Work methods, work programs, and work systems

Abstract

The present invention provides a work method, work program, and work system that enable the sprayer's height to be set to an appropriate position relative to the target area. [Solution] The spraying control device 15 performs the following processes: controlling the height of the sprayer 14 based on the height of the target to be sprayed while the work vehicle 10 is automatically driving; and switching the enablement and disablement of the height control function that controls the height of the sprayer 14 based on the target start position or target end position of the work in the work path.

Description

Technical Field

[0001] The present invention relates to a technique for spraying a spraying material onto a spraying target in a sprayer provided on a work vehicle.

Background Art

[0002] Conventionally, a work vehicle equipped with a sprayer for spraying a spraying material (such as a chemical or water) onto a spraying target (such as a crop or soil) is known. For example, the work vehicle is configured to control the height of the sprayer according to the height of an obstacle when detecting an obstacle ahead during automatic driving (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, when performing a spraying operation while automatically driving the work vehicle, it is necessary to set the height of the sprayer at an appropriate position in order to surely spray the spraying material onto the spraying target. In the conventional technology, it is possible to control the height of the sprayer with respect to an obstacle, but it is difficult to set the height of the sprayer with respect to the spraying target at an appropriate position.

[0005] An object of the present invention is to provide a working method, a work program, and a work system capable of setting the height of a sprayer with respect to a spraying target at an appropriate position.

Means for Solving the Problems

[0006] The work method according to the present invention is a method of spraying a substance onto a target object using a sprayer installed on a work vehicle. The work method includes controlling the height of the sprayer based on the height of the target object while the work vehicle is automatically driving, and switching the enablement and disablement of the height control function that controls the height of the sprayer based on the target start position or target end position of the work along the work path.

[0007] The work program according to the present invention is a work program for a sprayer installed on a work vehicle to spray a substance onto a target. The work program is a program that causes one or more processors to execute the following: controlling the height of the sprayer based on the height of the target while the work vehicle is automatically traveling along a work path, and switching the enablement and disablement of a height control function that controls the height of the sprayer based on the target start position or target end position of the work along the work path.

[0008] The work system according to the present invention is a system for spraying a material onto a target object using a sprayer installed on a work vehicle. The work system includes a control processing unit, which performs the following: controlling the height of the sprayer based on the height of the target object while the work vehicle is automatically driving; and switching the enablement and disablement of the height control function that controls the height of the sprayer based on the target start position or target end position of the work along the work path. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a work method, work program, and work system that enable setting the height of the sprayer to an appropriate position relative to the target to be sprayed. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a block 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 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 4A] Figure 4A shows an example of a spray pattern (left-side spray pattern) according to an embodiment of the present invention. [Figure 4B] Figure 4B shows an example of a spray pattern (right-side spray pattern) according to an embodiment of the present invention. [Figure 4C] Figure 4C shows an example of a spray pattern (overall spray pattern) according to an embodiment of the present invention. [Figure 4D] Figure 4D shows an example of a spraying pattern (spraying stop pattern) according to an embodiment of the present invention. [Figure 5] Figure 5 shows an example of a target path for a work vehicle in the outer region according to an embodiment of the present invention. [Figure 6] Figure 6 shows an example of control information according to an embodiment of the present invention. [Figure 7] Figure 7 shows a specific example of a work method for a work vehicle according to an embodiment of the present invention. [Figure 8] Figure 8 shows a specific example of a work method for a work vehicle according to an embodiment of the present invention. [Figure 9] Figure 9 shows an example of a menu screen of an operating terminal according to an embodiment of the present invention. [Figure 10] Figure 10 is a flowchart showing an example of the procedure for an automated driving process performed in an automated driving system according to an embodiment of the present invention. [Figure 11] Figure 11 is a flowchart showing an example of the procedure for an automated driving process performed in an automated driving system according to an embodiment of the present invention. [Modes for carrying out the invention]

[0011] The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

[0012] As shown in FIG. 1, an automatic driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN. The automatic driving system 1 is a system for automatically driving the work vehicle 10 within a farm field F.

[0013] The work vehicle 10 is configured to be capable of automatically driving along a preset target path R within the farm field F (see FIG. 5). Also, the work vehicle 10 can perform a predetermined operation while automatically driving within the farm field F. For example, based on the position information of the current position of the work vehicle 10 calculated by the positioning unit 16, the work vehicle 10 performs a predetermined operation while automatically driving along the preset target path R within the farm field F. In the present embodiment, the work vehicle 10 includes a sprayer 14 for spraying a spraying material such as a chemical agent or water, and performs a spraying operation of spraying the spraying material onto a work target such as a crop or soil.

[0014] For example, as shown in FIG. 5, while automatically driving along the preset target path R with respect to the farm field F, the work vehicle 10 sprays a spraying material onto the crops planted in the farm field F. In the farm field F, a plurality of crop rows A1 in which a plurality of crops are planted side by side are formed. A driving passage through which the work vehicle 10 can travel is formed between the crop rows A1. For each driving passage, a target path R serving as a work path is set. For example, the target path R includes linear work paths R11 to R14 set between the crop rows A1 and movement paths R21 to R25 (non-work paths) connected to each work path. The movement path R21 is connected to the driving start position S, and the movement path R25 is connected to the driving end position G.

[0015] For example, the work vehicle 10 starts traveling from the travel start position S, travels along the movement path R21, moves to the work path R11, performs spraying work on the work path R11, and when the spraying work on the work path R11 is completed, travels along the movement path R22 and moves to the next work path R12. Next, the work vehicle 10 performs spraying work on the work path R12, and when the spraying work on the work path R12 is completed, travels along the movement path R23 and moves to the next work path R13. Next, the work vehicle 10 performs spraying work on the work path R13, and when the spraying work on the work path R13 is completed, travels along the movement path R24 and moves to the next work path R14. Finally, the work vehicle 10 performs spraying work on the work path R14, and when the spraying work on the work path R14 is completed, travels along the movement path R25 and moves to the travel end position G.

[0016] In this way, while automatically traveling according to the target path R, the work vehicle 10 sequentially performs spraying work on each work path between the crop rows A1.

[0017] The operation terminal 20 is a portable terminal capable of remotely operating the work vehicle 10, and is composed of, for example, a tablet terminal, a notebook personal computer, a smartphone, etc. An operator can perform setting operations on various setting items on the operation terminal 20. Further, the operation terminal 20 displays information such as the work status (spraying status, etc.) and travel status of the work vehicle 10 during automatic travel. An operator can grasp the work status and travel status on the operation terminal 20.

[0018] Here, when performing spraying work while automatically traveling the work vehicle 10, in order to surely spray the spraying material onto the spraying target, it is necessary to set the height of the sprayer 14 at an appropriate position. In the conventional technology, it is possible to control the height of the sprayer with respect to an obstacle, but it is difficult to set the height of the sprayer with respect to the spraying target at an appropriate position. In contrast, the automatic travel system 1 according to the present embodiment has a configuration capable of setting the height of the sprayer 14 with respect to the spraying target at an appropriate position as shown below.

