work vehicle is permitted to extend outside the field, the extension of a portion of the work vehicle outside the field is prohibited. The setting method described in claim 3.

5. The target route for the automated operation of the aforementioned work vehicle includes a work route in which the work vehicle operates automatically while performing a predetermined task, and a non-work route in which the work vehicle operates automatically without performing the predetermined task. To set whether or not to allow a portion of the work vehicle to veer outside the field on the non-working route at the specified location, The setting method according to claim 2.

6. Based on information regarding the implement attached to the work vehicle, the system sets whether or not to allow a part of the work vehicle to veer outside the field. The setting method according to claim 1.

7. For each part of the work vehicle, a setting is made to determine whether or not to allow a part of the work vehicle to extend outside the field. The setting method according to claim 1.

8. When allowing a portion of the work vehicle to extend outside the field, the maximum extension limit of the work vehicle's extension is set based on the size of the implement attached to the work vehicle, or the field boundary detection result obtained when the work vehicle performed a teaching run during field registration. The setting method according to claim 1.

9. Based on the aforementioned allowable deviation, a target path is generated for the work vehicle to travel automatically. The setting method according to claim 8.

10. Based on the aforementioned allowable overhang, the turning pattern of the turning path included in the target path is determined. The setting method described in claim 9.

11. A setting program for setting information to automatically drive a work vehicle in a field, A setting program that causes one or more processors to set whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically traveling through the field.

12. A setting system for setting information to enable the automatic operation of work vehicles in a field, A setting system for determining whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically traveling through the field.

13. An automated driving method for automatically driving a work vehicle in a field, Setting whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically traveling through the field, The work vehicle is to be driven automatically according to the settings regarding the vehicle's departure from the field. An automated driving method that performs this task.

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