Setup method and setup system

Abstract

This invention provides a setting method, an automated driving method, a setting system, and a setting program that can improve the work efficiency of multiple work vehicles in a work area. [Solution] The setting processing unit 211 registers a first operation corresponding to a work vehicle 10a that automatically travels within work area A1 of field F, and registers a second operation corresponding to a work vehicle 10b that automatically travels within work area A2 of field F. When the first and second operations are each registered, the generation processing unit 212 generates a target route R1 for the work vehicle 10a to travel automatically within work area A1 based on the operation information of the first operation, and generates a target route R2 for the work vehicle 10b to travel automatically within work area A2 based on the operation information of the first and second operations, respectively.

Description

Technical Field

[0001] The present invention relates to a setting method for setting a target path for automatically driving a work vehicle, etc.

Background Art

[0002] In order to improve the work efficiency in a farm field, a system for causing a plurality of work vehicles to perform work while automatically traveling in a single farm field is known. For example, a system for controlling the traveling of a child work vehicle based on information of a parent work vehicle and information of the child work vehicle is known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, in the conventional technology, for example, when two work vehicles perform different works in the same farm field, a target path for automatic driving is generated for each work vehicle. For example, when a first work vehicle performs a first work in a farm field and then a second work vehicle performs a second work in the farm field, a target path is generated individually for each work vehicle. For this reason, for example, when the positional relationship of each target path is not appropriate, there arises a problem that the cooperation of the first work and the second work is not appropriately performed and the work efficiency decreases.

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

Means for Solving the Problems

[0006] The setting method according to the present invention involves setting the actual work area in which the work vehicle will actually perform work from among the work areas in which the work vehicle can perform work, and generating a target path for the work vehicle to perform work within the actual work area.

[0007] The setting system according to the present invention comprises a setting processing unit and a generation processing unit. The setting processing unit sets the actual work area in which the work vehicle will actually perform work, from among the work areas in which the work vehicle can perform work. The generation processing unit generates a target path for the work vehicle to perform work within the actual work area. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a setting method, an automatic driving method, a setting system, and a setting program that can improve the work efficiency of work performed by multiple work vehicles in a work area. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a diagram showing the configuration of an automated driving system according to an embodiment of the present invention. [Figure 2] Figure 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 3] Figure 3 shows an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of a target route for another work vehicle according to an embodiment of the present invention. [Figure 5] Figure 5 shows an example of a menu screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 6] Figure 6 shows an example of a registration screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 7] Figure 7 shows an example of a work plan list displayed on an operating terminal according to an embodiment of the present invention. [Figure 8]FIG. 8 is a diagram showing a route creation screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing a registration confirmation screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a target route of one work vehicle according to an embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a target route of another work vehicle according to an embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of a target route of another work vehicle according to an embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing a work block setting screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 14] FIG. 14 is a diagram showing a work type selection screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 15A] FIG. 15A is a diagram showing a route creation result screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 15B] FIG. 15B is a diagram showing a route creation result screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 16] FIG. 16 is a flowchart showing an example of a procedure of setting processing executed by an automatic driving system according to an embodiment of the present invention. [Figure 17A] FIG. 17A is a diagram showing a route creation result screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 17B] FIG. 17B is a diagram showing a route creation result screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 18] FIG. 18 is a diagram showing a travel screen displayed on an operation terminal according to another embodiment of the present invention. [Figure 19] FIG. 19 is a diagram showing a registration confirmation screen displayed on an operation terminal according to another embodiment of the present invention.

MODE FOR CARRYING OUT THE INVENTION

[0010] The following embodiments are an example of embodying the present invention and do not limit the technical scope of the present invention.

[0011] As shown in FIG. 1, an automatic driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The automatic driving system 1 includes a plurality of work vehicles 10. Each work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, each work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone line network, a packet line network, or a wireless LAN. In the present embodiment, the operation terminal 20 is a device that sets and manages work information regarding the plurality of work vehicles 10, and may be composed of, for example, a management device, a server device, a cloud server, or the like. As another embodiment, the operation terminal 20 may be arranged for each work vehicle 10, and one operation terminal 20 may be configured to be able to operate one work vehicle 10.

[0012] In the present embodiment, the case where the work vehicle 10 is a tractor will be described as an example. As another embodiment, the work vehicle 10 may be a rice transplanter, a combine, a construction machine, a snow removal vehicle, or the like. The work vehicle 10 is configured to be able to automatically drive (autonomously drive) along a preset target path in a field that is a work area. Also, the work vehicle 10 can perform a predetermined work while automatically driving in the field. For example, each work vehicle 10 performs a predetermined work while automatically driving along a preset target path in the field based on the position information of the current position of the work vehicle 10 calculated by the positioning device 16.

[0013] For example, the work vehicle 10a performs work in field F shown in Figure 3, automatically traveling along a pre-set target path R1. The work vehicle 10a is equipped with a work implement 14 (e.g., a tiller). The target path R1 includes multiple rows of straight work paths and a turning path (not shown) connecting the work paths. Note that at least part of the multiple work paths may be curved. The work vehicle 10a performs tilling work in field F by traveling back and forth from one side (left side in Figure 3) to the other side (right side in Figure 3) along the target path R1. In Figure 3, the symbol A1 indicates the working range (tillage range) of the work vehicle 10a.

