Work methods, work programs, and work systems

Abstract

The present invention provides a work method, work program, and work system capable of appropriately controlling work equipment mounted on autonomous work vehicles. [Solution] The harvesting control device 11B performs the following processes: controlling the height of the harvesting unit based on the height of the ground or harvested crop in the work area while the combine harvester 1 is automatically traveling; and switching the harvesting height control function, which controls the height of the harvesting unit, from disabled to enabled when the harvesting unit reaches a first position on the work path that is a first predetermined distance away from the target starting position of the work in the work path.

Description

Technical Field

[0001] The present invention relates to a technique for performing a predetermined operation by a working machine provided on a work vehicle.

Background Art

[0002] Conventionally, an automatic driving system that performs a predetermined operation while automatically traveling in a field by a work vehicle equipped with working machines such as a tiller, a ridger, a lawn mower, a rake, a seeder, etc. is known (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] When performing an operation while automatically driving a work vehicle, it is necessary to appropriately control the working machine, such as setting the position (working height, etc.) of the working machine according to the operation start position, in order to ensure the working accuracy.

[0005] An object of the present invention is to provide a working method, a working program, and a working system capable of appropriately controlling a working machine mounted on an automatically drivable work vehicle.

Means for Solving the Problems

[0006] The work method according to the present invention is a method of harvesting crops using a harvesting unit provided on a work vehicle. The work method includes controlling the height of the harvesting unit based on the height of the ground or crops in the work area while the work vehicle is automatically driving, and switching the harvesting height control function, which controls the height of the harvesting unit, from disabled to enabled when the harvesting unit reaches a first position on the work path that is a first predetermined distance away from the target starting position of the work in the work direction.

[0007] The work method according to the present invention is a method of harvesting crops using a harvesting unit provided on a work vehicle. The work method includes controlling the height of the harvesting unit based on the height of the ground or crops in the work area while the work vehicle is automatically driving, and switching the harvesting height control function, which controls the height of the harvesting unit, from enabled to disabled when the harvesting unit reaches a second position on the work path, which is a second predetermined distance away from the target end position of the work on the work path in the opposite direction to the work direction.

[0008] The work program according to the present invention is a program for harvesting crops using a harvesting unit provided on a work vehicle. The work program is a program for causing one or more processors to perform the following actions: control the height of the harvesting unit based on the height of the ground or crops in the work area while the work vehicle is automatically driving; and switch a harvesting height control function, which controls the height of the harvesting unit, from disabled to enabled when the harvesting unit reaches a first position on the work path that is a first predetermined distance away from the target starting position of the work in the direction of work.

[0009] The work program according to the present invention is a program for harvesting crops using a harvesting unit provided on a work vehicle. The work program is a program for causing one or more processors to perform the following actions: control the height of the harvesting unit based on the height of the ground or crops in the work area while the work vehicle is automatically driving; and switch the harvesting height control function, which controls the height of the harvesting unit, from enabled to disabled when the harvesting unit reaches a second position on the work path, which is a second predetermined distance away from the target end position of the work on the work path in the opposite direction to the work direction.

[0010] The work system according to the present invention is a system for harvesting crops using a harvesting unit provided on a work vehicle. The work system includes a control processing unit that performs the following: a process of controlling the height of the harvesting unit based on the height of the ground or crops in the work area while the work vehicle is automatically driving; and a process of switching a harvesting height control function, which controls the height of the harvesting unit, from disabled to enabled when the harvesting unit reaches a first position on the work path that is a first predetermined distance away from the target starting position of the work in the work direction on the work path.

[0011] The work system according to the present invention is a system for harvesting crops using a harvesting unit provided on a work vehicle. The work system includes a control processing unit that performs the following: a process of controlling the height of the harvesting unit based on the height of the ground or crops in the work area while the work vehicle is automatically driving; and a process of switching a harvesting height control function, which controls the height of the harvesting unit, from enabled to disabled when the harvesting unit reaches a second position on the work path, which is a second predetermined distance away from the target end position of the work on the work path in the opposite direction to the work direction.

[0012] The work method according to the present invention is a method of planting a target to be planted using a planting unit provided on a work vehicle. The work method includes controlling the planting depth of the target to be planted based on the height of the ground in the work area while the work vehicle is automatically driving, and switching a planting depth control function that controls the planting depth of the target to be planted from disabled to enabled when the planting unit reaches a first position on the work path that is a first predetermined distance away from the target starting position of the work in the work direction on the work path.

[0013] The work method according to the present invention is a method of planting a target to be planted using a planting unit provided on a work vehicle. The work method includes controlling the planting depth of the target to be planted based on the height of the ground in the work area while the work vehicle is automatically driving, and switching the planting depth control function that controls the planting depth of the target to be planted from enabled to disabled when the planting unit reaches a second position on the work path that is a second predetermined distance away from the target end position of the work in the opposite direction to the work direction.

[0014] The work program according to the present invention is a program for planting a target to be planted by a planting unit provided on a work vehicle. The work program is a program for causing one or more processors to execute the following: controlling the planting depth of the target to be planted based on the height of the ground in the work area while the work vehicle is automatically driving; and switching a planting depth control function that controls the planting depth of the target to be planted from disabled to enabled when the planting unit reaches a first position on the work path that is a first predetermined distance away from the target starting position of the work in the work direction on the work path.

[0015] The work program according to the present invention is a program for planting a target to be planted by a planting unit provided on a work vehicle. The work program is a program for causing one or more processors to perform the following actions: control the planting depth of the target to be planted based on the height of the ground in the work area while the work vehicle is automatically driving; and switch a planting depth control function that controls the planting depth of the target to be planted from enabled to disabled when the planting unit reaches a second position on the work path that is a second predetermined distance away from the target end position of the work on the work path in the opposite direction to the work direction.

[0016] The work system according to the present invention is a system for planting a target to be planted using a planting unit provided on a work vehicle. The work system includes a control processing unit that performs the following: a process of controlling the planting depth of the target to be planted based on the height of the ground in the work area while the work vehicle is automatically driving; and a process of switching a planting depth control function that controls the planting depth of the target to be planted from disabled to enabled when the planting unit reaches a first position on the work path that is a first predetermined distance away from the target starting position of the work in the work direction on the work path.

[0017] The work system according to the present invention is a system for planting a target to be planted using a planting unit provided on a work vehicle. The work system includes a control processing unit that performs the following: a process of controlling the planting depth of the target to be planted based on the height of the ground in the work area while the work vehicle is automatically driving; and a process of switching a planting depth control function that controls the planting depth of the target to be planted from enabled to disabled when the planting unit reaches a second position on the work path that is a second predetermined distance away from the target end position of the work on the work path in the opposite direction to the work direction. [Effects of the Invention]

[0018] According to the present invention, it is possible to provide a work method, a work program, and a work system that can appropriately control work equipment mounted on an autonomous work vehicle. [Brief explanation of the drawing]

[0019] [Figure 1] Figure 1 is a block diagram showing the configuration of an automatic driving system according to the first embodiment of the present invention. [Figure 2] Figure 2 is an external side view showing the configuration of a combine according to the first embodiment of the present invention. [Figure 3] Figure 3 is an external top view showing the configuration of a combine according to the first embodiment of the present invention. [Figure 4] Figure 4 is a diagram showing an example of a field and a target route according to the first embodiment of the present invention. [Figure 5] Figure 5 is a diagram showing an example of the position (lowest position) of the cutting unit of a combine according to the first embodiment of the present invention. [Figure 6] Figure 6 is a diagram showing an example of the position (highest position) of the cutting unit of a combine according to the first embodiment of the present invention. [Figure 7] Figure 7 is a diagram showing an example of the position (intermediate position) of the cutting unit of a combine according to the first embodiment of the present invention. [Figure 8] Figure 8 is a diagram showing an example of control information for controlling the operation of the cutting unit of a combine according to the first embodiment of the present invention. [Figure 9] Figure 9 is a diagram showing an example of a traveling method of a combine according to the first embodiment of the present invention. [Figure 10] Figure 10 is a diagram showing an example of a traveling method of a combine according to the first embodiment of the present invention. [Figure 11] Figure 11 is a diagram showing an example of a menu screen displayed on an operation terminal according to the first embodiment of the present invention. [Figure 12] Figure 12 is a flowchart showing an example of the procedure of an automatic driving process executed by an automatic driving system according to the first embodiment of the present invention. [Figure 13] Figure 13 is a flowchart showing an example of the procedure of an automatic driving process executed by an automatic driving system according to the first embodiment of the present invention. [Figure 14] Figure 14 is a block diagram showing the configuration of an automatic driving system according to the second embodiment of the present invention. [Figure 15] Figure 15 is an external perspective view showing the configuration of a transplanting machine according to a second embodiment of the present invention. [Figure 16] Figure 16 shows an example of control information for controlling the operation of the planting section of a transplanting machine according to a second embodiment of the present invention. [Figure 17] Figure 17 shows an example of a method for driving a transplanting machine according to a second embodiment of the present invention. [Figure 18] Figure 18 shows an example of a method for driving a transplanting machine according to a second embodiment of the present invention. [Figure 19] Figure 19 is a flowchart showing an example of the procedure for an automated driving process performed by an automated driving system according to a second embodiment of the present invention. [Figure 20] Figure 20 is a flowchart showing an example of the procedure for an automated driving process performed by the automated driving system according to the second embodiment of the present invention. [Modes for carrying out the invention]

[0020] The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

[0021] [First Embodiment] The automated driving system according to the present invention includes a work vehicle and an operating terminal. In the first embodiment, a combine harvester is given as an example of a work vehicle. As shown in Figure 1, the automated driving system 10 according to the first embodiment includes a combine harvester 1 and an operating terminal 30. The combine harvester 1 and the operating terminal 30 can communicate via a communication network N1. For example, the combine harvester 1 and the operating terminal 30 can communicate via a mobile phone network, a packet network, or a wireless LAN. The automated driving system 10 is a system that automatically drives the combine harvester 1 within a field F.

[0022] The combine harvester 1 is configured to automatically travel within field F (see Figure 4) according to a pre-set target route R. Furthermore, the combine harvester 1 can perform predetermined tasks while automatically traveling within field F. For example, based on positional information of the combine harvester 1's current position calculated by the positioning unit 52, the combine harvester 1 performs predetermined tasks while automatically traveling within field F according to the pre-set target route R. In this embodiment, the combine harvester 1 is equipped with a harvesting unit for harvesting crops and performs harvesting operations while automatically traveling.

[0023] For example, as shown in Figure 4, combine harvester 1 automatically travels along a pre-set target path R for field F, harvesting crops planted in field F. The work area F1 (harvesting area) of field F has multiple rows of ridges A formed by soil ridging work, and crops (such as soybeans) are planted on each row of ridges A. The target path R includes a linear work path set within the work area F1 and movement paths (non-work paths) connecting each work path. Field F has a set travel start position S where automatic travel begins and a travel end position G where automatic travel ends.

[0024] For example, combine harvester 1 starts moving from starting position S, travels along the movement path to enter the work area F1, and performs harvesting while traveling along the first work path. Once combine harvester 1 has finished harvesting along the first work path, it travels along the movement path to move to the second work path and performs harvesting there. Combine harvester 1 performs harvesting within work area F1 by repeating the process of harvesting along work paths and traveling along the movement path. Once combine harvester 1 has finished harvesting along all work paths within work area F1, it travels along the movement path to the end position G. In this way, combine harvester 1 automatically travels along the target path R and performs harvesting along each work path in sequence.

[0025] The control terminal 30 is a portable terminal capable of remotely controlling the combine harvester 1, and is comprised of, for example, a tablet, a notebook computer, or a smartphone. The operator can perform setting operations on various settings items using the control terminal 30. The control terminal 30 also displays information such as the work status (harvesting status, etc.) and driving status of the combine harvester 1 while it is automatically running. The operator can monitor the work status and driving status using the control terminal 30.

[0026] [Combine Harvester 1] Figure 2 shows a side view of the combine harvester 1, and Figure 3 shows a top view of the combine harvester 1. As shown in Figures 1 to 3, the combine harvester 1 includes a driving unit 2, a harvesting unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw waste processing unit 7, a power unit 8, a control unit 9, a vehicle control device 11A, a harvesting control device 11B, a memory unit 51, a positioning unit 52, a detection unit 53, a communication unit 54, and the like. The combine harvester 1 moves using the driving unit 2, harvests grain stalks with the harvesting unit 3, threshes the harvested grain stalks with the threshing unit 4, sorts the grains with the sorting unit 5 and stores them in the storage unit 6. The combine harvester 1 also processes the straw waste after threshing with the straw waste processing unit 7. The combine harvester 1 is powered by the power unit 8 to drive the traveling unit 2, the harvesting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.