[0019] [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 sprayer 14, a spraying control device 15, a positioning unit 16, a communication unit 17, and the like. The vehicle control device 11 is electrically connected to the memory unit 12, the running device 13, the sprayer 14, the spraying control device 15, the positioning unit 16, and the like. The vehicle control device 11 and the positioning unit 16 may also be capable of wireless communication.

[0020] The communication unit 17 is a communication interface for connecting the work vehicle 10 to the communication network N1 by wire or wireless connection, and for performing data communication with external devices such as the operation terminal 20 via the communication network N1 in accordance with a predetermined communication protocol.

[0021] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program that causes the vehicle control device 11 to execute the automatic driving process described later (see Figures 10 and 11). 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 including the target route R (see Figure 5) and control information E1 (see Figure 6) generated in the operation terminal 20.

[0022] The running gear 13 is the drive unit that moves the work vehicle 10. As shown in Figure 2, the running gear 13 includes an engine 131, 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.

[0023] 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.

[0024] 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 sprayer 14 via the PTO shaft (not shown). When the work vehicle 10 is operating automatically, the travel device 13 performs travel operations according to the commands of the vehicle control device 11.

[0025] The sprayer 14 is a work machine used to spray substances such as chemicals and water onto targets such as crops and soil. The sprayer 14 may be detachable from the work vehicle 10.

[0026] The steering wheel 137 is an operating unit 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, thereby changing the direction of travel of the work vehicle 10.

[0027] 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.

[0028] 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 138 where the operator sits. However, the installation location of the positioning unit 16 is not limited to the cabin 138. 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, smartphone, tablet terminal, or quantum compass.

[0029] 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.

[0030] The communication unit 163 is a communication interface for connecting the positioning unit 16 to the communication network N1 by wire or wireless connection and for performing data communication with external devices such as base stations (not shown) via the communication network N1 in accordance with a predetermined communication protocol.

[0031] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0032] 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.

[0033] Each of the vehicle control device 11 and the spraying control device 15 has control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various calculations. 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 calculations. 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 that have been stored in advance in the ROM or memory unit 12 using the CPU. The spraying control device 15 controls the sprayer 14 by executing various control programs that have been stored in advance in the ROM or memory unit 12 using the CPU.

[0034] The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. The vehicle control device 11 also executes 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 preset target route R.

[0035] 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.

[0036] 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 the start-to-drive instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10 according to the target route R. As a result, for example, the work vehicle 10 starts to drive automatically within the field F according to the target route R (see Figure 5).

[0037] The spraying control device 15 controls the height of the sprayer 14 based on the height of the target to be sprayed while the work vehicle 10 is automatically driving. Specifically, the spraying control device 15 detects the height of the target to be sprayed using a sensor or camera and controls the height of the sprayer 14 according to the height of the target.

[0038] The spraying control device 15 controls the operation of the sprayer 14 based on the control information E1 (see Figure 6) generated at the operation terminal 20. The spraying control device 15 also causes the sprayer 14 to perform spraying based on the current position of the work vehicle 10 calculated by the positioning unit 16 and the control information E1. As a result, the work vehicle 10 performs spraying work in the field F while automatically driving along the target path R, based on the control information E1. The control information E1 is registered in association with position information and contains information such as the timing of the opening and closing operation of the boom (boom unit 41) of the sprayer 14, the timing of switching the spraying control function on and off, and the timing of switching the height control function of the boom (boom unit 41) of the sprayer 14 on and off. The spraying control device 15 is an example of a control processing unit of the present invention.

[0039] Furthermore, the spraying control device 15 controls the spraying pattern of the sprayer 14 (see Figures 4A to 4D) based on the spraying pattern information (not shown) generated at the operating terminal 20. As a result, the work vehicle 10 performs spraying work in the field F according to a predetermined spraying pattern based on the spraying pattern information.

[0040] Furthermore, when the vehicle control device 11 and the spraying control device 15 receive a stop command from the operation terminal 20, they stop the automatic driving and spraying operations 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] Next, the specific configuration of the sprayer 14 will be explained using Figures 2 and 3. The sprayer 14 is mounted on the rear of the work vehicle 10. A PTO shaft (not shown) for outputting the driving force of the engine 131 to the sprayer 14 is located at the rear of the vehicle body. The driving force of the engine 131 is transmitted to the PTO shaft via the transmission 134.

[0042] The sprayer 14 includes a storage tank 30 for storing the material to be sprayed (such as chemicals), a boom unit 41 for spraying the material in the storage tank 30, and a pump 42 that is driven by a driving force transmitted from the PTO shaft and pressurizes the material in the storage tank 30 to the boom unit 41.

[0043] The boom unit 41 includes a rear boom 43 that sprays material to the rear of the vehicle body, and a pair of lateral booms 44 (left boom 44L, right boom 44R) that spray material to both sides of the vehicle body, respectively. In other words, the sprayer 14 is composed of three booms (units). The rear boom 43 extends in the vehicle width direction (left-right direction) perpendicular to the direction of travel of the work vehicle 10. The rear boom 43 is provided with a plurality of rear nozzles 45 at equal intervals in the direction in which the rear boom 43 extends. The plurality of rear nozzles 45 discharge material downwards.

[0044] The left boom 44L is connected to the left end of the rear boom 43, and the right boom 44R is connected to the right end of the rear boom 43. Each lateral boom 44 is provided with multiple lateral nozzles 46 at equal intervals in the direction in which the lateral boom 44 extends. The multiple lateral nozzles 46 discharge the material downwards. The left boom 44L sprays the material on the left side of the vehicle body, and the right boom 44R sprays the material on the right side of the vehicle body.

[0045] The left boom 44L is rotatable around a predetermined vertical axis near the connection point between the left boom 44L and the rear boom 43. By rotating, the left boom 44L moves between a spraying standby position (shown by the solid line in Figure 3) where the tip of the left boom 44L is close to the vehicle body so that the direction in which the left boom 44L extends is approximately the direction of travel, and a spraying operation position (shown by the dashed line in Figure 3) where the tip of the left boom 44L is separated from the vehicle body so that the direction in which the left boom 44L extends is approximately the direction of the vehicle width. In other words, the left boom 44L changes its posture between the spraying standby position (closed posture) and the spraying operation position (open posture).

[0046] Similarly, the right boom 44R is rotatable around a predetermined vertical axis near the connection point between the right boom 44R and the rear boom 43. By rotating, the right boom 44R moves between a spraying standby position (shown by the solid line in Figure 3) where the tip of the right boom 44R is close to the vehicle body so that the direction in which the right boom 44R extends is approximately the direction of travel, and a spraying operation position (shown by the dashed line in Figure 3) where the tip of the right boom 44R is separated from the vehicle body so that the direction in which the right boom 44R extends is approximately the direction of the vehicle width. In other words, the right boom 44R changes its posture between the posture of the spraying standby position (closed posture) and the posture of the spraying operation position (open posture).