[0014] For example, the work vehicle 10b performs work in field F shown in Figure 4, automatically traveling along a pre-set target path R2. For example, the work vehicle 10b is equipped with a work implement 14 (tiller). The work vehicle 10b tills the area tilled by the work vehicle 10a (work range A1). In the example shown in Figure 4, the work range A2 of the work vehicle 10b is divided into multiple work blocks B1 to B5 by the position where the work vehicle 10 travels during the pest control work (pest control path (inter-block path)). That is, work blocks B1 to B5 are areas divided by the pest control path.

[0015] The target path R2 includes multiple rows of straight work paths and a turning path (not shown) connecting the work paths. Note that at least a portion of the work paths may be curved. The work vehicle 10b performs tilling work in field F by traveling back and forth from one side (left side in Figure 4) to the other side (right side in Figure 4) according to the target path R2. In Figure 4, the symbol A2 indicates the working range (tilling range) of the work vehicle 10b.

[0016] In this manner, the work vehicles 10a and 10b work in coordination in the same field F. For example, work vehicle 10a performs work first (plowing), and work vehicle 10b performs work after work vehicle 10a (plowing). The work performed by each work vehicle 10 is not limited. For example, work vehicle 10a may perform plowing first, and work vehicle 10b may perform ridging after work vehicle 10a. Alternatively, work vehicle 10a may perform ridging and planting first, and work vehicle 10b may perform weeding and pest control after work vehicle 10a.

[0017] In conventional technology, for example, when two work vehicles perform different tasks in the same field, a target route for automated driving is generated for each work vehicle. For example, if work vehicle 10a performs a first task in field F, and then work vehicle 10b performs a second task in field F, target routes R1 and R2 are generated for each work vehicle. Therefore, if, for example, the positional relationship between target routes R1 and R2 is not appropriate, the coordination between the first and second tasks will not be properly performed, resulting in a decrease in work efficiency. For example, if the ridging position corresponding to target route R1 for ridging work and the planting position corresponding to target route R2 for planting work after ridging work do not coincide, it becomes difficult to properly coordinate the ridging work and planting work, and work efficiency decreases. In contrast, the automated driving system 1 according to this embodiment can improve the work efficiency of work performed by multiple work vehicles 10 in field F, as shown below.

[0018] The automated driving system 1 may include three or more work vehicles 10. For example, work vehicle 10c may be equipped with a ridging machine and perform the task of forming ridges in the area tilled by work vehicle 10b (ridging work). Also, for example, work vehicle 10d may be equipped with a planting machine and perform the task of planting plants in the area ridging by work vehicle 10c (planting work). Also, for example, work vehicle 10e may be equipped with a pest control machine and perform pest control work such as spraying pesticides on the plants planted by work vehicle 10d. In addition, the automated driving system 1 may include multiple work vehicles 10 that perform tasks such as turning, weeding, and harvesting.

[0019] [Work Vehicle 10] As shown in Figures 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a running device 13, a work machine 14, a communication unit 15, a positioning device 16, and the like. The vehicle control device 11 is electrically connected to the memory unit 12, the running device 13, the work machine 14, the positioning device 16, and the like. The vehicle control device 11 and the positioning device 16 may be capable of wireless communication. When describing a configuration common to work vehicle 10a and work vehicle 10b, it will be referred to as "work vehicle 10".

[0020] The communication unit 15 is a communication interface that connects the work vehicle 10 to the communication network N1 by wire or wireless connection and performs data communication with external devices such as the operation terminal 20 via the communication network N1 in accordance with a predetermined communication protocol. The work vehicle 10 can communicate wirelessly with each of the operation terminals 20 via the communication unit 15.

[0021] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program that causes the vehicle control device 11 to execute automatic driving processing. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may also be downloaded from a server (not shown) to the work vehicle 10 via a communication network N1 and stored in the storage unit 12. In addition, the storage unit 12 may store route data of the target route generated at the operation terminal 20.

[0022] The running gear 13 is the drive unit that propels the work vehicle 10. As shown in Figure 2, the running gear 13 includes an engine 131 (drive source), front wheels 132, rear wheels 133, transmission 134, front axle 135, rear axle 136, steering wheel 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. Furthermore, the running gear 13 is not limited to a wheel type with front wheels 132 and rear wheels 133, but may also be a crawler type with crawlers provided on the left and right sides of the work vehicle 10.

[0023] The engine 131 is a power source such as a diesel engine or gasoline engine that is driven using fuel supplied to a fuel tank (not shown). The running gear 13 may be equipped with an electric motor as a power source together with the engine 131, or in place of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery installed on the work vehicle 10. The battery is charged by the power supplied from the generator. The vehicle control device 11 and electrical components such as the positioning device 16 installed on the work vehicle 10 can be driven by the power supplied from the battery even after the engine 131 is stopped.

[0024] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and front axle 135, and to the rear wheels 133 via the transmission 134 and rear axle 136. The driving force of the engine 131 is also transmitted to the work equipment 14 via the PTO shaft (not shown). When the work vehicle 10 is driving automatically, the travel device 13 performs driving operations according to the commands of the vehicle control device 11.