[0027] The running unit 2 is located below the machine frame 12 and comprises a pair of left and right crawler-type running devices 23 and a transmission (not shown). The running unit 2 uses power (e.g., rotational power) transmitted from the engine 20 of the power unit 8 to rotate the crawlers of the crawler-type running devices 23, thereby causing the combine harvester 1 to travel in the forward and backward directions and to turn in the left and right directions. The transmission transmits the power (rotational power) from the power unit 8 to the crawler-type running devices 23 and can also change the speed of the rotational power.

[0028] The harvesting unit 3 is a work machine that performs work on the target field F, and is located in front of the traveling unit 2. It harvests grain stalks of a predetermined harvesting width in the work area F1 (unharvested area) of the field F. The harvesting unit 3 is an example of the harvesting unit of the present invention. The harvesting unit 3 comprises a divider 13, a raking reel 14, a cutting blade 15, a raking auger 16, a feeder house 17, and a conveying conveyor 18. The harvesting unit 3 also includes a rotation detection unit (not shown) that detects the rotational speed (working speed) of the rotational work for harvesting. The rotation detection unit consists of rotation sensors that detect, for example, the rotational speed of the raking reel 14, the rotational speed of the raking auger 16, and the rotational speed of the conveying conveyor 18. The driving force of the engine 20 is transmitted to the harvesting unit 3 via a transmission connected to a power transmission mechanism (such as a transmission belt, not shown).

[0029] The dividers 13 are provided projecting forward from the left and right front ends of the harvesting section 3, guiding the unharvested grain stalks into the harvesting width. The raking reel 14 is positioned behind the dividers 13 and is rotatable around a rotation axis extending in the left-right direction. The raking reel 14 assists in harvesting the grain stalks guided by the dividers 13 by rotating, pulling the grain stalks up and raking in the ear-end side of the stalks. The cutting blade 15 is positioned below the raking reel 14 and cuts the base side of the grain stalks that have been raked in by the raking reel 14 to harvest the grain stalks.

[0030] The raking auger 16 is positioned behind the raking reel 14 and the cutting blade 15, and is rotatable around a rotating shaft that extends in the left-right direction. By rotating, the raking auger 16 raks up the grain stalks cut by the cutting blade 15 and conveys them to the rear.

[0031] The feeder house 17 extends forward from the machine frame 12 and is positioned behind the raking auger 16, and is supported by the machine frame 12 so as to be able to move up and down. Furthermore, as the feeder house 17 moves up and down, the divider 13, raking reel 14, cutting blade 15 and raking auger 16 move up and down, that is, the cutting unit 3 moves up and down.

[0032] The combine harvester 1 is equipped with a lifting device 19 on its frame 12 that raises and lowers the feeder house 17, thereby raising and lowering the harvesting unit 3, and raises and lowers the harvesting unit 3 between a working position and a non-working position (see Figures 5 to 7). Figure 5 shows the state in which the harvesting unit 3 is set to the lowest position (height H0), Figure 6 shows the state in which the harvesting unit 3 is set to the highest position (height H1), and Figure 7 shows the state in which the harvesting unit 3 is set to an intermediate position (height H2). The lifting device 19 is composed of, for example, a hydraulic cylinder that is powered by the engine 20.

[0033] The conveying conveyor 18 is rotatably installed inside the feeder house 17. By rotating, the conveying conveyor 18 further transports the grain stalks that have been transported into the feeder house 17 by the raking auger 16 to the threshing section 4.

[0034] The threshing unit 4 is located behind the feeder house 17 of the harvesting unit 3 and threshes the stalks of grain transported from the feeder house 17. The threshing unit 4 comprises a threshing drum 21 and a receiving screen 22. The threshing drum 21 threshes the grain from the stalks of grain transported from the feeder house 17 and transports the threshed stalks, i.e., the waste straw, to the waste straw processing unit 7. The receiving screen 22 supports the stalks of grain transported by the threshing drum 21 and sifts the grain to fall.

[0035] The sorting unit 5 is located below the threshing unit 4. The sorting unit 5 comprises an oscillating sorting device 24, a blown-air sorting device 25, a grain conveying device (not shown), and a straw debris discharge device (not shown). The oscillating sorting device 24 separates the threshed grain that has fallen from the threshing unit 4 into grain and straw debris by sieving. The blown-air sorting device 25 further separates the threshed grain that has fallen from the threshing unit 4 and the threshed grain sorted by the oscillating sorting device 24 into grain and straw debris by blowing air. The grain conveying device conveys the grain sorted by the oscillating sorting device 24 and the blown-air sorting device 25 to the storage unit 6. The straw debris discharge device discharges the straw debris and other materials other than the grain sorted by the oscillating sorting device 24 and the blown-air sorting device 25 to the outside of the machine.

[0036] The storage unit 6 is located to the right of the threshing unit 4. The storage unit 6 comprises a storage tank (grain tank) 27 and a grain discharge device 28. The storage tank 27 stores grain (for example, soybeans) that has been transported from the sorting unit 5. The grain discharge device 28 is configured with a discharge auger and the like, and performs grain discharge work, discharging the grain stored in the storage tank 27 to a transport vehicle at a preset discharge position.

[0037] The straw discharge processing unit 7 is located behind the threshing unit 4. The straw discharge processing unit 7 includes, for example, a straw conveying device (not shown) and a straw cutting device (not shown). The straw discharge processing unit 7 conveys the straw transported from the threshing unit 4 to the straw cutting device using the straw conveying device, cuts the straw using the straw cutting device, and then discharges it to the rear of the combine harvester 1.

[0038] The power unit 8 is located above the travel unit 2 and below the storage unit 6. The power unit 8 is equipped with an engine 20 that generates rotational power. The power unit 8 transmits the rotational power generated by the engine 20 to the travel unit 2, the harvesting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw processing unit 7. The combine harvester 1 is also equipped with a fuel tank that stores the fuel supplied to the engine 20 of the power unit 8.

[0039] The control unit 9 is located above the power unit 8. The control unit 9 is equipped with controls around the driver's seat 40, which is the seat where the operator sits, for controlling the movement of the combine harvester 1. These controls include a handle for instructing the turning of the combine harvester 1, and a main and sub-transmission levers for instructing changes in the forward and reverse speed of the combine harvester 1. Manual movement of the combine harvester 1 is performed by the driving unit 2, which receives input from the handle, main and sub-transmission levers of the control unit 9. The control unit 9 also includes mechanisms for operating the harvesting operation by the harvesting unit 3, the threshing operation by the threshing unit 4, and the discharge operation by the grain discharge device 28 of the storage unit 6.

[0040] The positioning unit 52 acquires the position of the combine harvester 1 using a satellite positioning system such as GPS. For example, the positioning unit 52 receives positioning signals from positioning satellites via a positioning antenna and acquires positional information of the positioning unit 52, i.e., the position of the combine harvester 1 (measurement point data), based on the positioning signals. The positioning unit 52 may be composed of a quantum compass instead of a positioning antenna.

[0041] The communication unit 54 is a communication interface for connecting the combine 1 to the communication network N1 by wire or wireless connection and for performing data communication with external devices such as the operation terminal 30 via the communication network N1 in accordance with a predetermined communication protocol.

[0042] The storage unit 51 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 51 stores control programs, such as an automatic driving program, which causes the control device 11 to execute the automatic driving process described later (see Figures 12 and 13). 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 51. Alternatively, the automatic driving program may be downloaded from a server (not shown) to the combine 1 via a communication network N1 and stored in the storage unit 51. The storage unit 51 also stores various setting information obtained from the operation terminal 30.

[0043] The detection unit 53 is a sensor that detects objects within a predetermined detection range using infrared rays, ultrasound, etc. For example, the detection unit 53 may be a lidar sensor (distance sensor) that can measure the distance to a measurement target (detection target) in three dimensions using a laser, or it may be a sonar sensor having multiple sonars that can measure the distance to a measurement target using ultrasound. The detection unit 53 is positioned behind the harvesting unit 3 in the direction of travel, and is located on the upper and central front of the combine harvester 1. The detection unit 53 may be positioned at the front and rear of the combine harvester 1, or at the front, rear, left and right sides of the combine harvester 1.

[0044] Furthermore, the detection unit 53 is configured to detect objects (e.g., obstacles such as people or objects) within a predetermined detection range. For example, it is possible to set a monitoring area (detection range) for controlling the movement of the combine harvester 1 to the detection unit 53. For example, the detection range includes a stopping area closest to the combine harvester 1, a deceleration area ahead of the stopping area, and a notification area further ahead of the deceleration area. For example, the stopping area is set to a range of approximately 2m in front of the combine harvester 1, the deceleration area is set to a range of approximately 6m in front of the stopping area, and the notification area is set to a range of approximately 2m in front of the deceleration area. The range of each area may also be set according to the vehicle speed of the combine harvester 1.

[0045] The detection unit 53 transmits measurement information (detection information) to the control device 11. The control device 11 detects the object to be detected and identifies its location based on the measurement information obtained from the detection unit 53. If the control device 11 detects an object to be detected in the notification area while the combine harvester 1 is automatically traveling, it will issue an alarm to the outside. The control device 11 will also decelerate the combine harvester 1 if it detects an object to be detected in the deceleration area while the combine harvester 1 is automatically traveling. The control device 11 will also stop the combine harvester 1 if it detects an object to be detected in the stopping area while the combine harvester 1 is automatically traveling. The control device 11 may also output location information indicating the location of the identified object to the operation terminal 30.

[0046] In another embodiment, the detection unit 53 may be composed of a camera. For example, the detection unit 53 detects the object to be detected by performing image analysis on an image captured of the area in front of the combine harvester 1. The detection unit 53 may also distinguish between people, objects, grain stalks, etc., and the control device 11 may perform notification processing, deceleration processing, stop processing, etc., according to the discrimination result. In yet another embodiment, the detection unit 53 may be composed of a lidar sensor and a camera. In this case, the detection unit 53 detects the object to be detected based on the captured image and distance.

[0047] Each of the vehicle control device 11A and the harvesting control device 11B 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 storage 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 storage unit that stores various information and is used as a temporary storage memory (work area) for various processes performed by the CPU. The vehicle control device 11A controls the combine harvester 1 by executing various control programs that have been stored in advance in the ROM or storage unit 51 using the CPU. The harvesting control device 11B controls the harvesting unit 3 by executing various control programs that have been stored in advance in the ROM or storage unit 51 using the CPU.

[0048] The vehicle control device 11A controls the operation of the combine harvester 1 in response to various user operations on the combine harvester 1. The vehicle control device 11A also executes an automatic driving process for the combine harvester 1 based on the current position of the combine harvester 1 calculated by the positioning unit 52 and a preset target route R.

[0049] The vehicle control device 11A 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.

[0050] Specifically, when the vehicle control device 11A receives a start-to-drive instruction from the operation terminal 30, it starts the automatic driving of the combine harvester 1. For example, when an operator presses the start button on the operation screen of the operation terminal 30, the operation terminal 30 outputs a start-to-drive instruction to the combine harvester 1. When the vehicle control device 11A receives the start-to-drive instruction from the operation terminal 30, it starts the automatic driving of the combine harvester 1 according to the target route R. As a result, for example, the combine harvester 1 starts automatic driving within the field F according to the target route R (see Figure 4).

[0051] The harvesting control device 11B controls the operation of the harvesting unit 3. Specifically, the harvesting control device 11B controls the height of the harvesting unit 3 based on the height of the ground or harvested crop in the work area F1 while the combine harvester 1 is automatically traveling. In addition, when the harvesting control device 11B reaches a first position on the work path that is a first predetermined distance away from the target starting position of the work in the work direction, the harvesting control device 11B switches the harvesting height control function (an example of the harvesting height control function of the present invention), which controls the height of the harvesting unit 3, from disabled to enabled.

[0052] Specifically, the harvesting control device 11B controls the height of the harvesting unit 3 based on the undulations of the field F, the height of the ridges A, and other factors. For example, the harvesting control device 11B detects the height of the ridges A using a sensor 3A (see Figure 2) provided on the harvesting unit 3, and controls the height of the harvesting unit 3 according to the height of the ridges A.