[0047] The sprayer 14 further includes a pair of boom rotation cylinders 47 (see Figure 3) that rotate each of the pair of lateral booms 44, and a boom lifting cylinder 40 (see Figure 2) that raises and lowers the rear boom 43 and the pair of lateral booms 44. The boom rotation cylinders 47 rotate the corresponding lateral booms 44 around a predetermined pivot point by extending and retracting the cylinder rods.

[0048] The boom lifting cylinder 40 raises and lowers the rear boom 43 and the pair of side booms 44 simultaneously by extending and retracting the cylinder rod. For example, the boom lifting cylinder 40 can raise and lower the rear boom 43 and the pair of side booms 44 in the open position. The boom lifting cylinder 40 raises and lowers each boom to a predetermined height according to the instructions of the spray control device 15.

[0049] The sprayer 14 includes a rear valve (not shown) that controls the discharge of spray material from multiple rear nozzles 45 of the rear boom 43, a left valve (not shown) that controls the discharge of spray material from multiple lateral nozzles 46 of the left boom 44L, and a right valve (not shown) that controls the discharge of spray material from multiple lateral nozzles 46 of the right boom 44R.

[0050] When the rear valve is opened while the pump 42 is running, the spray material is discharged from multiple rear nozzles 45 on the rear boom 43. When the left valve is opened while the pump 42 is running, the spray material is discharged from multiple lateral nozzles 46 on the left boom 44L. When the right valve is opened while the pump 42 is running, the spray material is discharged from multiple lateral nozzles 46 on the right boom 44R.

[0051] The spraying control device 15 opens and closes the boom of the sprayer 14, turns the spraying control function ON / OFF, and turns the boom height control function ON / OFF based on the control information E1 (see Figure 6) set for the target path R.

[0052] Furthermore, the spray control device 15 switches the spray pattern based on the spray pattern information set for the target path R. Examples of spray patterns include a left-side spray pattern in which spraying is performed from the left boom 44L and the rear boom 43 (see Figure 4A), a right-side spray pattern in which spraying is performed from the right boom 44R and the rear boom 43 (see Figure 4B), a full-body spray pattern in which spraying is performed from the left boom 44L, the rear boom 43, and the right boom 44R (see Figure 4C), and a spray stop pattern in which spraying from the left boom 44L, the rear boom 43, and the right boom 44R is stopped (see Figure 4D). The spray patterns are not limited to these, and may include, for example, a spray pattern in which spraying is performed only from the left boom 44L and the right boom 44R, a spray pattern in which spraying is performed only from the left boom 44L, a spray pattern in which spraying is performed only from the right boom 44R, and a spray pattern in which spraying is performed only from the rear boom 43.

[0053] The working width in the left-right direction relative to the direction of travel of the work vehicle 10 is set according to the spraying pattern. For example, in the overall spraying pattern (see Figure 4C), the working width is set to a first working width (maximum working width) that extends left-right at the rear of the vehicle body; in the left-side spraying pattern (see Figure 4A), the working width is set to a second working width that extends left-right at the rear and left side of the vehicle body; and in the right-side spraying pattern (see Figure 4B), the working width is set to a third working width that extends left-right at the rear and right side of the vehicle body. The second and third working widths are the same width and are set to be smaller than the first working width. The left boom 44L and the right boom 44R may each be equipped with an extension mechanism that allows the working width to be changed. The spraying control device 15 may set the working width of each boom according to the width of the target to be sprayed.

[0054] Specifically, while the work vehicle 10 is automatically traveling, the spraying control device 15 controls the opening and closing operation of the sprayer 14's boom, the enabling and disabling (ON / OFF) of the spraying control function, and the enabling and disabling (ON / OFF) of the boom height control function of the sprayer 14, based on the position of the work vehicle 10.

[0055] Figure 7 shows a specific example of a work method when performing spraying work along a predetermined work path R1n. Figure 7 shows the work path R1n and non-work paths (turning path R2a, straight path R2b) connected to the starting point P3 of the work path R1n. The work vehicle 10 travels along the turning path R2a and the straight path R2b, then enters the work path R1n and begins spraying work.

[0056] For example, the spraying control device 15 moves the boom of the sprayer 14 from the spraying standby position to the spraying operation position in a section L1 from the starting point P1 of the straight path R2b to a predetermined position (a position X1 before the starting point P3) of the work path R1n (an example of the target starting position in the present invention). For example, the spraying control device 15 instructs the sprayer 14 to open the boom (move from the spraying standby position to the spraying operation position) at the timing when the work vehicle 10 finishes turning along the turning path R2a and moves to the straight path R2b (the timing when the work vehicle 10 reaches the starting point P1) (see Figure 6). As a result, the sprayer 14 starts the operation to open the left boom 44L and the right boom 44R. The distance X1 is the distance from the starting point P3 to the boom, and is set to approximately 80 cm, for example. The spraying control device 15 controls the operation of the boom so that the boom becomes horizontal (open position) when the boom reaches the position of distance X1.

[0057] Furthermore, the vehicle control device 11 may control the operation of the work vehicle 10 so that the boom opens when the boom reaches a distance X1. For example, the vehicle control device 11 slows down the travel speed (vehicle speed) of the work vehicle 10 traveling along the straight path R2b while the boom is moving from the spraying standby position to the spraying operation position (open). In other words, the vehicle control device 11 makes the work vehicle 10 travel at a low speed along the straight path R2b. For example, the vehicle control device 11 sets a vehicle speed lower than the vehicle speed set for the straight path of the non-work path. When the sprayer 14 (boom) reaches the starting point P3, the vehicle control device 11 sets the vehicle speed of the work vehicle 10 to a preset normal vehicle speed (vehicle speed for the straight path).

[0058] After the boom is in the open position, when the work vehicle 10 reaches position P2 where the distance between the boom and the starting end P3 is X1, the spray control device 15 switches the spray control function from OFF to ON (see Figure 6). Specifically, the spray control device 15 switches the boom's spray control function from OFF to ON when the boom reaches a position on the straight path R2b (an example of the third position in the present invention) that is a distance X1 (an example of the third predetermined distance in the present invention) away from the starting end P3 in the opposite direction to the work direction (towards the user). The spray control device 15 instructs the sprayer 14 to start the spraying operation.

[0059] Here, since the work vehicle 10 is traveling along the straight path R2b without stopping, when the spray control device 15 switches the spray control function from OFF to ON when it reaches position P2, the discharge of the spray material from the sprayer 14 actually starts closer to the starting point P3 than the distance X1. In other words, the discharge of the spray material from the sprayer 14 starts after a predetermined time has elapsed since the spray control device 15 switched the spray control function ON. For this reason, in order to ensure that the spray material is reliably discharged at the starting point P3 of the work path R1n, it is desirable that the discharge of the spray material start at the starting point P3, or at a position before the starting point P3. Therefore, the distance X1 is set so that the time required from when the spray control function is switched ON at position P2 until the spray material starts to be discharged from the nozzle is shorter than the travel time for the work vehicle 10 to reach the starting point P3 from position P2. In this way, the distance X1 is set so that the spraying of the spray material on the target starts at the starting point of the target to be sprayed.