[0025] The implements 14 are, for example, tillers, turners, cultivators, ridging machines, weeders, and pest control machines, and are detachable from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the implements 14. Figure 2 shows the case where the implement 14 is a cultivator.

[0026] The steering wheel 137 is an operating part that is operated by an operator or a vehicle control device 11. For example, in the travel device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to the operation of the steering wheel 137 by the vehicle control device 11, and the direction of travel of the work vehicle 10 is changed. When an operator performs a teaching operation, for example, the operator operates the steering wheel 137 to manually drive the work vehicle 10.

[0027] In addition to the steering wheel 137, the running gear 13 is equipped with a shift lever (not shown), accelerator, brakes, etc., which are operated by the vehicle control device 11. In the running gear 13, the gears of the transmission 134 are switched to forward gear or reverse gear, etc., in response to the operation of the shift lever by the vehicle control device 11, and the driving mode of the work vehicle 10 is switched to forward or reverse, etc. The vehicle control device 11 also controls the rotational speed of the engine 131 by operating the accelerator. The vehicle control device 11 also controls the rotation of the front wheels 132 and rear wheels 133 using electromagnetic brakes by operating the brakes.

[0028] The positioning device 16 is a communication device comprising a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164. For example, as shown in Figure 2, the positioning device 16 is installed on top of the cabin 18 where the operator sits. However, the installation location of the positioning device 16 is not limited to the cabin 18. Furthermore, the positioning control unit 161, memory unit 162, communication unit 163, and positioning antenna 164 of the positioning device 16 may be distributed and arranged at different locations on the work vehicle 10. As mentioned above, the positioning device 16 is connected to the battery, and the positioning device 16 can operate even when the engine 131 is stopped. In addition, the positioning device 16 may be replaced with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0029] The positioning control unit 161 is a computer system comprising one or more processors and storage memory such as non-volatile memory and RAM. The storage unit 162 is a non-volatile memory that stores a program for causing the positioning control unit 161 to perform positioning processing, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Alternatively, the program may be downloaded from a server (not shown) to the positioning device 16 via a communication network N1 and stored in the storage unit 162.

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

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

[0032] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the work vehicle 10 is automatically driving in field F, the positioning antenna 164 receives radio waves (transmission time, orbital information, etc.) transmitted from each of several satellites. The positioning control unit 161 then calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. Alternatively, the positioning control unit 161 may perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)) which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 automatically drives using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or it may be a position shifted from the positioning position.

[0033] The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to allow the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The vehicle control device 11 controls the work vehicle 10 by executing various control programs stored in advance in the ROM or memory unit 12 using the CPU.

[0034] The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. The vehicle control device 11 also performs automatic driving processing for the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a pre-set target route.

[0035] The vehicle control device 11 functions as various processing units by executing various processes in accordance with the automatic driving program using the CPU. Furthermore, some or all of the processing units may be composed of electronic circuits. The automatic driving program may also be a program that causes multiple processors to function as processing units.

[0036] Specifically, when the vehicle control device 11 receives a start-to-drive instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10. For example, when an operator presses the start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a start-to-drive instruction to the work vehicle 10. When the vehicle control device 11 receives a start-to-drive instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10 according to the target route. As a result, for example, work vehicle 10a starts automatic driving within field F according to the target route R1 (see Figure 3) and performs work with the implement 14 (e.g., tilling). Similarly, work vehicle 10b starts automatic driving within field F according to the target route R2 (see Figure 4) and performs work with the implement 14 (e.g., tilling). Note that work vehicle 10b may start automatic driving at a predetermined timing after work vehicle 10a has started automatic driving in response to the operator's start-to-drive instruction. In other words, in the automated driving system 1, while one work vehicle 10 is starting and finishing the first work, another work vehicle 10 may start the second work on the area where the first work has been completed. The start timing of each of the multiple tasks included in the work plan may be set in advance.

[0037] The target route R1, on which work vehicle 10a will automatically travel, and the target route R2, on which work vehicle 10b will automatically travel, are generated, for example, in the operation terminal 20. Work vehicle 10a obtains route data corresponding to target route R1 from the operation terminal 20 and automatically travels according to target route R1, and work vehicle 10b obtains route data corresponding to target route R2 from the operation terminal 20 and automatically travels according to target route R2.

[0038] Furthermore, when the vehicle control device 11 receives a stop command from the operation terminal 20, it stops the automatic movement of the work vehicle 10. For example, when an operator presses the stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a stop command to the work vehicle 10.

[0039] [Operating terminal 20] As shown in Figure 1, the operating terminal 20 is an information processing device comprising a control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24, etc. The operating terminal 20 may be composed of a mobile device such as a tablet or a smartphone.

[0040] The communication unit 24 is a communication interface that connects the operating terminal 20 to the communication network N1 by wire or wireless connection and performs data communication with multiple external devices such as work vehicles 10 via the communication network N1 in accordance with a predetermined communication protocol.

[0041] The operation display unit 23 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator (user) can register various information (such as work vehicle information, field information, and work information described later) by operating the operation unit on the operation screen displayed on the display unit. The operator can also issue commands to start driving and stop driving to the work vehicle 10 by operating the operation unit. Furthermore, the operator can understand the driving status of the work vehicle 10 as it automatically drives along a target route in field F by looking at the driving trajectory displayed on the operation terminal 20, even when the operator is away from the work vehicle 10.