[0053] Furthermore, the harvesting control device 11B controls the operation of the harvesting unit 3 based on the control information E1 (see Figure 8) generated at the operation terminal 30. The harvesting control device 11B also causes the harvesting unit 3 to perform harvesting operations based on the current position of the combine harvester 1 calculated by the positioning unit 52 and the control information E1. As a result, the combine harvester 1 performs harvesting work in the field F while automatically traveling 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 height of the harvesting unit 3, the timing of switching harvesting operations, and the timing of switching the harvesting height control function on / off. The harvesting control device 11B is an example of the control processing unit of the present invention.

[0054] Furthermore, when the vehicle control device 11A and the harvesting control device 11B receive a stop command from the operation terminal 30, they stop the automatic driving and harvesting operations of the combine harvester 1. For example, when an operator presses the stop button on the operation screen of the operation terminal 30, the operation terminal 30 outputs a stop command to the combine harvester 1.

[0055] While the combine harvester 1 is automatically traveling, the harvesting control device 11B raises and lowers the harvesting unit 3, controls the drive of the harvesting unit 3 (or power transmission mechanism) to execute or stop harvesting operations, and turns the harvesting height control function of the harvesting unit 3 ON / OFF, based on the position of the combine harvester 1 and the control information E1 (see Figure 8) set for the target path R.

[0056] Figure 9 shows a specific example of a work method when harvesting is performed along a predetermined work path R1n. Figure 9 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. After traveling along the turning path R2a and the straight path R2b, the combine harvester 1 enters the work path R1n and begins harvesting.

[0057] For example, the harvesting control device 11B sets (maintains) the harvesting unit 3 to a non-working position (e.g., the uppermost position (height H1 in Figure 6)) in the turning path R2a and in the 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. In addition, the harvesting control device 11B sets (maintains) the harvesting height control function to OFF in the turning path R2a and section L1 (see Figure 8). The vehicle control device 11A may set the travel speed (vehicle speed) of the combine harvester 1 to the vehicle speed (working vehicle speed) during harvesting at the starting point P1.

[0058] The harvesting control device 11B sets the harvesting unit 3 to an intermediate position (height H2 in Figure 7), one step lower from the highest position (height H1 in Figure 6), when the combine harvester 1 reaches position P2, where the distance between the harvesting unit 3 (for example, the front end of the harvesting unit 3) and the starting point P3 is X1. Specifically, the harvesting control device 11B outputs a lowering instruction to the lifting device 19 (see Figure 2) so that the harvesting unit 3 is in the intermediate position (height H2) when the combine harvester 1 reaches position P2. Alternatively, the harvesting control device 11B may output a lowering instruction to the lifting device 19 so that the harvesting unit 3 is in the intermediate position before the combine harvester 1 reaches position P2.

[0059] The height H2 at the intermediate position is the height between the lowest position height H0 (see Figure 5) and the highest position height H1 (see Figure 6), and is higher than ridge A. The height H2 may be set by the operator or automatically set by the automatic driving system 10. For example, the operator may check the height of ridge A and input a height H2 that is higher than ridge A. Alternatively, for example, the harvesting control device 11B may acquire the height information of ridge A from the work information (work history) during the ridge-making operation and set a height H2 that is higher than ridge A.

[0060] Furthermore, when the combine harvester 1 reaches position P2 and the harvesting unit 3 descends to an intermediate position, the harvesting control device 11B switches the drive (power transmission mechanism) of the harvesting unit 3 from OFF to ON (see Figure 8). In other words, when the harvesting unit 3 descends to an intermediate position, the harvesting control device 11B instructs the harvesting unit 3 to start the harvesting operation (rotation of the grafting reel 14). Note that the timing for starting the drive of the harvesting unit 3 is not limited to the timing when the combine harvester 1 reaches position P2, but may be before the harvesting unit 3 reaches the starting end P3 of the work path R1n. Also, the timing for starting the drive of the harvesting unit 3 may be after the harvesting unit 3 has entered the work path R1n.

[0061] Here, since the combine harvester 1 travels along the straight path R2b without stopping, when the harvesting control device 11B switches the harvesting operation from OFF to ON at the moment the combine harvester 1 reaches position P2, the rotation of the raking reel 14 actually begins closer to the starting point P3 than the distance X1. In other words, the rotation of the raking reel 14 begins after a predetermined time has elapsed since the harvesting control device 11B switched the harvesting operation ON. For this reason, in order to ensure that the raking reel 14 reliably performs rotation at the starting point P3 of the work path R1n, it is desirable that the rotation of the raking reel 14 begins at the starting point P3, or a position before the starting point P3. Therefore, the distance X1 is set so that the time required from when the harvesting operation is switched ON at position P2 until the raking reel 14 begins to rotate is shorter than the travel time it takes for the combine harvester 1 to reach the starting point P3 from position P2. In this way, the distance X1 is set so that the harvesting operation on the target (grain stalk) begins at the starting point of the target.

[0062] Furthermore, the vehicle control device 11A may set the vehicle speed of the combine harvester 1 slower than the vehicle speed in section L1 during the section in which the combine harvester 1 travels from position P2 to starting point P3. This ensures that the raking reel 14 is reliably in a rotating state at starting point P3, thereby enabling the harvesting operation to reliably begin from the starting point of the harvesting target.

[0063] When the combine harvester 1 reaches the starting point P3, the vehicle control device 11A directs the combine harvester 1 to travel in a straight line along the work path R1n toward the end point P6 (see Figure 10). With the harvesting unit 3 maintained in the intermediate position, the combine harvester 1 automatically travels along the work path R1n and performs the harvesting of the crop (grain stalks) planted in the furrow A.

[0064] When the combine harvester 1 travels along the work path R1n and reaches a predetermined position P4 (the position of the harvesting unit 3 reaches a position at a preset distance X2 from the starting point P3), the harvesting control device 11B switches the harvesting height control function from OFF to ON (see Figure 8). In other words, the harvesting control device 11B switches the harvesting height control function from OFF to ON when the harvesting unit 3 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.

[0065] Specifically, the harvesting control device 11B instructs the lifting device 19 to start an operation to automatically change the height of the harvesting unit 3. When the harvesting height control function is switched ON, the lifting device 19 detects the unevenness of the soil (such as furrow A) and moves the harvesting unit 3 to a position corresponding to the height of the unevenness of the soil (height of furrow A). Here, when the harvesting height control function is OFF, the harvesting unit 3 is maintained at a predetermined height. That is, the harvesting control device 11B sets the height of the harvesting unit 3 to the predetermined height, in this case the height of the intermediate position H2 (see Figure 7), up to a position X2 away from the starting point P3. As a result, in the section from position P2, which is X1 closer to the starting point P3, to position P4, which is X2 closer to the working direction from the starting point P3, the height of the harvesting unit 3 is maintained at the height of the intermediate position H2. The harvesting unit 3 performs harvesting while being maintained at an intermediate position (height H2) until the combine harvester 1 reaches position P4.

[0066] When the combine harvester 1 reaches position P4 and the harvesting height control function is switched ON, the lifting device 19 lowers the harvesting unit 3 to near the top surface of the furrow A based on the detection result of the sensor 3A. When the harvesting height control function is ON, the lifting device 19 changes the height of the harvesting unit 3 as needed according to the detection result of detecting the furrow A. In another embodiment, when the harvesting height control function is ON, the lifting device 19 may move the harvesting unit 3 to a preset height according to the position of the combine harvester 1.

[0067] Distance X2 is set on the working direction side of the work path R1n from the starting point P3. Distance X2 is the distance from the starting point P3 to the harvesting unit 3 when the combine harvester 1's current position is position P4. Distance X2 may be set in advance by the operator. Alternatively, the automatic driving system 10 may acquire position information of the harvesting target (e.g., grain stalks) and automatically set distance X2 based on that position information. For example, distance X2 is the shortest distance required for the combine harvester 1 to stabilize its speed after starting harvesting work from the starting point P3.

[0068] The combine harvester 1 performs harvesting work while automatically traveling from position P4 with the harvesting height control function turned ON.

[0069] Figure 10 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 combine harvester 1 finishes harvesting 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).

[0070] For example, when the combine harvester 1 approaches the end P6 of the work path R1n (an example of the target end position in the present invention), the harvesting control device 11B switches the harvesting height control function from ON to OFF at a position (an example of the second position in the present invention) that is 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 8). Specifically, the harvesting control device 11B switches the harvesting height control function from ON to OFF when the harvesting unit 3 reaches a position on the work path R1n that is a distance Y2 away from the end P6 in the opposite direction of the work, that is, when the combine harvester 1 reaches position P5.

[0071] Furthermore, when the harvesting height control function of the harvesting control device 11B is switched to OFF, it sets (maintains) the height of the harvesting unit 3 at the height when the harvesting unit 3 reaches position Y2 (when the combine harvester 1 reaches position P5). For example, if the height at which the harvesting unit 3 reaches position Y2 is height H0 (see Figure 6), the harvesting control device 11B maintains the height of the harvesting unit 3 at H0. The harvesting control device 11B then performs the harvesting operation up to the end point P6 while maintaining the height of the harvesting unit 3.

[0072] Distance Y2 is set on the opposite side of the working direction of the work path R1n from the end point P6. Distance Y2 is the distance from end point P6 to the harvesting unit 3 (front end of harvesting unit 3) when the combine harvester 1's current position is position P5. Distance Y2 may be set in advance by the operator. Alternatively, the automatic driving system 10 may acquire position information of the harvesting target (e.g., grain stalks) and automatically set distance Y2 based on that position information.

[0073] The combine harvester 1 continues automatic travel and harvesting from position P5 with the harvesting height control function turned OFF. Subsequently, when the combine harvester 1 reaches the end point P6 of the work path R1n, it continues automatic travel and the operation of the harvesting unit 3 (rotation of the grabbing reel 14) to position P7 on the straight path R2c. Position P7 is the position of the combine harvester 1 when the distance from the end point P6 to the harvesting unit 3 is distance Y1. Distance Y1 is set to be on the side of the travel direction beyond the end point P6.

[0074] When the combine harvester 1 reaches position P7 where the distance between the harvesting unit 3 and the end P6 is Y1, the harvesting control device 11B switches the drive of the harvesting unit 3 from ON to OFF (see Figure 8). Specifically, the harvesting control device 11B turns off the power transmission mechanism to stop the harvesting operation. In other words, the harvesting control device 11B switches the operation of the harvesting unit 3 from ON to OFF when the harvesting unit 3 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 third predetermined distance in the present invention) from the end P6 in the working direction.

[0075] Furthermore, when the combine harvester 1 reaches position P7, the harvesting control device 11B raises the harvesting unit 3 to its highest position (height H1 in Figure 6). Specifically, the harvesting control device 11B outputs an upward command to the lifting device 19 (see Figure 2) so that the harvesting unit 3 reaches its highest position (height H1) before the combine harvester 1 reaches the end of the straight path R2c P8 (the beginning of the turning path R2d). The vehicle control device 11A makes the combine harvester 1 automatically travel along the straight path R2c to the end of the straight path R2c P8 (the beginning of the turning path R2d). Alternatively, the harvesting control device 11B may output an upward command to the lifting device 19 so that the harvesting unit 3 reaches its highest position (height H1) when the combine harvester 1 reaches position P7 or earlier. In another embodiment, the vehicle control device 11A may temporarily stop the combine harvester 1 at position P8 until the harvesting unit 3 reaches its highest position.

[0076] When the combine harvester 1 reaches position P8, the vehicle control device 11A causes the combine harvester 1 to automatically travel (turn) along the turning path R2d. The harvesting control device 11B and the vehicle control device 11A perform the above-described process (see Figures 8 to 10) for each work path.

[0077] [Operating terminal 30] As shown in Figure 1, the operating terminal 30 is an information processing device comprising an operation control unit 31, a storage unit 32, an operation display unit 33, and a communication unit 34, etc. The operating terminal 30 may be composed of a mobile device such as a tablet or a smartphone.

[0078] The communication unit 34 is a communication interface for connecting the operating terminal 30 to the communication network N1 by wire or wireless connection and for performing data communication with one or more external devices such as combines 1 via the communication network N1 in accordance with a predetermined communication protocol.

[0079] The operation display unit 33 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 combine harvester 1 by operating the operation unit. Furthermore, the operator can understand the driving status of the combine harvester 1 as it automatically travels within the field F according to the target route R by observing the driving trajectory displayed on the operation terminal 30, even from a location away from the combine harvester 1.