[0060] Furthermore, the vehicle control device 11 may slow down the travel speed (vehicle speed) of the work vehicle 10 in the section from position P2 to starting point P3, similar to the vehicle speed of the work vehicle 10 in the section where the boom is opened (for example, section L1). This ensures that the spraying material is reliably discharged from the sprayer 14 at the starting point P3, thus ensuring that the spraying material is reliably applied from the starting point of the target area.

[0061] When the work vehicle 10 reaches the starting point P3, the vehicle control device 11 directs it to travel straight along the work path R1n toward the end point P6 (see Figure 8). The work vehicle 10 automatically travels along the work path R1n while performing spraying operations on the crops in the left and right crop rows A1.

[0062] When the work vehicle 10 travels along the work path R1n and reaches a predetermined position P4 (the boom reaches a position at a preset distance X2 from the starting point P3), the spray control device 15 switches the height control function from OFF to ON (see Figure 6). In other words, the spray control device 15 switches the height control function from OFF to ON when the boom reaches a position on the work path R1n (an example of the first position in the present invention) that is a distance X2 (an example of the first predetermined distance in the present invention) from the starting point P3 in the working direction.

[0063] Specifically, the spraying control device 15 instructs the sprayer 14 to begin changing the boom height. When the height control function is switched ON, the sprayer 14 detects the crop and moves the boom to a position corresponding to the height of the crop. When the height control function is OFF, the boom is maintained at a predetermined height. That is, the spraying control device 15 sets the boom height to the predetermined height until it is at a distance X2 from the starting point P3. The predetermined height is, for example, the highest height (upper limit) within the range in which the boom can be raised and lowered during spraying. The boom may be set to the predetermined height when it is opened horizontally (open position) at position P2. The boom sprays the material while being maintained at the predetermined height until the work vehicle 10 reaches position P4. When the work vehicle 10 reaches position P4 and the height control function is switched ON, the sprayer 14 lowers the boom from the highest position to a position close to the crop (at a predetermined distance from the crop). When the height control function is ON, the sprayer 14 may detect crops and change the height of the boom as needed according to the detection result, or it may move the boom to a preset height according to the position of the work vehicle 10.

[0064] Furthermore, the predetermined height may be set in advance by the operator or automatically by the automatic driving system 1. If the sprayer 14 itself is configured to change its height, the spraying control device 15 sets the height of the sprayer 14 to a height at which it is predicted that the sprayer 14 will not come into contact with the target to be sprayed. Also, if the spraying control device 15 is configured to change the height of each boom corresponding to the spraying direction, the predetermined height is set to a height at which it is predicted that the boom corresponding to the direction of the target to be sprayed will not come into contact with the target to be sprayed.

[0065] The distance X2 is set on the working direction side of the work path R1n, relative to the starting point P3. Furthermore, distance X2 is the distance from the starting point P3 to the boom when the current position of the work vehicle 10 is position P4. Distance X2 may be pre-set by the operator. Alternatively, the automatic driving system 1 may acquire location information of the target to be sprayed (e.g., crops) and automatically set distance X2 based on that location information.

[0066] The work vehicle 10 performs the spraying operation while automatically driving from position P4 with the spraying control function and the height control function turned ON.

[0067] Figure 8 shows the work path R1n and the non-work paths (straight path R2c, turning path R2d) connected to the end point P6 of work path R1n. When the work vehicle 10 completes the spraying work on work path R1n, it travels along the straight path R2c and turning path R2d to move to the next work path (not shown).

[0068] For example, when the work vehicle 10 approaches the end P6 of the work path R1n (an example of the target end position in the present invention), the spray control device 15 switches the height control function from ON to OFF when the boom is at a distance Y2 (an example of the second predetermined distance in the present invention) away from the end P6 in the opposite direction of the work (see Figure 6). Specifically, the spray control device 15 switches the height control function from ON to OFF when the boom reaches a position on the work path R1n (an example of the second position in the present invention) that is at a distance Y2 (an example of the second predetermined distance in the present invention) away from the end P6 in the opposite direction of the work.

[0069] When the height control function is switched to OFF, the sprayer 14 raises its boom to a predetermined height (e.g., the highest position). The distance Y2 is set to be on the opposite side of the working direction of the work path R1n from the end point P6. The distance Y2 is the distance from the end point P6 to the boom when the current position of the work vehicle 10 is position P5. The distance Y2 may be set in advance by the operator. Alternatively, the automatic driving system 1 may acquire position information of the target to be sprayed (e.g., crops) and automatically set the distance Y2 based on that position information. The spray control device 15 may also set the predetermined height to the height just before the height control function is switched from ON to OFF.

[0070] The work vehicle 10 continues automatic driving and spraying from position P5 with the height control function turned OFF. Subsequently, when the work vehicle 10 reaches the end point P6 of the work path R1n, it continues automatic driving and spraying to position P7 on the straight path R2c. Position P7 is the position of the work vehicle 10 when the distance from end point P6 to the boom is distance Y1. Distance Y1 is set to be on the side of the direction of travel beyond end point P6. In this way, the spraying control device 15 switches the height control function on and off based on the target start position or target end position of the work in the work path.

[0071] When the work vehicle 10 reaches position P7 where the distance between the boom and the end P6 is Y1, the spray control device 15 switches the spray control function from ON to OFF (see Figure 6). Specifically, the spray control device 15 instructs the sprayer 14 to stop the spraying operation. The sprayer 14 stops discharging the sprayed material in accordance with the instruction. In other words, the spray control device 15 switches the spray control function from ON to OFF when the boom reaches a position on the straight path R2c (an example of the fourth position in the present invention) that is a distance Y1 (an example of the fourth predetermined distance in the present invention) from the end P6 in the working direction.

[0072] Subsequently, when the work vehicle 10 reaches the end P8 of the straight path R2c (the beginning of the turning path R2d), the spray control device 15 moves the boom from the spray operation position to the spray standby position (see Figure 6). As a result, the sprayer 14 begins closing the left boom 44L and the right boom 44R.

[0073] The spray control device 15 may start closing the boom in the section from position P7 to position P8 so that the boom is in the closed position when it reaches position P8. The work vehicle 10 may travel in the section from position P7 to position P8 while closing the boom.

[0074] Furthermore, the vehicle control device 11 may control the operation of the work vehicle 10 so that the boom is in the closed position when it reaches position P8. For example, the vehicle control device 11 slows down the travel speed (vehicle speed) of the work vehicle 10 traveling along the straight path R2c while the boom is moving from the spraying operation position to the spraying standby position. In other words, the vehicle control device 11 makes the work vehicle 10 travel at a low speed along the straight path R2c. For example, the vehicle control device 11 sets a vehicle speed lower than the vehicle speed set for the straight path of the non-work path.