[0042] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 22 stores control programs, such as a setting program, which causes the control unit 21 to execute the setting process described later (see Figure 16). For example, the setting program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a reading device (not shown), such as a CD drive or DVD drive, provided by the operation terminal 20 and stored in the storage unit 22. Alternatively, the setting program may be downloaded from a server (not shown) to the operation terminal 20 via a communication network N1 and stored in the storage unit 22.

[0043] Furthermore, a dedicated application for automating the operation of the work vehicle 10 is installed in the memory unit 22. The control unit 21 starts the dedicated application and performs various processing tasks such as setting information related to the work vehicle 10, generating a target route for the work vehicle 10, and issuing automatic driving instructions to the work vehicle 10.

[0044] As shown in Figure 1, the control unit 21 includes various processing units such as a setting processing unit 211, a generation processing unit 212, and an output processing unit 213. The control unit 21 functions as these various processing units by executing various processes according to the setting program using the CPU. Some or all of these processing units may be composed of electronic circuits. The setting program may be a program that causes multiple processors to function as processing units.

[0045] The setting processing unit 211 sets information related to the work vehicle 10 (hereinafter referred to as "work vehicle information"). Specifically, the setting processing unit 211 sets information such as the model of the work vehicle 10, the location on which the positioning antenna 164 is attached to the work vehicle 10, the type of work equipment 14, the size and shape of the work equipment 14, the position of the work equipment 14 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 during operation, and the vehicle speed and engine speed of the work vehicle 10 during turning, by having the operator perform an operation to register this information on the operation terminal 20.

[0046] For example, in menu screen D1 shown in Figure 5, the operator selects "Register Implement" and registers the type of implement (cultivator, ridging machine, pest control machine, etc.) and implement information (work width, overlap width, etc.) on the registration screen (not shown). Here, the operator repeats the implement registration operation multiple times according to the work plan. For example, according to the cultivation plan for vegetables (cabbage, etc.), the implement registration operation is performed for each operation: tilling, turning, tilling, ridging, planting, weeding, pest control, and harvesting.

[0047] Next, the operator selects "Work Registration" on menu screen D1 shown in Figure 5, and registers multiple tasks included in the work plan on registration screen D2 (see Figure 6). For example, on registration screen D2 in Figure 6, the operator presses the "Add Work" button K21 to select a work implement from several pre-registered implements according to the work plan, and registers work information such as the work area, headland work method, unmanned / manned operation, turning method, vehicle speed, and engine speed. The work area is a setting item related to the area to be worked on in field F, and the operator selects one of the following: "Select crop type and pest control road to work", "Select crop type to work", or "Work on the entire field". For example, in tillage work, the operator may be able to select either "Select crop type and pest control road to work" or "Select pest control road to work". For example, if the operator wants to till immediately before making ridges or planting, they select "Select crop type and pest control road to work" and set the crop type and pest control road as the work area. The operator, for example, if they want to cultivate a pest control path, selects "Select pest control path and work" to set the pest control path as the work area. The setting processing unit 211 displays the work information registered by the operator in the work plan list D21. Specifically, in the setting screen for setting the work plan, the setting processing unit 211 displays a list of work details, identification information of the work vehicle 10 (main machine) and implement 14 (name, model number, etc.), and work area for each work.

[0048] Figure 6 shows the state in which work information related to the "plowing" operation has been registered. When the operator creates a work plan (for example, a cabbage cultivation plan), they press the "Add Work" button K21 on the registration screen D2 to register work information for each operation: plowing, turning, tilling, ridging, planting, weeding, pest control, and harvesting. Figure 7 shows the work plan list D21 with the work information for each of the operations registered. In this way, the setting processing unit 211 registers the first operation corresponding to the first work vehicle 10 that automatically travels within the first work area of ​​field F, and registers the second operation corresponding to the second work vehicle 10 that automatically travels within the second work area of ​​field F.

[0049] Next, the operator selects "Create Route" from menu screen D1 shown in Figure 5, and sets target routes corresponding to each of the multiple tasks included in the work plan on the route creation screen D3, etc. (see Figure 8, etc.). For example, on the route creation screen D3 in Figure 8, the operator selects the work plan to be performed (in this case, "Cabbage Cultivation Plan") from the work plan selection screen K31. After that, the operator selects the field to be performed, specifies the work area, sets the work direction, sets the work start and end positions, sets the headland width, etc. on the registration screen (not shown). Once the setting processing unit 211 has registered each setting, it displays the registration confirmation screen D4 (see Figure 9).

[0050] The generation processing unit 212 generates a target route for the work vehicle 10 to automatically travel in field F based on the work information and the setting information. For example, when the operator presses the route creation button K41 on the registration confirmation screen D4 in Figure 9, the generation processing unit 212 generates a target route corresponding to each of the multiple tasks included in the work plan. Here, the generation processing unit 212 generates multiple target routes together (all at once) corresponding to each of the tasks included in the cabbage cultivation plan: tilling, turning, cultivating, ridging, planting, weeding, pest control, and harvesting. For tasks among the multiple tasks that have the same implement 14 and work route (work range, work position), the generation processing unit 212 generates the same target route.