[0080] The storage unit 32 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 32 stores control programs that cause the operation control unit 31 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 30 and stored in the storage unit 32. Alternatively, the control programs may be downloaded from a server (not shown) to the operation terminal 30 via a communication network N1 and stored in the storage unit 32. The storage unit 32 may also store work information transmitted from the combine harvester 1.

[0081] Furthermore, a dedicated application for automatically driving the combine harvester 1 is installed in the memory unit 32. The operation control unit 31 starts the dedicated application and performs processes such as registering various information about the combine harvester 1, generating the target path R for the combine harvester 1, setting control information E1 that controls the operation of the harvesting unit 3, and issuing start and stop commands to the combine harvester 1.

[0082] The operation control unit 31 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 cause 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 31 controls the operation terminal 30 by executing various control programs that are pre-stored in the ROM or memory unit 32 using the CPU.

[0083] As shown in Figure 1, the operation control unit 31 includes various processing units such as a registration processing unit 311, a setting processing unit 312, and an output processing unit 313. The operation control unit 31 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 311 registers various setting information for enabling the combine harvester 1 to perform automatic driving. Specifically, the registration processing unit 311 registers information related to the combine harvester 1 (hereinafter referred to as work vehicle information). The registration processing unit 311 registers information such as the type (model) of the combine harvester 1, the location where the positioning antenna is attached to the combine harvester 1, the type of implement, the size and shape of the implement, the position of the implement relative to the combine harvester 1, the vehicle speed and engine speed of the combine harvester 1 while it is working, and the vehicle speed and engine speed of the combine harvester 1 while it is turning, by having the operator perform the registration operation on the operation terminal 30.

[0085] For example, the registration processing unit 311 displays the menu screen D1 shown in Figure 9 on the operation display unit 33. The operator selects, for example, "Implement Registration" on the menu screen D1 to register implement information related to the implement (harvesting unit 3).

[0086] Furthermore, the registration processing unit 311 registers information related to field F (hereinafter referred to as field information). The registration processing unit 311 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 4), and the direction of work by performing the registration operation on the operation terminal 30. The direction of work refers to the direction in which the combine harvester 1 is driven while the harvesting unit 3 is working in the work area F1, which is the field F excluding the non-working area. For example, the operator registers 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 the operator ride in the combine harvester 1 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 during that time. Alternatively, the location and shape of field F can also be acquired based on a polygon obtained by having the operator operate the control terminal 30 to specify multiple points on the map displayed on the control terminal 30. The area identified by the acquired location and shape of field F is the area in which the combine harvester 1 can travel (travel area).

[0088] Furthermore, the registration processing unit 311 registers information regarding how the work will be performed in detail (hereinafter referred to as work information). The registration processing unit 311 is configured to allow setting of work information such as whether or not there will be coordinated work between the unmanned combine harvester 1 and the manned combine harvester 1, the number of skips which is the number of work paths that the combine harvester 1 will skip when turning in the headland, the width of the headland, and the width of the uncultivated land. For example, the operator registers the work information by selecting "Register Work Area" on the menu screen D1.

[0089] Furthermore, the registration processing unit 311 registers a target route R, which is the route for the combine harvester 1 to travel automatically, based on the aforementioned setting information. The target route R is, for example, the work route from the starting position S to the ending position G (see Figure 4). The target route R shown in Figure 4 includes a straight work route for the combine harvester 1 to travel back and forth in parallel within the area where the crop to be harvested is planted (work area F1), and a turning route connecting the work routes. The registration processing unit 311 generates and registers the target route R for the combine harvester 1 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 311 can generate and register multiple target routes R for a single field F, depending on the work content.

[0090] The setting processing unit 312 sets control information E1 (see Figure 8) that controls the operation of the harvesting unit 3. Specifically, the setting processing unit 312 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 312 sets information that defines the height of the harvesting unit 3, the timing of switching the harvesting operation of the harvesting unit 3, and the timing of switching the harvesting height control function of the harvesting unit 3 ON / OFF, based on the positions of the start and end of each work path.

[0091] For example, as shown in Figure 9, the setting processing unit 312 sets the harvesting unit 3 to a height H2 (intermediate position) relative to position P2 (position of the combine harvester 1) where the distance from the starting point P3 of the work path R1n to the harvesting unit 3 (front end of the harvesting unit 3) is distance X1 (distance in the direction forward from the starting point P3), and sets information that defines the timing for switching the harvesting operation (rotational operation of the raking reel 14) from the OFF state to the ON state (see Figure 8).

[0092] Furthermore, the setting processing unit 312 sets information that defines the timing for switching the harvesting height control function from the OFF state to the ON state at position P4 (position of the combine harvester 1) where the distance from the starting point P3 of the work path R1n to the harvesting unit 3 (front end of the harvesting unit 3) (distance in the direction of travel from the starting point P3) is distance X2 (see Figure 8).

[0093] As shown in Figure 10, the setting processing unit 312 sets information that defines the timing for switching the harvesting height control function from the ON state to the OFF state for position P5 (position of the combine harvester 1) where the distance from the end P6 of the work path R1n to the harvesting unit 3 (front end of the harvesting unit 3) (distance in the direction in front of end P6) is distance Y2 (see Figure 8). The setting processing unit 312 also sets the height of the harvesting unit 3 to the height when the harvesting height control function is switched from the ON state to the OFF state for position P5 (see Figure 8).

[0094] Furthermore, the setting processing unit 312 sets the harvesting unit 3 to a height H1 (uppermost position) at position P7 (position of the combine harvester 1) where the distance from the end P6 of the work path R1n to the harvesting unit 3 (front end of the harvesting unit 3) is distance Y1 (distance in the direction of travel from end P6), and sets information that defines the timing for switching the harvesting operation (rotational operation of the raking reel 14) from the ON state to the OFF state (see Figure 8).

[0095] As described above, the setting processing unit 312 sets information for each work path that defines the height of the harvesting unit 3, the timing for switching the harvesting operation of the harvesting unit 3, and the timing for switching the harvesting height control function of the harvesting unit 3 ON / OFF (see Figure 8).

[0096] The output processing unit 313 outputs route data to the combine 1, which includes the information of the target route R registered by the registration processing unit 311 and the control information E1 (see Figure 8) set by the setting processing unit 312.

[0097] In addition, the operation control unit 31 receives instructions from the operator to start work (work start instruction operation) and instructions to stop the work of the automatically moving combine harvester 1 (work stop instruction operation). When the operation control unit 31 receives the work start instruction operation, it outputs the work start instruction to the combine harvester 1.

[0098] When the vehicle control device 11A of the combine harvester 1 receives a work start instruction from the operation terminal 30, it starts the automatic driving of the combine harvester 1 and drives it automatically according to the target path R. Also, when the harvesting control device 11B receives a work start instruction from the operation terminal 30, it refers to the control information E1 and sets the height of the harvesting unit 3 according to the current position of the combine harvester 1, switches the harvesting operation (power transmission mechanism) of the harvesting unit 3 ON / OFF, and switches the harvesting height control function of the harvesting unit 3 ON / OFF. Furthermore, when the vehicle control device 11A and the harvesting control device 11B receive a driving stop instruction from the operation terminal 30, they stop the automatic driving and harvesting operation of the combine harvester 1.

[0099] Furthermore, the operating terminal 30 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 30 can function as an operating terminal for the server by having a browser program executed by the operation control unit 31.

[0100] [Automatic driving process of the first embodiment] Hereinafter, with reference to Figures 12 and 13, an example of the automatic driving process performed by the vehicle control device 11A and harvesting control device 11B of the combine harvester 1 will be described.

[0101] 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 11A and the harvesting control device 11B 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.

[0102] <Step S1> In step S1, the vehicle control device 11A determines whether or not it has received a work start instruction. If the vehicle control device 11A receives the work start instruction from the operation terminal 30 (S1:Yes), it proceeds to step S2. The vehicle control device 11A waits until it receives the work start instruction (S1:No).

[0103] <Step S2> In step S2, the vehicle control device 11A starts the automatic driving process. Specifically, the vehicle control device 11A makes the combine 1 automatically drive according to the target route R included in the route data acquired from the operation terminal 30.

[0104] <Step S3> Next, in step S3, the harvesting control device 11B determines whether the combine harvester 1 has reached position P2 (see Figure 9) on the straight path R2b where the distance between the harvesting unit 3 (front end of the harvesting unit 3) and the starting point P3 of the work path R1n is X1. If the harvesting control device 11B determines that the combine harvester 1 has reached position P2 (S3: Yes), it proceeds to step S4. The harvesting control device 11B maintains the harvesting unit 3 at the highest position height H1 (see Figure 6) until the combine harvester 1 reaches position P2 (S3: No). The combine harvester 1 automatically travels with the harvesting unit 3 set to the highest position in the section L1 from the turning path R2a to position P2 on the straight path R2b.

[0105] <Step S4> In step S4, the harvesting control device 11B lowers the harvesting unit 3 from the highest position (height H1) to an intermediate position height H2 (see Figure 7). For example, the harvesting control device 11B outputs a lowering instruction to the lifting device 19 (see Figure 2) so that the harvesting unit 3 is at height H2 when the combine harvester 1 reaches position P2.

[0106] Furthermore, when the harvesting unit 3 reaches a height of H2, the harvesting control device 11B switches the harvesting operation of the harvesting unit 3 from OFF to ON (see Figure 8). That is, when the distance to the starting point P3 of the work path R1n reaches X1, the harvesting control device 11B switches the power transmission mechanism ON and instructs the harvesting unit 3 to start the harvesting operation (rotation of the raking reel 14). As a result, the combine harvester 1 starts driving the harvesting unit 3 from position P2. Note that at this point, the harvesting height control function that controls the height of the harvesting unit 3 is set to OFF (see Figure 8), so the harvesting unit 3 is driven while maintaining an intermediate height H2 in the section from the starting point P3 of the work path R1n to a distance of X2.

[0107] <Step S5> Next, in step S5, the harvesting control device 11B determines whether the combine harvester 1 has reached position P4 (see Figure 9) on the work path R1n where the distance between the harvesting unit 3 (front end of the harvesting unit 3) and the starting point P3 of the work path R1n is X2. If the harvesting control device 11B determines that the combine harvester 1 has reached position P4 (S5: Yes), it proceeds to step S6. The harvesting control device 11B causes the combine harvester 1 to perform the harvesting operation while maintaining the harvesting unit 3 at an intermediate height H2 until it reaches position P4 from the starting point P3.

[0108] <Step S6> In step S6, the harvesting control device 11B switches the harvesting height control function from OFF to ON (see Figure 8). Specifically, after the harvesting unit 3 has performed harvesting work at a height H2 over a distance X2, the harvesting control device 11B switches the harvesting height control function of the harvesting unit 3 to the ON state. As a result, the lifting device 19 lowers the harvesting unit 3, for example, from a height H2 to the height of furrow A. The vehicle control device 11A causes the vehicle to automatically travel along the work path R1n from position P4 with the harvesting height control function ON while performing harvesting work. The combine harvester 1 travels automatically from position P4 and raises and lowers the harvesting unit 3 according to the height of furrow A to perform harvesting work.

[0109] <Step S7> Next, in step S7, the harvesting control device 11B determines whether the combine harvester 1 has reached position P5 (see Figure 10) on the work path R1n where the distance between the harvesting unit 3 (front end of the harvesting unit 3) and the end P6 of the work path R1n is Y2. If the harvesting control device 11B determines that the combine harvester 1 has reached position P5 (S7: Yes), it proceeds to step S8. The harvesting control device 11B causes the combine harvester 1 to perform the harvesting work while controlling the harvesting unit 3 to a height corresponding to the height of the furrow A until the combine harvester 1 reaches position P5 (S7: No).

[0110] <Step S8> In step S8 (see Figure 11), the harvesting control device 11B switches the harvesting height control function from ON to OFF (see Figure 8). Specifically, the harvesting control device 11B switches the harvesting height control function of the harvesting unit 3 to the OFF state when it approaches the end point P6 of the work path R1n (position P5). The harvesting control device 11B also sets the harvesting unit 3 to the height of the harvesting unit 3 when the harvesting height control function is switched to OFF (the height of the harvesting unit 3 when the combine harvester 1 reaches position P5). The vehicle control device 11A performs the harvesting work while automatically driving along the work path R1n with the height of the harvesting unit 3 fixed from position P5.