[0075] In addition, the vehicle control device 11 may move forward and backward along the straight path R2c so that the boom is in the closed position at position P8, or it may move forward and backward along a straight path that includes an extension of the straight path R2c. In another embodiment, the vehicle control device 11 may temporarily stop the work vehicle 10 at position P8 until the boom is in the closed position.

[0076] When the boom is in the closed position, the vehicle control device 11 causes the work vehicle 10 to automatically travel (rotate) along the turning path R2d. The spraying control device 15 and the vehicle control device 11 perform the above-described process (see Figures 6 to 8) for each work path (work paths R11 to R14 in Figure 5).

[0077] [Operating terminal 20] As shown in Figure 1, the operating terminal 20 is an information processing device comprising an operation 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.

[0078] The communication unit 24 is a communication interface for connecting the operating terminal 20 to the communication network N1 by wire or wireless connection and for performing data communication with one or more external devices such as work vehicles 10 via the communication network N1 in accordance with a predetermined communication protocol.

[0079] 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 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 automatic driving instructions 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 travels within field F according to the target route R by observing the driving trajectory displayed on the operation terminal 20 from a location away from the work vehicle 10.

[0080] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 22 stores control programs that cause the operation control unit 21 to execute various processes. For example, the control programs are non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and are read by a predetermined reading device (not shown) provided on the operation terminal 20 and stored in the storage unit 22. Alternatively, the control programs 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. The storage unit 22 may also store work information transmitted from the work vehicle 10.

[0081] Furthermore, a dedicated application for automatically driving the work vehicle 10 is installed in the memory unit 22. The operation control unit 21 starts the dedicated application and performs processes such as registering various information about the work vehicle 10, generating the target route R for the work vehicle 10, setting control information E1 to control the operation of the sprayer 14, setting the spraying pattern of the sprayer 14, and issuing start and stop commands to the work vehicle 10.

[0082] The operation control unit 21 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 operation control unit 21 controls the operation terminal 20 by executing various control programs stored in advance in the ROM or memory unit 22 using the CPU.

[0083] As shown in Figure 1, the operation control unit 21 includes various processing units such as a registration processing unit 211, a setting processing unit 212, and an output processing unit 213. The operation control unit 21 functions as these various processing units by executing various processes according to the control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The control program may be a program that causes multiple processors to function as processing units.

[0084] The registration processing unit 211 registers various setting information for the work vehicle 10 to perform automatic driving. Specifically, the registration processing unit 211 registers information related to the work vehicle 10 (hereinafter referred to as work vehicle information). The registration processing unit 211 registers information such as the type (model) of the work vehicle 10, the location on which the positioning antenna 164 is attached to the work vehicle 10, the type of sprayer 14, the size and shape of the sprayer 14, the position of the sprayer 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 perform a registration operation on the operation terminal 20.

[0085] For example, the registration processing unit 211 displays the menu screen D1 shown in Figure 9 on the operation display unit 23. The operator, for example, selects "Work Equipment Registration" on menu screen D1 to register work equipment information related to the sprayer 14.

[0086] Furthermore, the registration processing unit 211 registers information related to field F (hereinafter referred to as field information). The registration processing unit 211 registers information such as the location and shape of field F, the starting position S where work begins and the ending position G where work ends (see Figure 5), and the direction of work by performing the registration operation on the operation terminal 20. The direction of work refers to the direction in which the work vehicle 10 is driven while the sprayer 14 is working in the work area excluding the non-work area from field F. For example, the operator registers the field information by selecting "Field Registration" on the menu screen D1.

[0087] Information on the location and shape of field F can be automatically acquired, for example, by having a worker ride in the work vehicle 10 and drive it in a circle along the outer perimeter of field F, while recording the changes in the position information of the positioning antenna 164 during that time. Alternatively, the location and shape of field F can also be acquired based on a polygon obtained by having a worker operate the operation terminal 20 to specify multiple points on the map displayed on the terminal. The area identified by the acquired location and shape of field F is the area in which the work vehicle 10 can travel (driving area).

[0088] Furthermore, the registration processing unit 211 registers information regarding how the work will be performed in detail (hereinafter referred to as work information). The registration processing unit 211 is configured to allow setting of work information such as whether or not there will be coordinated work between the unmanned work vehicle 10 and the manned work vehicle 10, the number of skips which is the number of work paths to be skipped when the work vehicle 10 turns around in the headland, the width of the headland, and the width of the non-cultivated land. For example, the worker registers the work information by selecting "Work Area Registration" on the menu screen D1.

[0089] Furthermore, the registration processing unit 211 registers a target route R, which is the route for the work vehicle 10 to travel automatically, based on the aforementioned setting information. The target route R is, for example, a work route from a starting position S to an ending position G (see Figure 5). The target route R shown in Figure 5 includes a straight work route for the work vehicle 10 to travel back and forth parallel to each other in the area where crops are planted, and a turning route that connects the work routes. The registration processing unit 211 generates and registers the target route R for the work vehicle 10 based on the aforementioned setting information. For example, the operator selects "Create Route" on the menu screen D1 to instruct the generation of the target route R. The registration processing unit 211 can generate and register multiple target routes R for a single field F, depending on the work content.

[0090] The setting processing unit 212 sets control information E1 (see Figure 6) that controls the operation of the sprayer 14. Specifically, the setting processing unit 212 sets the control information E1 based on the positions of the start and end of each work path included in the target path R. For example, the setting processing unit 212 sets information that defines the timing of the opening and closing operation of the sprayer 14's boom, the timing of switching the spraying control function ON / OFF, and the timing of switching the height control function of the sprayer 14's boom ON / OFF, based on the positions of the start and end of each work path.

[0091] For example, as shown in Figure 7, the setting processing unit 212 sets information that defines the timing for switching the boom from the closed position (spraying standby position) to the open position (spraying operation position) for the starting point P1 of the straight path R2b connected to the work path R1n (the end of the swivel path R2a) (see Figure 6).

[0092] Furthermore, the setting processing unit 212 sets information that defines the timing for switching the spray control function from the OFF state to the ON state at position P2 (position of the work vehicle 10) where the distance from the starting point P3 of the work path R1n to the boom (distance in the direction prior to the starting point P3) is distance X1 (see Figure 6).

[0093] Furthermore, the setting processing unit 212 sets information that defines the timing for switching the height control function from the OFF state to the ON state at position P4 (position of the work vehicle 10) where the distance from the starting point P3 of the work path R1n to the boom (distance in the direction of travel from the starting point P3) is distance X2 (see Figure 6).

[0094] As shown in Figure 8, the setting processing unit 212 sets information that defines the timing for switching the height control function from the ON state to the OFF state at position P5 (position of the work vehicle 10) where the distance from the end P6 of the work path R1n to the boom (distance in the direction in front of end P6) is distance Y2 (see Figure 6).