[0051] For example, as shown in Figure 10, the generation processing unit 212 generates a target path R1 for the work vehicle 10a performing tillage work. Specifically, the generation processing unit 212 generates a target path R1 for the entire work area A1 of field F. Furthermore, for tillage work, the generation processing unit 212 generates a target path R1 (an unconstrained target path) that is not affected by other operations (such as tillage work or ridging work) (such as the width and number of work blocks).

[0052] For example, as shown in Figure 11, the generation processing unit 212 generates a target path R2 for the work vehicle 10b that performs tilling work. Specifically, the generation processing unit 212 generates a target path R2 in the work area A2 of the field F, which includes work blocks B1 to B5. For example, the generation processing unit 212 sets work blocks B1 to B5 and generates multiple parallel straight paths within each of the set work blocks B1 to B5. For tilling work, the generation processing unit 212 generates a target path R2 (a constrained target path) that is affected by other operations (e.g., tilling work, ridging work, pest control work) (tillage range, width and number of work blocks, width and number of pest control paths, etc.).

[0053] Here, we will explain an example of how to set up a work block. Figure 13 is an example of the work block setting screen D5. For example, on the work block setting screen D5, the operator inputs information such as the presence or absence of a pest control path at the edge of the field, the spacing between rows, the number of rows, the width of the headland, and the width of the pest control path. For example, the operator inputs the spacing between rows of the ridging machine they own. Also, for example, if the operator is only planting without ridging, they input the spacing between rows of the transplanter. Also, for example, if the operator knows the working range of the pest control machine (sprayer) they own, they input the number of rows so that the value obtained by multiplying the number of rows by the spacing between rows becomes the working range of the pest control machine. Also, for example, if the operator knows how many rows correspond to the tread width of the work vehicle 10 (tractor) or the width of the implement (e.g., tiller) they own, they input the number of rows or the width. The generation processing unit 212 sets up a work block for the field based on this input information. The generation processing unit 212 may also display work blocks on the work block setting screen D5 with a width and number (number of blocks) corresponding to the input information. This allows the operator to check the width and number of work blocks while changing the input information.

[0054] In another embodiment, the generation processing unit 212 may acquire information such as the width of the work vehicle 10 and the width of the sprayer, and automatically set the width and position of the work block and the width and position of the spray path based on the acquired information. When the generation processing unit 212 sets a work block using the setting method described above, it generates a target path R2 in the work area A2 that includes the work block (see Figure 11).

[0055] Furthermore, as shown in Figure 12, for example, the generation processing unit 212 generates a target route R3 for the work vehicle 10c that performs the pest control work. Specifically, the generation processing unit 212 generates a target route R3 in the work area A3 which includes the pest control roads Br1 to Br6. For example, the generation processing unit 212 generates one or more straight routes within each of the areas of the pest control roads Br1 to Br6. For pest control work, the generation processing unit 212 generates a target route R3 (a constrained target route) that is affected by other work (e.g., tilling work, ridging work) (tillage range, width and number of work blocks, etc.).

[0056] Thus, when the first and second operations are registered, the generation processing unit 212 generates a first target route for automatically driving the first operation vehicle 10 and a second target route for automatically driving the second operation vehicle 10, based on the first and second operation ranges. The generation processing unit 212 also generates a first target route in the first operation range based on the operation information of the first operation, and generates a second target route in the second operation range based on the operation information of the first and second operations. For example, the first target route is a route set for the entire field F, and the second target route is a route set for a part of the field F (a work block). Alternatively, for example, the first target route is a route set for a work block, and the second target route is a route set between adjacent work blocks.

[0057] The generation processing unit 212 generates multiple target paths corresponding to each of the tasks included in the work plan (cabbage cultivation plan), such as tilling, turning, cultivating, ridging, planting, weeding, pest control, and harvesting, and registers them in association with the work plan. In this way, the generation processing unit 212 generates multiple target paths corresponding to each of the tasks in a batch according to the work plan. The operator can easily check the work plan using the work plan list D21, and can also easily check the target paths corresponding to each task. For example, the control unit 21 may display the target path corresponding to a task when the operator selects a predetermined task in the work plan list D21 (see Figure 7). This allows the operator to easily check the target path for each task.

[0058] Here, the operator selects a field, selects a task (work plan), confirms the target route, and issues a work commencement order before starting work. When the operator issues a work commencement order, the output processing unit 213 outputs the route data of the target route generated by the generation processing unit 212 to the work vehicle 10. Specifically, the output processing unit 213 outputs the route data of target route R1 to the work vehicle 10a and the route data of target route R2 to the work vehicle 10b.

[0059] When route data generated at the operation terminal 20 is transferred to each work vehicle 10, the route data is stored in the storage unit 12. Each work vehicle 10 detects its current position using the positioning antenna 164 and performs automatic driving processing based on the route data.

[0060] Here, if a "crop type" is set in the work area (see Figure 6) during work registration (see Figure 7), the generation processing unit 212 receives an operation from the operator to select the crop type on which the work vehicle 10 will actually perform the work, and generates (sets) a target route for the crop type selected by the operator.