[0111] <Step S9> Next, in step S9, the harvesting control device 11B determines whether the combine harvester 1 has reached position P7 (see Figure 10) on the straight path R2c where the distance between the harvesting unit 3 (front end of the harvesting unit 3) and the end P6 of the work path R1n is Y1. If the harvesting control device 11B determines that the combine harvester 1 has reached position P7 (S9: Yes), it proceeds to step S10. The harvesting control device 11B keeps the height of the harvesting unit 3 fixed and continues the harvesting operation until the combine harvester 1 reaches position P7 (S9: No).

[0112] <Step S10> In step S10, the harvesting control device 11B switches the drive of the harvesting unit 3 from ON to OFF (see Figure 8). Specifically, the harvesting control device 11B turns OFF the power transmission mechanism to stop the harvesting operation. The combine harvester 1 stops the harvesting operation and travels straight from position P7.

[0113] Furthermore, the harvesting control device 11B raises the harvesting unit 3 to its highest position (height H1 in Figure 6). Specifically, when the combine harvester 1 reaches position P7, the harvesting control device 11B raises the harvesting unit 3 to the highest position height H1. In another embodiment, the harvesting control device 11B may output an upward command to the lifting device 19 (see Figure 2) so that the harvesting unit 3 is at its highest position (height H1) when the combine harvester 1 reaches position P7.

[0114] The vehicle control device 11A automatically drives the combine harvester 1 along the straight path R2c to the end of the straight path R2c P8 (the beginning of the turning path R2d).

[0115] <Step S11> Next, in step S11, the vehicle control device 11A determines whether the combine harvester 1 has reached the end point P8 of the straight path R2c (see Figure 8). If the vehicle control device 11A determines that the combine harvester 1 has reached the end point P8 of the straight path R2c (S11: Yes), it proceeds to step S12. The vehicle control device 11A causes the combine harvester 1 to automatically travel along the straight path R2c until it reaches the end point P8 of the straight path R2c. The combine harvester 1 travels in a straight line while maintaining the harvesting unit 3 at the highest position height H1 until it reaches the end point P8 (S11: No).

[0116] <Step S12> In step S12, the vehicle control device 11A causes the combine harvester 1 to turn and travel along the turning path R2d (see Figure 10). The combine harvester 1 automatically travels along the turning path R2d while maintaining the harvesting unit 3 at the highest position height H1.

[0117] <Step S13> Next, in step S13, the vehicle control device 11A and the harvesting control device 11B determine whether the combine harvester 1 has reached the end of travel position G (see Figure 4). If the vehicle control device 11A and the harvesting control device 11B determine that the combine harvester 1 has reached the end of travel position G (S13: Yes), they terminate the automatic travel process. If the vehicle control device 11A and the harvesting control device 11B determine that the combine harvester 1 has not reached the end of travel position G (S13: No), they proceed to step S3 (see Figure 10). The vehicle control device 11A and the harvesting control device 11B repeatedly execute the above process until the combine harvester 1 reaches the end of travel position G (S13: No).

[0118] In this manner, the vehicle control device 11A and the harvesting control device 11B repeatedly perform the above-described process until the combine harvester 1 reaches the end position G from the starting position S, causing the combine harvester 1 to automatically travel along the target path R and perform the harvesting work.

[0119] As described above, the automatic driving system 10 according to this embodiment cuts the target crop using the cutting unit 3 provided on the combine harvester 1. The automatic driving system 10 also controls the height of the cutting unit 3 based on the height of the ground in the work area F1 or the target crop while the combine harvester 1 is automatically driving. Furthermore, the automatic driving system 10 switches the cutting height control function, which controls the height of the cutting unit 3, from disabled to enabled when the cutting unit 3 reaches a position on the work path that is a distance X2 (see Figure 9) away from the target starting position of the work in the direction of work.

[0120] Furthermore, the automatic driving system 10 switches the harvesting height control function from enabled to disabled when the harvesting unit 3 (the front end of the harvesting unit 3) reaches a position on the work path that is a distance Y2 (see Figure 10) away from the target end position of the work in the opposite direction to the work direction.

[0121] According to the above configuration, for example in the example shown in Figure 9, in the section from the starting point P3 of the work path R1n to a distance X2, the harvesting unit 3 can be set at a position higher than the ridge A, thereby preventing the harvesting unit 3 from coming into contact with the ridge A while still harvesting the target crop. Beyond distance X2, the harvesting unit 3 can be lowered to perform harvesting work according to the height of the ridge A. Therefore, it becomes possible to set the height of the harvesting unit 3 to an appropriate position relative to the ridge A and the target crop.

[0122] Furthermore, according to the above configuration, for example in the example shown in Figure 10, the harvesting height control function is disabled at position P5, which is a distance Y2 in the opposite direction from the work direction from the end P6 of the work path R1n. As a result, the height of the harvesting unit 3 is set to the height it would be at when it reaches position P5. This allows the height of the harvesting unit 3 to be kept constant even after the combine harvester 1 has passed the end P6, thereby stabilizing the behavior of the harvesting unit 3.

[0123] The work vehicle according to the first embodiment is not limited to a combine harvester, but may be a tractor equipped with a harvesting machine (e.g., a potato harvester). The tractor may also be equipped with a harvesting height control function that controls the harvesting height of the harvesting machine, and may control the timing of the harvesting machine's descent start, the ON / OFF timing of the harvesting machine's power transmission mechanism, and the ON / OFF timing of the harvesting height control function.

[0124] [Second Embodiment] In the second embodiment, a transplanting machine (for example, a vegetable transplanting machine) is given as an example of a work vehicle. In the following, explanations of the same components as in the first embodiment will be omitted as appropriate. The automatic driving system 10 according to the second embodiment includes a transplanting machine 100 and an operating terminal 30.

[0125] As shown in Figures 14 and 15, the transplanting machine 100 includes a vehicle control device 110A, a planting control device 110B, a storage unit 120, a driving unit 130, a planting unit 140, a communication unit 150, a positioning unit 160, and the like.

[0126] The communication unit 150 is a communication interface for connecting the transplanter 100 to the communication network N1 by wire or wireless connection and for performing data communication with the operating terminal 30 and the like via the communication network N1 in accordance with a predetermined communication protocol.

[0127] The storage unit 120 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 120 stores control programs, such as an automatic driving program, which causes the vehicle control device 110A and the planting control device 110B to execute the automatic driving process described later (see Figures 19 and 20). For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 120. Alternatively, the automatic driving program may be downloaded from a server (not shown) to the transplanting machine 100 via a communication network and stored in the storage unit 120. The storage unit 120 may also store data of the target route R generated at the operation terminal 30.

[0128] The body section 200 of the transplanting machine 100 comprises a machine frame 111, an engine 131, a transmission 134, and a pair of left and right running sections 130. The engine 131 and transmission 134 are mounted on the machine frame 111. The engine 131 is located at the front of the body section 200, near the center in the left-right direction, and generates rotational power to drive each part. The transmission 134 is connected to the lower part of the engine 131 and changes the speed of the engine 131's power. The transmission 134 is also connected to a PTO shaft (not shown) located at the rear of the body section 200, and transmits the power of the engine 131 to the planting section 140 (transplanting work section) via the PTO shaft.

[0129] Each pair of left and right running gear units 130 comprises a pair of front wheels 130a rotatably mounted at the front of both ends in the left-right direction, and a pair of rear wheels 130b rotatably mounted at the rear of both ends in the left-right direction. The pair of left and right front wheels 130a are supported at both ends of a front axle case 141 located at the front of the aircraft frame 111, and the pair of left and right rear wheels 130b are supported at both ends of a rear axle case 151 located at the rear of the aircraft frame 111. Power from the engine 131 and transmission 134 is transmitted to the pair of left and right front wheels 130a and the pair of left and right rear wheels 130b via the front axle case 141 and the rear axle case 151, thereby driving the pair of left and right front wheels 130a and the pair of left and right rear wheels 130b.

[0130] The vehicle body 200 is equipped with a driver's seat 190 near the upper center of the machine frame 111. The upper part of the machine frame 111 is equipped with steps 171 on the floor around the driver's seat 190 that the operator can move on, and in front of the steps 171 are equipped with a number of spare seedling trays 180 for placing seedling mats to be replenished in the planting unit 140. The vehicle body 200 is equipped with driving controls such as a steering wheel 211, a gear shift pedal 210 and a gear shift lever (not shown), and an operating terminal 30 around the driver's seat 190.

[0131] The planting unit 140 performs transplanting work, transplanting seedlings of vegetables and other plants into rows A (see Figure 4) in field F in groups of multiple (e.g., two) rows. The planting unit 140 is located at the rear of the vehicle body 200 and is connected to the vehicle body 200 via a lifting device 260, which is configured to allow the planting unit 140 to be raised and lowered relative to the vehicle body 200.

[0132] The planting unit 140 comprises a seedling supply unit 270 for supplying seedlings and a plurality of transplanting units 280. Each transplanting unit 280 includes, for example, a seedling removal unit (not shown) for removing seedlings from the seedling supply unit 270 and a planting unit (not shown) for receiving the seedlings removed by the seedling removal unit and planting them in the field. The seedling supply unit 270 includes a seedling tray 310 on which seedling mats are placed and a vertical feeding mechanism (not shown) for vertically feeding the seedlings placed on the seedling tray 310 downwards. The plurality of transplanting units 280 are provided corresponding to each of the plurality of rows.

[0133] The planting unit 140 is equipped with a transmission shaft (not shown) extending in the left-right direction as, for example, the input shaft of the planting unit 140. The transmission shaft is connected to a power intake unit (not shown) that takes in power from the transmission 134 of the vehicle body 200 via the PTO shaft, an output unit (not shown) that outputs the taken-in power to the transplanting unit 280, and a transplanting clutch unit (not shown) that switches the connection and disconnection of the taken-in power to the seedling supply unit 270 and the seedling extraction unit. The planting unit 140 is configured to transmit power from the transmission 134 to the transmission shaft via the PTO shaft, and further transmit power from the transmission shaft to each transplanting unit via the power intake unit and the output unit.

[0134] For example, the seedling extraction unit includes a seedling extraction claw (not shown) and a seedling extraction operating mechanism (not shown) that operates the seedling extraction claw. The seedling extraction operating mechanism is configured to rotate the seedling extraction claw between a seedling extraction position where seedlings are extracted from the seedling supply unit 270 and a seedling extraction claw side receiving position where seedlings are released downward, in response to power transmitted via the output unit. The planting unit includes a planting claw (not shown) and a planting operating mechanism (not shown) that operates the planting claw. The planting operating mechanism is configured to rotate the planting claw between a planting claw side receiving position where seedlings are received from the seedling extraction unit and a planting position where seedlings are released into the field soil, in response to power transmitted via the output unit. The planting unit 140 transplants seedlings to field F by operating each of the above-mentioned units in conjunction.

[0135] The positioning unit 160 is located on the front upper part of the vehicle body 200 and calculates the current position of the transplanter 100 based on GNSS signals received from satellites by the positioning antenna.

[0136] The vehicle control device 110A controls the operation of the transplanting machine 100 in response to various user operations on the transplanting machine 100. The vehicle control device 110A also executes an automatic driving process for the transplanting machine 100 based on the current position of the transplanting machine 100 calculated by the positioning unit 160 and a pre-set target route R.

[0137] The planting control device 110B controls the operation of the planting unit 140. Specifically, while the transplanter 100 is automatically traveling, the planting control device 110B controls the height of the planting unit 140 and the planting depth based on the height of the ground (ridge A) in the work area F1. Furthermore, when the planting unit 140 reaches a first position on the work path that is a first predetermined distance away from the target starting position of the work in the work path, the planting depth control function, which controls the planting depth of the planting target (e.g., vegetables), is disabled and enabled by the planting control device 110B.

[0138] Specifically, when the planting control device 110B enables the planting depth control function, it detects the height of the ridge A using a sensor (not shown) provided in the planting unit 140 and controls the planting depth according to the height of the ridge A.

[0139] The planting control device 110B controls the operation of the planting unit 140 based on control information E2 (see Figure 16) generated at the operation terminal 30. The planting control device 110B also causes the planting unit 140 to perform planting operations based on the current position of the transplanter 100 calculated by the positioning unit 160 and the control information E2. As a result, the transplanter 100 performs planting work in the field F while automatically traveling along the target path R, based on the control information E2. As shown in Figure 16, the control information E2 registers information such as the height of the planting unit 140, the timing of switching planting operations, and the timing of switching the planting depth control function on / off, associated with position information. The planting control device 110B is an example of the control processing unit of the present invention.