[0095] Furthermore, the setting processing unit 212 sets information that defines the timing for switching the spray control function from the ON state to the OFF state at position P7 (position of the work vehicle 10) where the distance from the end P6 of the work path R1n to the boom (distance in the direction of travel from end P6) is distance Y1 (see Figure 6).

[0096] Furthermore, the setting processing unit 212 sets information defining the timing for switching the boom from the open position to the closed position for the end P8 of the straight path R2c connected to the work path R1n (the end of the slewing path R2d) (see Figure 6). In another embodiment, the setting processing unit 212 may set information defining the timing for switching the boom from the open position to the closed position for position P7.

[0097] As described above, the setting processing unit 212 sets information for each work path that defines the timing of the opening and closing operation of the boom of the sprayer 14, the timing of switching the spray control function ON / OFF, and the timing of switching the height control function of the boom of the sprayer 14 ON / OFF (see Figure 6).

[0098] Furthermore, the setting processing unit 212 sets the method (spraying pattern) for spraying the material onto the target area of ​​the sprayer 14. Specifically, the setting processing unit 212 sets information (spraying pattern information) for switching the spraying pattern based on the position of the endpoints of each crop row. For example, the spraying pattern includes the left-side spraying pattern (see Figure 4A), the right-side spraying pattern (see Figure 4B), the overall spraying pattern (see Figure 4C), and the spraying stop pattern (see Figure 4D). In other words, the setting processing unit 212 sets the working width in the left-right direction relative to the travel direction of the work vehicle 10 in the sprayer 14.

[0099] The output processing unit 213 outputs route data to the work vehicle 10, which includes information on the target route R registered by the registration processing unit 211, and control information E1 (see Figure 6) and spray pattern information set by the setting processing unit 212.

[0100] In addition, the operation control unit 21 receives instructions from the operator to start work (work start instruction operation) and instructions to stop work of the automatically moving work vehicle 10 (work stop instruction operation). When the operation control unit 21 receives the work start instruction operation, it outputs the work start instruction to the work vehicle 10.

[0101] When the vehicle control device 11 of the work vehicle 10 receives a work start instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10 and drives it automatically according to the target path R. When the spraying control device 15 receives a work start instruction from the operation terminal 20, it refers to the control information E1 and opens and closes the boom of the sprayer 14, switches the spraying control function ON / OFF, and switches the boom height control function ON / OFF according to the current position of the work vehicle 10. The spraying control device 15 also switches the spraying pattern based on the spraying pattern information. When the vehicle control device 11 and the spraying control device 15 receive a driving stop instruction from the operation terminal 20, they stop the automatic driving and spraying operation of the work vehicle 10.

[0102] Furthermore, the operating terminal 20 may 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 21.

[0103] [Automatic driving process] Hereinafter, with reference to Figures 10 and 11, an example of the automated driving process performed by the vehicle control device 11 and the spraying control device 15 of the work vehicle 10 will be described.

[0104] Furthermore, the present invention can be understood as an invention of an automated driving method that performs one or more steps included in the automated driving process. The one or more steps included in the automated driving process described herein may be omitted as appropriate. The execution order of each step in the automated driving process may differ to the extent that similar effects are produced. Furthermore, although the vehicle control device 11 and the spraying control device 15 are used as an example in this description, an automated driving method in which one or more processors distribute and execute each step in the automated driving process can also be considered as another embodiment. The automated driving method also includes the work method of the present invention.

[0105] In step S1, the vehicle control device 11 determines whether or not it has received a work start instruction. If the vehicle control device 11 receives the work start instruction from the operation terminal 20 (S1: Yes), it proceeds to step S2. The vehicle control device 11 waits until it receives the work start instruction (S1: No).

[0106] In step S2, the vehicle control device 11 starts the automatic driving process. Specifically, the vehicle control device 11 makes the work vehicle 10 automatically drive according to the target route R included in the route data acquired from the operation terminal 20.

[0107] Next, in step S3, the spraying control device 15 determines whether the work vehicle 10 has reached the starting point P1 of the straight route R2b (see Figure 7). If the spraying control device 15 determines that the work vehicle 10 has reached the starting point P1 of the straight route R2b (S3: Yes), it proceeds to step S4. The spraying control device 15 waits until the work vehicle 10 reaches the starting point P1 of the straight route R2b (S3: No). The work vehicle 10 automatically travels along a non-work route (such as the turning route R2a) until it reaches the starting point P1.

[0108] In step S4, the spray control device 15 outputs an instruction to change the boom of the sprayer 14 from the spraying standby position (closed position) to the spraying operation position (open position). Specifically, the spray control device 15 instructs the sprayer 14 to open the boom when the work vehicle 10 reaches the starting point P1 (see Figures 6 and 7). As a result, the sprayer 14 starts the operation to open the left boom 44L and the right boom 44R.

[0109] Next, in step S5, the spray control device 15 determines whether the work vehicle 10 has reached position P2 (see Figure 7) on the straight path R2b where the distance between the boom and the starting point P3 of the work path R1n is X1. If the spray control device 15 determines that the work vehicle 10 has reached position P2 (S5: Yes), it proceeds to step S6. The spray control device 15 continues the boom opening operation until the work vehicle 10 reaches position P2 (S5: No). Note that distance X1 is the minimum distance from the starting point P3 to the boom when the boom is in the open position, and is set to approximately 80 cm, for example. The work vehicle 10 automatically travels while opening the boom in the section from the starting point P1 to position P2. Note that the work vehicle 10 may travel at a slower speed than the normal straight-line speed in the section from the starting point P1 to position P2.

[0110] In step S6, the spray control device 15 switches the spray control function from OFF to ON (see Figure 6). Specifically, the spray control device 15 instructs the sprayer 14 to start the spraying operation when the boom changes to the open position and the distance to the starting point P3 of the work path R1n becomes X1. As a result, the work vehicle 10 starts the spraying operation while automatically driving from position P2. At this point, the height control function that controls the height of the boom is set to OFF (see Figure 6), so the sprayer 14 performs the spraying operation while maintaining the boom at a predetermined height (upper position).

[0111] Next, in step S7, the spraying control device 15 determines whether the work vehicle 10 has reached position P4 (see Figure 7) on the work path R1n where the distance between the boom and the starting point P3 of the work path R1n is X2. If the spraying control device 15 determines that the work vehicle 10 has reached position P4 (S7: Yes), it proceeds to step S8. The spraying control device 15 causes the work vehicle 10 to perform the spraying operation while maintaining the boom at the predetermined height until it reaches position P4. The work vehicle 10 performs the spraying operation while automatically driving from position P2 to position P4, maintaining the boom at the predetermined height.