[0061] For example, in the crop selection screen D6 shown in Figure 14, the operator can set the crop type by inputting one of the setting information items: work area, number of work plants, amount of seedlings to transplant, or number of work blocks. For example, the generation processing unit 212 sets the crop type range C11 (crop type range = number of work plants × length of furrows) based on the input number of work plants and the furrow spacing obtained when setting the work blocks. The generation processing unit 212 also displays the crop type range C11 on the crop selection screen D6 with a size corresponding to the input value of the setting information. Figure 14 shows the crop type range C11 when the operator inputs an arbitrary area. Note that in Figure 14, it is also possible to input one of the setting items: work area, number of work plants, amount of seedlings to transplant, or number of work blocks. Note that the control unit 21 may be configured so that when one of the above setting items is input, it does not accept input for other setting items until the input setting item is reset. Furthermore, the control unit 21 may be configured to allow the user to select which of the above setting items are to be displayed on the crop type selection screen D6. This allows the user to arbitrarily set the inputtable setting items on the crop type selection screen D6. When the operator sets the crop type to be worked on and presses the route creation button K51, the generation processing unit 212 generates target routes (see Figure 15A) corresponding to tilling, ridging, planting, weeding, and harvesting in the crop type range C11, and generates target routes (see Figure 15B) corresponding to pest control in the work ranges of the pest control paths Br1, Br2, and Br3 corresponding to the crop type range C11. The generation processing unit 212 displays the generated target routes on the route creation result screen D7. The generation processing unit 212 may also display all the target routes in Figures 15A and 15B together on the route creation result screen D7.

[0062] Thus, for tasks where a work area has been pre-set in a part of field F during work registration, the generation processing unit 212 accepts an operation to select the area (crop type) to be actually worked on at the time of starting a series of tasks corresponding to the work plan, and executes a process to reset the target path for the accepted crop type. In other words, when performing work on a part of the work area (crop type) of field F, the generation processing unit 212 generates a target path corresponding to the crop type to be actually worked on (crop type range C11 set by the operator) based on the target path (see Figures 10 and 11) that was pre-generated for the entire field F. For example, the operator selects a crop type according to the cultivation period (harvest period) of the vegetable (cabbage), and the generation processing unit 212 sets the target path corresponding to the selected crop type.

[0063] Furthermore, the generation processing unit 212 may, on the crop selection screen D6 (see Figure 14) where it receives crop selection operations from the operator, display completed areas (crop types) so that they cannot be selected, and enable the selection of unprocessed areas (crop types). For example, the generation processing unit 212 may gray out completed (e.g., harvested) crop types on the crop selection screen D6. In addition, the generation processing unit 212 may display completed areas and unprocessed areas in a way that allows them to be distinguished on the crop selection screen D6.

[0064] Furthermore, the generation processing unit 212 may store information about a crop type that has been selected once, and use the stored information when selecting a crop type in the next operation. For example, if an operator sets the range of work blocks B1 and B2 as a crop type and performs planting work, pest control work, etc., when the operator selects a crop type in the next operation, the generation processing unit 212 will pre-set the range of work blocks B1 and B2 that were selected last time as the range of the current crop type. For example, the generation processing unit 212 will pre-display the range of the previous crop type in the crop type selection screen D6 so that it can be identified. This means that, for example, if it is necessary to repeatedly perform work on the same range (for example, pest control work), the operator does not need to select the same crop type each time, thus saving the effort of selecting a crop type and preventing errors in crop type selection.

[0065] Furthermore, the generation processing unit 212 may display one or more stored cropping types on the cropping type selection screen D6 for selection. For example, an operator selects multiple cropping types when starting harvesting. In this case, the generation processing unit 212 generates a target path for harvesting within the range of the selected multiple cropping types.

[0066] Furthermore, the generation processing unit 212 may accept a selection operation for a pest control route from the operator on the crop type selection screen D6 (see Figure 14). If the operator does not select a pest control route on the edge side of field F (pest control route Br1), the generation processing unit 212 will generate target routes corresponding to pest control work only within the working ranges of pest control routes Br2 and Br3.

[0067] The operator checks the generated target route on the route creation result screen D7 (see Figures 15A and 15B) and, if it determines that there are no problems, presses the work start button K61. When the operator gives the work start command, the output processing unit 213 outputs the route data of the target route to the work vehicles 10. For example, the output processing unit 213 outputs the route data of the target route generated for the set cropping type (cropping type range C11) to each work vehicle 10 that performs tilling, ridging, planting, weeding, and harvesting, and outputs the route data of the target route generated for the pest control roads Br1, Br2, and Br3 to the work vehicle 10 that performs pest control work.

[0068] Each work vehicle 10 acquires route data for the target route corresponding to the cropping type and then automatically starts driving along the target route. In this case, each work vehicle 10 performs automatic driving at the timing set for each operation: tilling, turning, cultivating, ridging, planting, weeding, pest control, and harvesting.

[0069] Furthermore, each work vehicle 10 detects its current position using a positioning antenna 164 and performs automatic driving processing based on the route data. For example, when the current position of each work vehicle 10 coincides with the starting position of field F, and the operator presses the start button on the operation screen to give a driving start instruction, the vehicle control device 11 of the work vehicle 10 starts automatic driving according to the target route.