[0140] Furthermore, when the vehicle control device 110A and the planting control device 110B receive a stop command from the operation terminal 30, they stop the automatic movement and planting operation of the transplanting machine 100. For example, when an operator presses the stop button on the operation screen of the operation terminal 30, the operation terminal 30 outputs a stop command to the transplanting machine 100.

[0141] While the transplanter 100 is automatically traveling, the planting control device 110B raises and lowers the planting unit 140, controls the drive of the planting unit 140 (or PTO) to execute or stop the planting operation, and turns the planting depth control function of the planting unit 140 ON / OFF, based on the position of the transplanter 100 and the control information E2 (see Figure 16) set for the target path R.

[0142] Using Figures 17 and 18, the planting method according to the second embodiment will be explained.

[0143] For example, the planting control device 110B sets (maintains) the planting unit 140 to a non-working position (e.g., the uppermost position) (height H10) in the section L1 from the starting point P1 of the straight path R2b to a predetermined position before the starting point P3 of the work path R1n (a position X1 before the starting point P3). The planting control device 110B also sets (maintains) the planting depth control function to OFF (see Figure 16). The vehicle control device 110A may set the travel speed (vehicle speed) of the transplanter 100 to the vehicle speed (working vehicle speed) during planting at the starting point P1.

[0144] The planting control device 110B lowers the planting unit 140 from its highest position to an intermediate position (height H20) when the transplanting machine 100 reaches position P2, where the distance between the planting unit 140 (for example, the rear end of the planting unit 140) and the starting point P3 is X1. Specifically, the planting control device 110B outputs a lowering instruction to the lifting device 260 (see Figure 15) so that the planting unit 140 is in the intermediate position when the transplanting machine 100 reaches position P2. Alternatively, the planting control device 110B may output a lowering instruction to the lifting device 260 so that the planting unit 140 is in the intermediate position before the transplanting machine 100 reaches position P2.

[0145] The intermediate position is the height between the lowest and highest positions, and is higher than ridge A. The height of the intermediate position may be set by the operator or automatically set by the automatic driving system 10. For example, the operator may check the height of ridge A and input a height higher than ridge A as the intermediate position. Alternatively, for example, the planting control device 110B may acquire the height information of ridge A from the work information (work history) during the ridge-making operation and set a height higher than ridge A as the intermediate position.

[0146] The transplanter 100 automatically travels along the straight path R2b while maintaining the planting unit 140 in an intermediate position. When the transplanter 100 reaches the starting point P3, the vehicle control device 110A causes it to travel straight along the work path R1n toward the end point P6 (see Figure 18). When the transplanter 100 reaches position P4, the planting control device 110B lowers the planting unit 140 to its lowest position, switches the drive (PTO) of the planting unit 140 from OFF to ON, and switches the planting depth control function from OFF to ON (see Figure 16). In other words, the planting control device 110B switches the planting depth control function from OFF to ON when the planting unit 140 (the rear end of the planting unit 140) reaches a position on the work path R1n 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 (an example of the first position in the present invention).

[0147] Specifically, when the transplanter 100 reaches position P4, the planting control device 110B instructs the lifting device 260 to start changing the depth of the planting unit 140. When the planting depth control function is switched ON, the lifting device 260 detects the ridge A and raises and lowers the planting unit 140 in accordance with the change in the height of the ridge A, maintaining a constant planting depth. Here, when the planting depth control function is OFF, the planting unit 140 is maintained at a predetermined height. That is, the planting control device 110B sets the height of the planting unit 140 to the predetermined height, for example, the height H20 of the intermediate position, up to a position X2 away from the starting point P3. As a result, in the section from position P2, which is X1 closer to the starting point P3, to position P4, which is X2 closer to the working direction from the starting point P3, the height of the planting unit 140 is maintained at the height H20 of the intermediate position. Furthermore, the planting unit 140 stops its planting operation while remaining in an intermediate position until the transplanting machine 100 reaches position P4.

[0148] Distance X2 is set on the working direction side of the work path R1n from the starting point P3. Distance X2 is the distance from the starting point P3 to the planting section 140 (the rear end of the planting section 140) when the current position of the transplanter 100 is position P4. Distance X2 may be set in advance by the operator. Alternatively, the automatic driving system 10 may acquire the position information of furrow A and automatically set distance X2 based on that position information. For example, distance X2 is the minimum distance required for the vehicle speed of the transplanter 100 to stabilize.

[0149] The transplanting machine 100 performs the planting operation while automatically traveling from position P4 with the planting depth control function turned ON.

[0150] Figure 18 shows the work path R1n and the non-work paths (straight path R2c, turning path R2d) connected to the end P6 of work path R1n. When the transplanting machine 100 finishes planting 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).

[0151] For example, when the transplanting machine 100 approaches the end P6 of the work path R1n (an example of the target end position in the present invention), the planting control device 110B switches the planting depth control function from ON to OFF at a position (an example of the second position in the present invention) that is 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 16). Specifically, the planting control device 110B switches the planting depth control function from ON to OFF when the planting unit 140 (the rear end of the planting unit 140) reaches a position on the work path R1n that is a distance Y2 away from the end P6 in the opposite direction of the work, that is, when the transplanting machine 100 reaches position P5.

[0152] Furthermore, when the planting depth control function is switched OFF, the planting control device 110B sets (maintains) the planting unit 140 to the height at which the planting unit 140 reaches position Y2 (when the transplanting machine 100 reaches position P5). For example, if the height at which the planting unit 140 reaches position Y2 is the lowest position, the planting control device 110B maintains the height of the planting unit 140 at the lowest position. The planting control device 110B then performs the planting operation up to the end point P6 while maintaining the height of the planting unit 140.

[0153] Distance Y2 is set on the opposite side of the working direction of the work path R1n from the terminal P6. Distance Y2 is the distance from terminal P6 to the planting section 140 (the rear end of the planting section 140) when the current position of the transplanting machine 100 is position P5. Distance Y2 may be set in advance by the operator. Alternatively, the automatic driving system 10 may set distance Y2 automatically.

[0154] The transplanter 100 continues automatic travel and planting from position P5 with the planting depth control function turned OFF. Subsequently, when the transplanter 100 (or planting unit 140) reaches the end point P6 of the work path R1n, the planting control device 110B switches the drive of the planting unit 140 from ON to OFF (see Figure 16). Specifically, the planting control device 110B turns OFF the PTO to stop the planting operation.

[0155] In another embodiment, the planting control device 110B may stop the planting operation by turning off the PTO when the transplanter 100 reaches position P5. For example, if the transplanter 100 has a ridging function, the ridging operation can be stopped by turning off the PTO before the end P6 of the work path R1n, allowing the ridging machine to discharge the soil it has collected before the end of the path and level the soil as it travels to the end of the path. This prevents the soil from being discharged and forming a mound at the end of the path when the ridging machine has traveled to the start of the path with soil still in it and raised the implement. This configuration is applicable to work vehicles (ridging machines) that perform only ridging work.

[0156] When the transplanting machine 100 automatically travels with the planting operation stopped and reaches position P7 where the distance between the planting section 140 (the rear end of the planting section 140) and the terminal P6 is Y1, the planting control device 110B raises the planting section 140 to its highest position (height H10). Specifically, the planting control device 110B outputs an upward command to the lifting device 260 (see Figure 15) so that the planting section 140 is in its highest position before the transplanting machine 100 reaches the terminal P8 of the straight path R2c (the starting point of the turning path R2d). The vehicle control device 110A automatically travels the transplanting machine 100 along the straight path R2c to the terminal P8 of the straight path R2c (the starting point of the turning path R2d). The planting control device 110B may also output an upward command to the lifting device 260 so that the planting unit 140 is in its highest position when the transplanting machine 100 reaches position P7 or earlier. In another embodiment, the vehicle control device 110A may temporarily stop the transplanting machine 100 at position P8 until the planting unit 140 is in its highest position.

[0157] When the transplanting machine 100 reaches position P8, the vehicle control device 110A causes the transplanting machine 100 to automatically travel (turn) along the turning path R2d. The planting control device 110B and the vehicle control device 110A perform the above-described processing (see Figures 16 to 18) for each work path.

[0158] In the operation terminal 30 according to the second embodiment, the setting processing unit 312 sets control information E2 (see Figure 16) that controls the operation of the planting unit 140. Specifically, the setting processing unit 312 sets the control information E2 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 312 sets information that defines the height of the planting unit 140, the switching timing of the planting operation of the planting unit 140, and the switching timing of the ON / OFF of the planting depth control function of the planting unit 140, based on the positions of the start and end of each work path.

[0159] For example, as shown in Figure 17, the setting processing unit 312 sets the planting unit 140 to a height H20 (intermediate position) relative to position P2 (position of the transplanting machine 100) where the distance from the starting point P3 of the work path R1n to the planting unit 140 (rear end of the planting unit 140) (distance in the direction in front of the starting point P3) is distance X1 (see Figure 16).

[0160] Furthermore, the setting processing unit 312 sets information that defines the timing for switching the planting operation from the OFF state to the ON state, and also for switching the planting depth control function from the OFF state to the ON state, at position P4 (position of the transplanting machine 100) where the distance from the starting point P3 of the work path R1n to the planting unit 140 (rear end of the planting unit 140) is distance X2 (see Figure 16).

[0161] As shown in Figure 18, the setting processing unit 312 sets information defining the timing for switching the planting depth control function from the ON state to the OFF state at position P5 (the position of the transplanting machine 100) where the distance from the end P6 of the work path R1n to the planting unit 140 (the rear end of the planting unit 140) is distance Y2 (see Figure 16). The setting processing unit 312 also sets the height of the planting unit 140 at position P5 to the height when the planting depth control function is switched from the ON state to the OFF state (see Figure 16). The setting processing unit 312 also sets information defining the timing for switching the planting operation from the ON state to the OFF state at position P6, the end of the work path R1n (see Figure 16).

[0162] Furthermore, the setting processing unit 312 sets information that defines the timing for switching the planting unit 140 to the uppermost position (height H10) at position P7 (position of the transplanting machine 100) where the distance from the end P6 of the work path R1n to the planting unit 140 (rear end of the planting unit 140) (distance in the direction of travel from end P6) is distance Y1 (see Figure 16).

[0163] As described above, the setting processing unit 312 sets information for each work path that defines the height of the planting unit 140, the timing for switching the planting operation of the planting unit 140, and the timing for switching the planting depth control function of the planting unit 140 ON / OFF (see Figure 16).

[0164] The output processing unit 313 outputs route data to the transfer machine 100, which includes the information of the target route R registered by the registration processing unit 311 and the control information E2 (see Figure 16) set by the setting processing unit 312.

[0165] [Automatic driving process in the second embodiment] Hereinafter, with reference to Figures 19 and 20, an example of the automatic driving process performed by the vehicle control device 110A and planting control device 110B of the transplanting machine 100 will be described.

[0166] <Step S21> In step S21, the vehicle control device 110A determines whether or not it has received a work start instruction. If the vehicle control device 110A receives the work start instruction from the operation terminal 30 (S21: Yes), it proceeds to step S22. The vehicle control device 110A waits until it receives the work start instruction (S21: No).

[0167] <Step S22> In step S22, the vehicle control device 110A starts the automatic driving process. Specifically, the vehicle control device 110A makes the transplanting machine 100 automatically drive according to the target route R included in the route data acquired from the operation terminal 30.

[0168] <Step S23> Next, in step S23, the planting control device 110B determines whether the transplanter 100 has reached position P2 (see Figure 17) on the straight path R2b where the distance between the planting unit 140 (the rear end of the planting unit 140) and the starting point P3 of the work path R1n is X1. If the planting control device 110B determines that the transplanter 100 has reached position P2 (S23: Yes), it proceeds to step S24. The planting control device 110B maintains the planting unit 140 at its highest position (height H10) until the transplanter 100 reaches position P2 (S23: No). The transplanter 100 automatically travels with the planting unit 140 set to its highest position in the section L1 from the turning path R2a to position P2 on the straight path R2b.

[0169] <Step S24> In step S24, the planting control device 110B lowers the planting unit 140 from its highest position (height H10) to an intermediate position (height H20). For example, the planting control device 110B outputs a lowering instruction to the lifting device 260 so that the planting unit 140 is at height H20 when the transplanting machine 100 reaches position P2.