[0112] In step S8, the spraying control device 15 switches the height control function from OFF to ON (see Figure 6). Specifically, after the sprayer 14 has performed spraying work at the predetermined height over a distance of X2, the spraying control device 15 switches the boom height control function to the ON state. As a result, the sprayer 14 lowers, for example, the boom from the predetermined height to near the crop. The vehicle control device 11 performs spraying work while automatically driving from position P4 along the work path R1n with the spraying control function and the height control function ON. The work vehicle 10 performs spraying work while automatically driving from position P4, maintaining the height at which the boom has been lowered.

[0113] Next, in step S9, the spraying control device 15 determines whether the work vehicle 10 has reached position P5 (see Figure 8) on the work path R1n where the distance between the boom and the end P6 of the work path R1n is Y2. If the spraying control device 15 determines that the work vehicle 10 has reached position P5 (S9: Yes), it proceeds to step S10. The spraying control device 15 causes the work vehicle 10 to perform the spraying operation while controlling the boom to a height corresponding to the height of the crop until it reaches position P5. The work vehicle 10 performs the spraying operation while automatically driving and maintaining the boom at the lowered height until it reaches position P5.

[0114] In step S10 (see Figure 11), the spraying control device 15 switches the height control function from ON to OFF (see Figure 6). Specifically, the spraying control device 15 switches the boom height control function to OFF when it approaches the end P6 of the work path R1n (position P5). As a result, the sprayer 14 raises its boom to the predetermined height. The vehicle control device 11 performs the spraying work while the vehicle automatically travels along the work path R1n from position P5 with the spraying control function ON and the height control function OFF. The work vehicle 10 performs the spraying work from position P5 while automatically traveling and maintaining the boom at the predetermined height. Alternatively, the work vehicle 10 may perform the spraying work from position P5 while automatically traveling and maintaining the boom at the height just before the height control function was switched from ON to OFF.

[0115] Next, in step S11, the spraying control device 15 determines whether the work vehicle 10 has reached position P7 (see Figure 8) on the straight path R2c where the distance between the boom and the end P6 of the work path R1n is Y1. If the spraying control device 15 determines that the work vehicle 10 has reached position P7 (S11: Yes), it proceeds to step S12. The spraying control device 15 maintains the boom in the open position and continues the spraying operation until the work vehicle 10 reaches position P7 (S11: No). The work vehicle 10 performs the spraying operation while automatically driving and maintaining the boom at the predetermined height until it reaches position P7.

[0116] In step S12, the spray control device 15 switches the spray control function from ON to OFF (see Figure 6). Specifically, the spray control device 15 instructs the sprayer 14 to stop the spraying operation when the boom, which is spraying, reaches a distance Y1 beyond the end P6 of the work path R1n. This ensures that the spray material is reliably applied to the end of crop row A1. The work vehicle 10 stops spraying from position P7 and drives straight ahead.

[0117] Next, in step S13, the spray control device 15 determines whether the work vehicle 10 has reached the end P8 of the straight path R2c (see Figure 8). If the spray control device 15 determines that the work vehicle 10 has reached the end P8 of the straight path R2c (S13: Yes), it proceeds to step S14. The spray control device 15 waits until the work vehicle 10 reaches the end P8 of the straight path R2c. The work vehicle 10 travels in a straight line with its boom in the open position until it reaches the end P8.

[0118] In step S14, the spray control device 15 outputs an instruction to change the boom of the sprayer 14 from the open position to the closed position. Specifically, the spray control device 15 instructs the sprayer 14 to close the boom when the work vehicle 10 reaches the end P8 of the straight path R2c (see Figures 6 and 8). As a result, the sprayer 14 starts closing the left boom 44L and the right boom 44R.

[0119] Next, in step S15, the spray control device 15 determines whether the boom of the sprayer 14 is in the closed position. If the boom is in the closed position (S15: Yes), the spray control device 15 proceeds to step S16. The spray control device 15 continues the operation to close the boom until the boom is in the closed position (S15: No). The work vehicle 10 closes the boom at the end P8. The work vehicle 10 may temporarily stop at the end P8 to close the boom, or it may close the boom while moving forward and backward along the straight path R2c.

[0120] In another embodiment, the spraying control device 15 may output an instruction (S14) to change the boom of the sprayer 14 from the open position to the closed position when the work vehicle 10 reaches position P7 (S11: Yes). In this case, the work vehicle 10 changes the boom to the closed position while automatically traveling the section from position P7 to end P8.

[0121] In step S16, the vehicle control device 11 causes the work vehicle 10 to rotate and travel along the rotation path R2d (see Figure 8). The work vehicle 10 automatically travels along the rotation path R2d with the boom retracted and the spraying operation stopped.

[0122] Next, in step S17, the vehicle control device 11 and the spraying control device 15 determine whether the work vehicle 10 has reached the end-of-travel position G (see Figure 5). If the vehicle control device 11 and the spraying control device 15 determine that the work vehicle 10 has reached the end-of-travel position G (S17: Yes), they terminate the automatic driving process. If the vehicle control device 11 and the spraying control device 15 determine that the work vehicle 10 has not reached the end-of-travel position G (S17: No), they proceed to step S3 (see Figure 10). The vehicle control device 11 and the spraying control device 15 repeatedly execute the above process until the work vehicle reaches the end-of-travel position G (S17: No).

[0123] In this manner, the vehicle control device 11 and the spraying control device 15 repeatedly perform the above-described processes until the work vehicle 10 reaches the end position G from the starting position S, causing the work vehicle 10 to automatically travel along the target path R while performing the spraying operation.

[0124] As described above, the automated driving system 1 according to this embodiment is a system that sprays a material onto a target (such as crops) using a sprayer 14 provided on a work vehicle 10. The automated driving system 1 controls the height of the sprayer 14 (boom) based on the height of the target while the work vehicle 10 is driving automatically, and switches the height control function, which controls the height of the boom, on and off based on the target start position or target end position of the work on the work path. For example, the automated driving system 1 switches the height control function from disabled to enabled when the sprayer 14 reaches a first position on the work path R1n that is a first predetermined distance (distance X2 shown in Figure 7) away from the target start position (starting point P3 shown in Figure 7) in the direction of work. The automated driving system 1 also sets the height of the boom to a predetermined height (maximum height) in advance from the target start position (starting point P3) to the first position.

[0125] According to the above configuration, for example in the example shown in Figure 7, in the section from the starting point P3 of the work path R1n to distance X2, the boom can be set to a high position to prevent the boom from coming into contact with the target while still allowing the material to be sprayed onto the target. Beyond distance X2, the boom can be lowered to spray the material onto the target. Therefore, it becomes possible to set the height of the sprayer 14 (boom) relative to the target to an appropriate position.

[0126] [Other embodiments] The present invention is not limited to the embodiments described above. Other embodiments of the present invention are described below.