[0070] In this embodiment, the automatic driving system 1 automatically drives the work vehicle 10a in the field F according to the target route R1, and after starting the automatic driving of the work vehicle 10a, it automatically drives the work vehicle 10b according to the target route R2. Alternatively, the automatic driving system 1 may start the automatic driving of the work vehicle 10b in the field F after starting the automatic driving of the work vehicle 10a, based on the working position of the work vehicle 10a.

[0071] While the work vehicles 10a and 10b are moving automatically, the operator can monitor their movement status and work progress within field F using the control terminal 20.

[0072] The operating terminal 20 may also be able to access the website (agricultural support site) of the agricultural support service provided by the server via the communication network N1. In this case, the operating terminal 20 can function as an operating terminal for the server by having a browser program executed by the operation control unit. The server then has the above-described processing units and executes each of them.

[0073] [Setup Process] An example of the setting process performed by the control unit 21 of the operation terminal 20 will be described below with reference to Figure 16. For example, the setting process is started by the control unit 21 when it receives a setting operation from the operator to generate a target route for the work vehicle 10.

[0074] Furthermore, the present invention may be considered as an invention of a setting method (an example of the setting method of the present invention) in which the control unit 21 performs part or all of the setting process, or as an invention of a setting program (an example of the setting program of the present invention) for causing the control unit 21 to perform part or all of the setting method. In addition, the setting process may be performed by one or more processors.

[0075] In step S1, the control unit 21 performs work registration. For example, on the registration screen D2 in Figure 6, when the operator presses the add work button K21 to select a work implement from a number of pre-registered implements according to the work plan and registers work information such as the work area, headland work method, unmanned / manned operation, turning method, vehicle speed, and engine rotation speed, the control unit 21 registers the work information in association with the work. Based on the operator's registration operation, the control unit 21 registers the work information for each of the multiple tasks included in the work plan. For example, when the operator performs the operation to register work information for tilling, turning, cultivating, ridging, planting, weeding, pest control, and harvesting in order to create a cabbage cultivation plan, the control unit 21 registers the work information for each of the aforementioned tasks in association with the cabbage cultivation plan.

[0076] Next, in step S2, the control unit 21 displays a work plan (work plan list D21) containing work information for the multiple registered tasks. For example, as shown in Figure 7, the control unit 21 displays the work plan list D21 for the cabbage cultivation plan on the operation display unit 23.

[0077] Next, in step S3, the control unit 21 generates the target route for each task. Specifically, the operator selects "Create Route" from the menu screen D1 (see Figure 5), selects the work plan (in this case, "Cabbage Cultivation Plan") on the route creation screen D3 (see Figure 8), and on the registration screen (not shown), selects the field, specifies the work area, sets the work direction, sets the work start and end positions, sets the headland width, etc. Once the control unit 21 has registered each setting, it displays the registration confirmation screen D4 (see Figure 9).

[0078] When the operator presses the route creation button K41 on the registration confirmation screen D4, the control unit 21 generates target routes corresponding to each of the multiple tasks included in the work plan. Here, the control unit 21 generates multiple target routes at once, corresponding to each of the tasks included in the cabbage cultivation plan: tilling, turning, plowing, ridging, planting, weeding, pest control, and harvesting. For example, the control unit 21 generates a target route R1 with the entire field F as the work area A1 as the target route corresponding to the tilling and turning tasks (see Figure 10). Also, for example, the control unit 21 sets work blocks B1 to B5 for the field based on the information entered by the operator on the work block setting screen D5 (see Figure 13) (such as the presence or absence of a pest control path at the edge of the field, the spacing between rows, the number of rows, the width of the headland, and the width of the pest control path). Furthermore, when work blocks B1 to B5 are set, the control unit 21 generates a target path R2 with work blocks B1 to B5 as the work area A2, which corresponds to tilling, ridging, planting, weeding, and harvesting (see Figure 11). Also, for example, the control unit 21 generates a target path R3 with control paths Br1 to Br6 as the work area A3, which corresponds to pest control work (see Figure 12).

[0079] Next, in step S4, the control unit 21 registers the target route for each generated task. Here, the control unit 21 registers multiple target routes corresponding to each task, associating them with the cabbage cultivation plan. Note that the processes in steps S1 to S4 described above are executed when the work plan and target routes are registered and created, while the processes in steps S5 to S9 are executed when the work is actually started (before the work starts). In other words, in the automatic driving system 1, the processes in steps S1 to S4 and the processes in steps S5 to S9 may be executed separately.

[0080] In step S5, the control unit 21 determines whether or not it has received a crop type selection operation from the operator. For example, if "crop type" is set in the work area during work registration (step S1) (see Figure 7), the control unit 21 displays the crop type selection screen D6 (see Figure 14) and accepts an operation from the operator to select the crop type to be actually performed. The operator selects the crop type to be performed on the work vehicle 10. Figure 14 shows the range of the crop type (crop type range C11) set by the operator by inputting the work area.

[0081] If the control unit 21 receives a crop selection operation from the operator (S5: Yes), it proceeds to step S6. On the other hand, if the control unit 21 does not receive a crop selection operation from the operator (S5: No), it proceeds to step S8. Note that if "crop type" is not set in the work area during work registration (step S1) (see Figure 7), the control unit 21 may skip step S5 and proceed from step S4 to step S8.