[0170] <Step S25> Next, in step S25, the planting control device 110B determines whether the transplanter 100 has reached position P4 (see Figure 17) on the work path R1n where the distance between the planting unit 140 (the rear end of the planting unit 140) and the starting point P3 of the work path R1n is X2. If the planting control device 110B determines that the transplanter 100 has reached position P4 (S25: Yes), it proceeds to step S26. The planting control device 110B maintains the planting unit 140 at an intermediate height H20 until the transplanter 100 reaches position P4 from the starting point P3.

[0171] <Step S26> In step S26, the planting control device 110B switches the planting operation from the OFF state to the ON state and also switches the planting depth control function from OFF to ON (see Figure 16). Specifically, when the distance from the starting point P3 of the work path R1n reaches X2, the planting control device 110B switches the PTO ON and instructs the planting unit 140 to start the planting operation, and switches the planting depth control function of the planting unit 140 to the ON state. As a result, the lifting device 260 lowers the planting unit 140, for example, from a height H20 to the height of ridge A. The vehicle control device 110A performs the planting work while automatically driving along the work path R1n from position P4 with the planting depth control function ON. The transplanter 100 performs the planting work by raising and lowering the planting unit 140 according to the height of ridge A while automatically driving from position P4.

[0172] <Step S27> Next, in step S27, the planting control device 110B determines whether the transplanter 100 has reached position P5 (see Figure 18) on the work path R1n where the distance between the planting unit 140 (the rear end of the planting unit 140) and the end P6 of the work path R1n is Y2. If the planting control device 110B determines that the transplanter 100 has reached position P5 (S27: Yes), it proceeds to step S28. The planting control device 110B controls the planting unit 140 to a height corresponding to the height of the ridge A and performs the planting operation until the transplanter 100 reaches position P5 (S27: No).

[0173] <Step S28> In step S28 (see Figure 20), the planting control device 110B switches the planting depth control function from ON to OFF (see Figure 16). Specifically, the planting control device 110B switches the planting depth control function of the planting unit 140 to the OFF state when it approaches the end P6 of the work path R1n (position P5). The planting control device 110B also sets the planting unit 140 to the height of the planting unit 140 when the planting depth control function is switched to OFF (the height of the planting unit 140 when the transplanter 100 reaches position P5). The vehicle control device 110A performs the planting work while automatically driving along the work path R1n with the height of the planting unit 140 fixed from position P5.

[0174] <Step S29> Next, in step S29, the planting control device 110B determines whether the transplanter 100 has reached the end P6 of the work path R1n (see Figure 18). If the planting control device 110B determines that the transplanter 100 has reached the end P6 (S29: Yes), it proceeds to step S30. The planting control device 110B fixes the height of the planting unit 140 and continues the planting operation until the transplanter 100 reaches the end P6 (S29: No).

[0175] <Step S30> In step S30, the planting control device 110B switches the drive of the planting unit 140 from ON to OFF (see Figure 16). Specifically, the planting control device 110B turns OFF the PTO and stops the planting operation. The transplanter 100 stops the planting operation from terminal P6 and travels straight along the straight path R2c.

[0176] <Step S31> Next, in step S31, the planting control device 110B determines whether the transplanter 100 has reached position P7 (see Figure 18) on the straight path R2c where the distance between the planting section 140 (the rear end of the planting section 140) and the end P6 of the work path R1n is Y1. If the planting control device 110B determines that the transplanter 100 has reached position P7 (S31: Yes), it proceeds to step S32. The planting control device 110B maintains the height of the planting section 140 until the transplanter 100 reaches position P7 (S31: No).

[0177] <Step S32> In step S32, the planting control device 110B raises the planting unit 140 to its highest position (height H10). Specifically, when the transplanting machine 100 reaches position P7, the planting control device 110B raises the planting unit 140 to its highest position. In another embodiment, the planting control device 110B may output an upward command to the lifting device 260 so that the planting unit 140 is in its highest position (height H10) when the transplanting machine 100 reaches position P7.

[0178] The vehicle control device 110A automatically drives the transplanting machine 100 along the straight path R2c to the end P8 of the straight path R2c (the beginning of the turning path R2d).

[0179] <Step S33> Next, in step S33, the vehicle control device 110A determines whether the transplanter 100 has reached the end P8 of the straight path R2c (see Figure 16). If the vehicle control device 110A determines that the transplanter 100 has reached the end P8 of the straight path R2c (S33: Yes), it proceeds to step S34. The vehicle control device 110A causes the transplanter 100 to automatically travel along the straight path R2c until it reaches the end P8 of the straight path R2c. The transplanter 100 travels in a straight line while maintaining the planting section 140 at the highest position height H10 until it reaches the end P8 (S33: No).

[0180] <Step S34> In step S34, the vehicle control device 110A causes the transplanting machine 100 to turn and travel along the turning path R2d (see Figure 18). The transplanting machine 100 automatically travels along the turning path R2d while maintaining the planting section 140 at its highest position height H10.

[0181] <Step S35> Next, in step S35, the vehicle control device 110A and the planting control device 110B determine whether the transplanting machine 100 has reached the end of travel position G (see Figure 4). If the vehicle control device 110A and the planting control device 110B determine that the transplanting machine 100 has reached the end of travel position G (S35: Yes), they terminate the automatic driving process. If the vehicle control device 110A and the planting control device 110B determine that the transplanting machine 100 has not reached the end of travel position G (S35: No), they proceed to step S23 (see Figure 19). The vehicle control device 110A and the planting control device 110B repeatedly execute the above process until the end of travel position G is reached (S35: No).

[0182] In this manner, the vehicle control device 110A and the planting control device 110B repeatedly perform the above-described processes until the transplanting machine 100 reaches the end position G from the starting position S, causing the transplanting machine 100 to automatically travel along the target path R while performing the planting operation.

[0183] As described above, the automated driving system 10 according to this embodiment plants the target to be planted using the planting unit 140 provided on the transplanting machine 100. The automated driving system 10 also controls the height of the planting unit 140 based on the ground height of the work area F1 while the transplanting machine 100 is automatically driving. Furthermore, when the planting unit 140 (the rear end of the planting unit 140) reaches a position on the work path that is a distance X2 (see Figure 17) away from the target starting position of the work in the work path, the automated driving system 10 switches the planting depth control function, which controls the height of the planting unit 140, from disabled to enabled.

[0184] Furthermore, the automatic driving system 10 switches the planting depth control function from enabled to disabled when the planting unit 140 (the rear end of the planting unit 140) reaches a position on the work path that is a distance Y2 (see Figure 18) away from the target end position of the work in the opposite direction to the work direction.

[0185] According to the above configuration, for example, in the example shown in Figure 17, in the section from the starting point P3 of the work path R1n to a distance X2, the planting unit 140 can be set at a position higher than the ridge A, thereby preventing the planting unit 140 from coming into contact with the ridge A. Beyond distance X2, the planting unit 140 can be lowered to perform planting work according to the height of the ridge A. Therefore, it becomes possible to set the height of the planting unit 140 to an appropriate position relative to the ridge A and the target of planting.

[0186] Furthermore, according to the above configuration, for example in the example shown in Figure 18, the planting depth control function is disabled at position P5, which is a distance Y2 in the opposite direction from the work direction from the end P6 of the work path R1n. As a result, the height of the planting unit 140 is set to the height it was at when it reached position P5. This allows the planting unit 140 to maintain a constant height even after the transplanter 100 has passed the end P6, thereby stabilizing the behavior of the planting unit 140.

[0187] The work vehicle according to the second embodiment is not limited to a transplanter, but may be a tractor equipped with a planting unit. The tractor may also be equipped with a planting depth control function to control the planting depth of the planting unit, and may control the timing of the planting unit's descent start, the ON / OFF timing of the planting unit's PTO, and the ON / OFF timing of the planting depth control function.

[0188] In the first and second embodiments described above, a combine harvester and a transplanter were given as examples of work vehicles, but the work vehicle of the present invention is not limited to these, and any vehicle equipped with work machinery is acceptable. Furthermore, the work vehicle may be an automated vehicle or a manually operated vehicle. In the case of a manually operated vehicle, for example, the harvesting control device 11B notifies the operator of the determined timing for the start of the lowering of the harvesting unit 3, the ON / OFF timing of the power transmission mechanism of the harvesting unit 3, and the ON / OFF timing of the harvesting height control function, and the operator switches the raising and lowering of the harvesting unit 3, the ON / OFF of the power transmission mechanism, and the ON / OFF of the harvesting height control function based on each timing.

[0189] In each of the embodiments described above, the automatic driving system 10 may set positions P1 to P8 (see Figures 9, 10, 17, and 18) as follows. Position P1 is the starting point of the straight path R2b, which is an extension of the work path R1n; position P2 is the position where the work machine is at an intermediate height (downward movement completed position); position P3 is the starting point of the work path R1n; position P4 is the position where the work machine is at its lowest height (downward movement completed position); position P5 is the position where the height control function of the work machine is switched from ON to OFF; position P6 is the end of the work path R1n; position P7 is the position where the work machine is at its highest height (upward movement completed position); and position P8 is the end of the straight path R2c, which is an extension of the work path R1n.

[0190] Specifically, the automatic driving system 10 is applicable to so-called straight-line assist driving, which automatically drives the work vehicle in a straight line based on a predetermined reference direction (reference direction). In the aforementioned straight-line assist driving, the automatic driving system 10 sets positions P1 to P8 based on the external shape information of the field if the external shape information of the field has been acquired, and based on the positions of two reference points (point A and point B) when the reference direction was set if the external shape information of the field has not been acquired.

[0191] When the automated driving system 10 sets positions P1 to P8 based on the positions of points A and B, it sets P1 (or P8), P2 (or P7), or P3 (or P6) at a position aligned with point A, and sets P1 (or P8), P2 (or P7), or P3 (or P6) at a position aligned with point A. The automated driving system 10 may also set a position selected by the operator from among the positions of P1 (or P8), P2 (or P7), or P3 (or P6) at a position aligned with point A.

[0192] Alternatively, the automated driving system 10 may set P8 (or P1), P7 (or P2), or P6 (or P3) at a position aligned with point B, and then set P8 (or P1) to P5 (or P4) based on the position of the set P8 (or P1), P7 (or P2), or P6 (or P3). The automated driving system 10 may also set a position selected by the operator from among the positions of P8 (or P1), P7 (or P2), or P6 (or P3) at a position aligned with point B.

[0193] Furthermore, the positions of P1 and P8 of the next straight path may be updated based on the starting and ending positions of the work vehicle's automatic straight-line travel, and the positions of P2 to P7 may be updated based on the updated positions of P1 and P8. The automatic travel system 10 repeats this update process for each straight path. The automatic travel system 10 may also allow the operator to choose whether or not to update the positions P1 and P8 of the next straight path when it reaches the current position P8 of the straight path.

[0194] When applying the present invention to straight-line assist driving, the automatic driving system 10 operates in the same manner as the fully automatic driving corresponding to the above-described embodiment at positions P2 to P7, but may stop the work vehicle when it reaches position P8. For example, if the work machine is a cutting unit or harvesting unit, the work machine may be stopped when the work vehicle reaches position P8. This prevents the work vehicle from transitioning to turning while carrying the cut or harvested material.

[0195] [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.

[0196] <Note 1> A method of harvesting crops using a harvesting unit installed on a work vehicle, The aforementioned work vehicle controls the height of the harvesting unit based on the height of the ground or harvested material in the work area while it is automatically moving, When the harvesting unit reaches a first position on the work path, which is a first predetermined distance away from the target starting position of the work in the work path, the harvesting height control function, which controls the height of the harvesting unit, is switched from disabled to enabled. The method for performing the task.

[0197] <Note 2> The harvesting unit is a machine for harvesting crops from ridges formed by the ridge-making process, Based on the work information during the aforementioned ridging operation, the height of the harvesting section from the target starting position to the first position is set. The procedure described in Appendix 1.

[0198] <Note 3> A method of harvesting crops using a harvesting unit installed on a work vehicle, The aforementioned work vehicle controls the height of the harvesting unit based on the height of the ground or harvested material in the work area while it is automatically moving, When the harvesting unit reaches a second position on the work path, which is located a second predetermined distance away from the target end position of the work in the work path in the direction opposite to the work direction, the harvesting height control function, which controls the height of the harvesting unit, is switched from enabled to disabled. The method for performing the task.