[0127] The above-described embodiment shows a case where the target start position of the present invention is the beginning P3 of the work path R1n (see Figure 7), and the target end position is the end P8 of the work path R1n (see Figure 8). In another embodiment, the target start position of the present invention may be the beginning of the target to be sprayed (crops, ridges, etc.), and the target end position may be the end of the target to be sprayed (crops, ridges, etc.). In this case, the spraying control device 15 may control the opening and closing of the boom of the sprayer 14, the ON / OFF of the spraying control function, and the ON / OFF of the height control function based on the start or end of the target to be sprayed. For example, the automatic driving system 1 may acquire position information of the start and end of the target to be sprayed based on work information (work history) of the previous work, or it may acquire position information of the start and end of the target to be sprayed based on the result of a sensor or camera detecting the target to be sprayed when the work vehicle 10 drives through the field F.

[0128] In the above embodiment, when the work vehicle 10 is traveling along the straight path R2b (see Figure 7), the automatic driving system 1 sets the vehicle speed of the work vehicle 10 to a lower speed than the normal vehicle speed at the starting point P1 to change the boom to the open position, and then switches the spraying control function ON at position P2. In another embodiment, the automatic driving system 1 may temporarily stop the work vehicle 10 at the starting point P1 to change the boom to the open position, automatically travel along the straight path R2b after the boom is in the open position, and then switch the spraying control function ON at position P2. That is, the vehicle control device 11 may stop the movement of the work vehicle 10 while the boom opening and closing operation is being performed. Note that if the vehicle control device 11 temporarily stops the work vehicle 10, it may restart automatic driving on the condition that the operator restarts the operation.

[0129] The automated driving system of the present invention may consist of a spray control device 15 alone, a vehicle control device 11 alone, a work vehicle 10 alone, or a work vehicle 10 and an operating terminal 20.

[0130] [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.

[0131] <Note 1> A method for spraying a substance onto a target object using a sprayer installed on a work vehicle, The aforementioned work vehicle controls the height of the sprayer based on the height of the target to be sprayed while it is automatically driving, The height control function, which controls the height of the sprayer, is enabled and disabled based on the target start position or target end position of the work along the work path. The method for performing the task.

[0132] <Note 2> When the sprayer reaches a first position on the work path, which is a first predetermined distance away from the target starting position in the work direction, the height control function is switched from disabled to enabled. The procedure described in Appendix 1.

[0133] <Note 3> From the target starting position to the first position, the height of the sprayer is set to a predetermined height. The procedure is as described in Appendix 2.

[0134] <Note 4> When the sprayer reaches a second position on the work path, which is a second predetermined distance away from the target end position in the opposite direction to the work direction, the height control function is switched from enabled to disabled. The procedure described in one of the appendices 1 to 3.

[0135] <Note 5> From the second position to the target end position, the height of the sprayer is set to a predetermined height. The work procedure described in Appendix 4.

[0136] <Note 6> When the sprayer reaches a third position on a straight path connected to the target starting position, located a third predetermined distance away from the target starting position in the opposite direction to the work direction, the spraying control function of the sprayer is switched from disabled to enabled. The procedure described in any of the appendices 1 to 5.

[0137] <Note 7> The third predetermined distance is set so that the spraying of the substance onto the target begins at the starting point of the target to be sprayed. The procedure described in Appendix 6.

[0138] <Note 8> When the sprayer reaches a fourth position on a straight path connected to the target end position, located a fourth predetermined distance away from the target end position in the working direction, the spraying control function of the sprayer is switched from enabled to disabled. The procedure described in any of the appendices 1 to 7.

[0139] <Note 9> In the section from the starting point of the straight path connected to the target starting position to a predetermined position just before the target starting position, the boom of the sprayer is moved from the spraying standby position to the spraying operation position. The procedure described in any of the appendices 1 to 8. [Explanation of Symbols]

[0140] 1: Automated driving system 10: Work vehicles 11: Vehicle control system 12: Storage section 13: Running gear 14: Spreader 15: Dispersion control device (control processing unit) 16: Positioning Unit 20: Operating terminal 21: Operation Control Unit 22: Storage section 23: Operation display section 40: Boom lifting cylinder 41: Boom Unit 43: Rear boom 44: Lateral boom 44L: Left side boom 44R: Right side boom 211: Registration Processing Unit 212: Configuration Processing Unit 213: Output Processing Unit A1: Crop row E1: Control information F: Field P1: (Starting point of the straight path R2b) P3: Starting point (target starting position) of the work path R1n P6: End point (target end position) of the work path R1n P8: Terminus (of the straight path R2c) R: Target path R1n: Work path X1: Distance (3rd predetermined distance) X2: Distance (first predetermined distance) Y1: Distance (4th predetermined distance) Y2: Distance (second predetermined distance)

Claims

1. A method for spraying a substance onto a target object using a sprayer installed on a work vehicle, The aforementioned work vehicle controls the height of the sprayer based on the height of the target to be sprayed while it is automatically driving, The height control function, which controls the height of the sprayer, is enabled and disabled based on the target start position or target end position of the work along the work path. The method for performing the task.

2. When the sprayer reaches a first position on the work path, which is a first predetermined distance away from the target starting position in the work direction, the height control function is switched from disabled to enabled. The work method described in claim 1.

3. From the target starting position to the first position, the height of the sprayer is set to a predetermined height. The work method described in claim 2.

4. When the sprayer reaches a second position on the work path, which is a second predetermined distance away from the target end position in the opposite direction to the work direction, the height control function is switched from enabled to disabled. The work method described in claim 1.

5. From the second position to the target end position, the height of the sprayer is set to a predetermined height. The work method described in claim 4.

6. When the sprayer reaches a third position on a straight path connected to the target starting position, located a third predetermined distance away from the target starting position in the opposite direction to the working direction, the spraying control function of the sprayer is switched from disabled to enabled. The work method according to any one of claims 1 to 5.

7. The third predetermined distance is set so that the spraying of the substance onto the target begins at the starting point of the target to be sprayed. The work method described in claim 6.

8. When the sprayer reaches a fourth position on a straight path connected to the target end position, located a fourth predetermined distance away from the target end position in the working direction, the spraying control function of the sprayer is switched from enabled to disabled. The work method according to any one of claims 1 to 5.

9. In the section from the starting point of the straight path connected to the target starting position to a predetermined position just before the target starting position, the boom of the sprayer is moved from the spraying standby position to the spraying operation position. The work method according to any one of claims 1 to 5.

10. A work program for a sprayer installed on a work vehicle, which sprays a substance onto a target, The aforementioned work vehicle controls the height of the sprayer based on the height of the target to be sprayed while it is automatically driving, The height control function, which controls the height of the sprayer, is enabled and disabled based on the target start position or target end position of the work along the work path. A task program that causes one or more processors to run.

11. A work system for a sprayer installed on a work vehicle, which sprays a substance onto a target, The process of controlling the height of the sprayer based on the height of the target to be sprayed while the work vehicle is automatically driving, A process to enable and disable the height control function that controls the height of the sprayer based on the target start position or target end position of the work in the work path, A work system equipped with a control processing unit that performs the following.

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