[0199] <Note 4> When the harvesting unit reaches a fourth position on a non-working path connected to the target end position, which is a third predetermined distance away from the target end position in the working direction, the drive of the harvesting unit is stopped. The procedure is as described in Appendix 3.

[0200] <Note 5> The harvesting unit is a machine for harvesting crops from ridges formed by the ridge-making process, The height of the harvesting unit from the second position to the target end position is set to the height at which the harvesting unit reaches the second position. The work method described in Appendix 3 or 4.

[0201] <Note 6> A method of planting a target plant using a planting unit installed on a work vehicle, The aforementioned work vehicle controls the planting depth of the target to be planted based on the ground height of the work area while it is automatically driving, When the planting unit reaches a first position on the work path, which is a first predetermined distance away from the target starting position of the work in the work path, the planting depth control function that controls the planting depth of the target to be planted is switched from disabled to enabled. The method for performing the task.

[0202] <Note 7> The planting unit is a machine that plants the target to be planted on the ridges formed by the ridge-making work, Based on the work information during the aforementioned ridging operation, the height of the planting section from the target starting position to the first position is set. The work procedure described in Appendix 6.

[0203] <Note 8> A method of planting a target plant using a planting unit installed on a work vehicle, The aforementioned work vehicle controls the planting depth of the target to be planted based on the ground height of the work area while it is automatically driving, When the planting unit reaches a second position on the work path, which is located a second predetermined distance away from the target end position of the work in the work path in the direction opposite to the work direction, the planting depth control function that controls the planting depth of the planting target is switched from enabled to disabled. The method for performing the task.

[0204] <Note 9> When the planting unit reaches the second position or the target end position, the drive of the planting unit is stopped. The procedure described in Appendix 8.

[0205] <Note 10> The planting unit is a machine that plants the target to be planted on the ridges formed by the ridge-making work, The height of the planting section from the second position to the target end position is set to the height at which the planting section reaches the second position. The work method described in Appendix 8 or 9.

[0206] <Note 11> A work program for harvesting crops using a harvesting unit installed on a work vehicle, The aforementioned work vehicle controls the height of the harvesting unit based on the height of the ground or harvested material in the work area while it is automatically moving, When the harvesting unit reaches a first position on the work path, which is a first predetermined distance away from the target starting position of the work in the work path, the harvesting height control function, which controls the height of the harvesting unit, is switched from disabled to enabled. A task program that causes one or more processors to run.

[0207] <Note 12> A work program for harvesting crops using a harvesting unit installed on a work vehicle, The aforementioned work vehicle controls the height of the harvesting unit based on the height of the ground or harvested material in the work area while it is automatically moving, When the harvesting unit reaches a second position on the work path, which is located a second predetermined distance away from the target end position of the work in the work path in the direction opposite to the work direction, the harvesting height control function, which controls the height of the harvesting unit, is switched from enabled to disabled. A task program that causes one or more processors to run.

[0208] <Note 13> A work program for planting targets using a planting unit installed on a work vehicle, The aforementioned work vehicle controls the planting depth of the target to be planted based on the ground height of the work area while it is automatically driving, When the planting unit reaches a first position on the work path, which is a first predetermined distance away from the target starting position of the work in the work path, the planting depth control function that controls the planting depth of the target to be planted is switched from disabled to enabled. A task program that causes one or more processors to run.

[0209] <Note 14> A work program for planting targets using a planting unit installed on a work vehicle, The aforementioned work vehicle controls the planting depth of the target to be planted based on the ground height of the work area while it is automatically driving, When the planting unit reaches a second position on the work path, which is located a second predetermined distance away from the target end position of the work in the work path in the direction opposite to the work direction, the planting depth control function that controls the planting depth of the planting target is switched from enabled to disabled. A task program that causes one or more processors to run.

[0210] <Note 15> A work system for harvesting crops using a harvesting unit installed on a work vehicle, The process of controlling the height of the harvesting unit based on the height of the ground or harvested material in the work area while the work vehicle is automatically driving, When the harvesting unit reaches a first position on the work path, which is a first predetermined distance away from the target starting position of the work in the work path, a process is performed to switch the harvesting height control function, which controls the height of the harvesting unit, from disabled to enabled. A work system equipped with a control processing unit that performs the following.

[0211] <Note 16> A work system for harvesting crops using a harvesting unit installed on a work vehicle, The process of controlling the height of the harvesting unit based on the height of the ground or harvested material in the work area while the work vehicle is automatically driving, When the harvesting unit reaches a second position on the work path, which is located a second predetermined distance away from the target end position of the work in the work path in the direction opposite to the work direction, the harvesting height control function, which controls the height of the harvesting unit, is switched from enabled to disabled. A work system equipped with a control processing unit that performs the following.

[0212] <Note 17> A work system for planting targets using a planting unit installed on a work vehicle, The process of controlling the planting depth of the target to be planted based on the ground height of the work area while the work vehicle is automatically driving, When the planting unit reaches a first position on the work path, which is a first predetermined distance away from the target starting position of the work in the work path, a process is performed to switch the planting depth control function, which controls the planting depth of the planting target, from disabled to enabled. A work system equipped with a control processing unit that performs the following.

[0213] <Note 18> A work system for planting targets using a planting unit installed on a work vehicle, The process of controlling the planting depth of the target to be planted based on the ground height of the work area while the work vehicle is automatically driving, When the planting unit reaches a second position on the work path, which is located a second predetermined distance away from the target end position of the work in the work path in the direction opposite to the work direction, the process of switching the planting depth control function, which controls the planting depth of the planting target, from enabled to disabled, A work system equipped with a control processing unit that performs the following. [Explanation of Symbols]

[0214] 10: Automated driving system 1: Combine harvester (work vehicle) 3: Harvesting section 11: Control device 11A: Vehicle control device 11B: Harvesting control device (control processing unit) 30: Operating terminal 100: Transplanting machine (work vehicle) 110A: Vehicle control device 110B: Planting control device (control processing unit) 311: Registration Processing Unit 312: Configuration Processing Unit 313: Output Processing Unit A: ridge E1: Control information E2: Control Information F: Field R: Target path R1n: Work path R2a: Turning path R2b: Straight path R2c: Straight path R2d: Turning path

Claims

1. A method of harvesting crops using a harvesting unit installed on a work vehicle, The aforementioned work vehicle controls the height of the harvesting unit based on the height of the ground or harvested material in the work area while it is automatically driving, When the harvesting unit reaches a first position on the work path, which is a first predetermined distance away from the target starting position of the work in the work path, the harvesting height control function, which controls the height of the harvesting unit, is switched from disabled to enabled. The method for performing the task.

2. The harvesting unit is a machine for harvesting crops from ridges formed by the ridge-making process, Based on the work information during the aforementioned ridging operation, the height of the harvesting section from the target starting position to the first position is set. The work method described in claim 1.

3. A method of harvesting crops using a harvesting unit installed on a work vehicle, The aforementioned work vehicle controls the height of the harvesting unit based on the height of the ground or harvested material in the work area while it is automatically driving, When the harvesting unit reaches a second position on the work path, which is located a second predetermined distance away from the target end position of the work in the direction opposite to the work direction, the harvesting height control function, which controls the height of the harvesting unit, is switched from enabled to disabled. The method for performing the task.

4. When the harvesting unit reaches a fourth position on a non-working path connected to the target end position, which is a third predetermined distance away from the target end position in the working direction, the drive of the harvesting unit is stopped. The work method described in claim 3.

5. The harvesting unit is a machine for harvesting crops from ridges formed by the ridge-making process, The height of the harvesting unit from the second position to the target end position is set to the height at which the harvesting unit reaches the second position. The work method according to claim 3 or 4.

6. A method of planting a target plant using a planting unit installed on a work vehicle, The aforementioned work vehicle controls the planting depth of the target to be planted based on the ground height of the work area while it is automatically driving, When the planting unit reaches a first position on the work path, which is a first predetermined distance away from the target starting position of the work in the work path, the planting depth control function that controls the planting depth of the planting target is switched from disabled to enabled. The method for performing the task.

7. The planting unit is a machine that plants the target to be planted on the ridges formed by the ridge-making work, Based on the work information during the aforementioned ridging operation, the height of the planting section from the target starting position to the first position is set. The work method described in claim 6.

8. A method of planting a target plant using a planting unit installed on a work vehicle, The aforementioned work vehicle controls the planting depth of the target to be planted based on the ground height of the work area while it is automatically driving, When the planting unit reaches a second position on the work path, which is located a second predetermined distance away from the target end position of the work in the work path in the direction opposite to the work direction, the planting depth control function that controls the planting depth of the planting target is switched from enabled to disabled. The method for performing the task.

9. When the planting unit reaches the second position or the target end position, the drive of the planting unit is stopped. The work method according to claim 8.

10. The planting unit is a machine that plants the target to be planted on the ridges formed by the ridge-making work, The height of the planting section from the second position to the target end position is set to the height at which the planting section reaches the second position. The work method according to claim 8 or 9.

11. A work program for harvesting crops using a harvesting unit installed on a work vehicle, The aforementioned work vehicle controls the height of the harvesting unit based on the height of the ground or harvested material in the work area while it is automatically driving, When the harvesting unit reaches a first position on the work path, which is a first predetermined distance away from the target starting position of the work in the work path, the harvesting height control function, which controls the height of the harvesting unit, is switched from disabled to enabled. A task program that causes one or more processors to run.

12. A work program for harvesting crops using a harvesting unit installed on a work vehicle, The aforementioned work vehicle controls the height of the harvesting unit based on the height of the ground or harvested material in the work area while it is automatically driving, When the harvesting unit reaches a second position on the work path, which is located a second predetermined distance away from the target end position of the work in the direction opposite to the work direction, the harvesting height control function, which controls the height of the harvesting unit, is switched from enabled to disabled. A task program that causes one or more processors to run.

13. A work program for planting targets using a planting unit installed on a work vehicle, The aforementioned work vehicle controls the planting depth of the target to be planted based on the ground height of the work area while it is automatically driving, When the planting unit reaches a first position on the work path, which is a first predetermined distance away from the target starting position of the work in the work path, the planting depth control function that controls the planting depth of the planting target is switched from disabled to enabled. A task program that causes one or more processors to run.

14. A work program for planting targets using a planting unit installed on a work vehicle, The aforementioned work vehicle controls the planting depth of the target to be planted based on the ground height of the work area while it is automatically driving, When the planting unit reaches a second position on the work path, which is located a second predetermined distance away from the target end position of the work in the work path in the direction opposite to the work direction, the planting depth control function that controls the planting depth of the planting target is switched from enabled to disabled. A task program that causes one or more processors to run.

15. A work system for harvesting crops using a harvesting unit installed on a work vehicle, The process of controlling the height of the harvesting unit based on the height of the ground or harvested material in the work area while the work vehicle is automatically driving, When the harvesting unit reaches a first position on the work path, which is a first predetermined distance away from the target starting position of the work in the work path, a process is performed to switch the harvesting height control function, which controls the height of the harvesting unit, from disabled to enabled. A work system equipped with a control processing unit that performs the following.

16. A work system for harvesting crops using a harvesting unit installed on a work vehicle, The process of controlling the height of the harvesting unit based on the height of the ground or harvested material in the work area while the work vehicle is automatically driving, When the harvesting unit reaches a second position on the work path, which is located a second predetermined distance away from the target end position of the work in the direction opposite to the work direction, the harvesting height control function, which controls the height of the harvesting unit, is switched from enabled to disabled. A work system equipped with a control processing unit that performs the following.

17. A work system for planting targets using a planting unit installed on a work vehicle, The process of controlling the planting depth of the target to be planted based on the ground height of the work area while the work vehicle is automatically driving, When the planting unit reaches a first position on the work path, which is a first predetermined distance away from the target starting position of the work in the work path, a process is performed to switch the planting depth control function, which controls the planting depth of the planting target, from disabled to enabled. A work system equipped with a control processing unit that performs the following.

18. A work system for planting targets using a planting unit installed on a work vehicle, The process of controlling the planting depth of the target to be planted based on the ground height of the work area while the work vehicle is automatically driving, When the planting unit reaches a second position on the work path, which is located a second predetermined distance away from the target end position of the work in the work path in the direction opposite to the work direction, the process of switching the planting depth control function, which controls the planting depth of the planting target, from enabled to disabled, A work system equipped with a control processing unit that performs the following.

Images