[0082] In step S6, the control unit 21 generates (sets) the target path for the cropping type selected by the operator. If the operator selects a cropping type within the cropping range C11 (see Figure 14), the control unit 21 generates target paths corresponding to tilling, ridging, planting, weeding, and harvesting (see Figure 15A), and a target path corresponding to pest control (see Figure 15B), based on the target path generated in step S3.

[0083] Next, in step S7, the control unit 21 displays the generated target route on the route creation result screen D7 (see Figures 15A and 15B).

[0084] In step S8, the control unit 21 determines whether or not it has received a work start instruction from the operator. For example, if the operator presses the work start button K61 on the route creation result screen D7 in Figure 15A or Figure 15B, the control unit 21 determines that it has received the work start instruction. If the control unit 21 receives the work start instruction (S8: Yes), it proceeds to step S9. The control unit 21 waits until it receives the work start instruction (S8: No).

[0085] In step S9, the control unit 21 outputs the generated target path data to the work vehicles 10. Here, the control unit 21 outputs the generated target path data for the entire field F to each work vehicle 10 that performs tillage and inversion operations, respectively. It also outputs the generated target path data for work blocks B1 and B2 to each work vehicle 10 that performs tillage, ridging, planting, weeding, and harvesting operations, respectively. Finally, it outputs the generated target path data for pest control paths Br1, Br2, and Br3 to the work vehicle 10 that performs pest control operations. Each work vehicle 10 automatically drives according to the target path at pre-set timings for each operation: tillage, inversion, tillage, ridging, planting, weeding, pest control, and harvesting.

[0086] As described above, the automated driving system 1 according to this embodiment registers a first operation corresponding to a first work vehicle 10 that automatically travels within a first work area of ​​field F, and registers a second operation corresponding to a second work vehicle 10 that automatically travels within a second work area of ​​field F. Furthermore, when both the first and second operations are registered, the automated driving system 1 generates a first target route for the first work vehicle to travel automatically and a second target route for the second work vehicle to travel automatically, based on the first and second work areas.

[0087] For example, the automated driving system 1 generates a first target path (target path R1 shown in Figure 10) within the first work range that is not affected (constrained) by subsequent tasks (e.g., the second task) based on the work information of the first task, and generates a second target path (target path R2 shown in Figure 11) within the second work range that is affected (constrained) by subsequent tasks, based on the work information of the first and second tasks, respectively. Specifically, if the first task is furrowing and the second task is planting, the automated driving system 1 generates the target path (second target path) for the subsequent planting task to match the work position of the preceding furrowing task. Also, if the first task is furrowing and the second task is pest control, the automated driving system 1 generates the target path (second target path) for the preceding furrowing task to match the work position of the subsequent pest control task.

[0088] For example, the automated driving system 1 registers a work plan that includes information on the first work vehicle 10 and first work machine 14 used for the first work, and information on the second work vehicle 10 and second work machine 14 used for the second work, and generates a first target route and a second target route when the work plan is registered.

[0089] According to the above configuration, for example, when registering a work plan, multiple target routes corresponding to each of the multiple tasks included in the work plan can be generated together (in a batch). Furthermore, each target route can be generated considering the work information (work range, etc.) of each task. For example, planting can be performed in the area of ​​field F where ridging work is performed (cropping type), and planting can be omitted in the area of ​​field F where ridging work is not performed. Also, for example, for tillage work, tillage can be performed on the entire field F without considering the range (cropping type) of subsequent tillage and ridging work. Therefore, since an appropriate work range can be set according to each task and a target route can be generated, it is possible to improve the work efficiency of work performed by multiple work vehicles 10 in field F.

[0090] [Other embodiments] The present invention is not limited to the embodiments described above, and may also be subject to the following embodiments.

[0091] For example, if multiple target paths corresponding to multiple tasks included in a work plan are generated together, it is possible that a target path corresponding to a particular task may extend outside of field F. For instance, when generating a target path for the first task, if the work area of ​​the subsequent second task is taken into consideration when generating the target path for the first task, a portion of that target path may extend outside of field F.

[0092] Figure 17A shows an example where part of the target path for tillage work extends outside of field F. In this case, the control unit 21 may display warning information (path generation error) on the path creation result screen D7, as shown in Figure 17A, indicating that part of the target path extends outside of field F. The control unit 21 may also display the portion extending outside of field F in an identifiable manner, and display the extension distance E1. The control unit 21 may also display the warning information (path generation error) on the path creation result screen D7 in a position that does not overlap with the map (field) (the blank area of ​​the path creation result screen D7 shown in Figure 17A).

[0093] Furthermore, if the operator presses the "Register" button in response to the warning information shown in Figure 17A, the control unit 21 may display a confirmation message as shown in Figure 17B. If the operator presses the "OK" button in response to the confirmation message shown in Figure 17B, the control unit 21 generates a target path in which a portion extends outside field F. If the operator presses the "Cancel" button in response to the confirmation message shown in Figure 17B, the control unit 21 may regenerate the target path so that the portion that extends outside is contained within field F.

[0094] Furthermore, after generating a target path corresponding to the tillage operation, the control unit 21 also performs the same processing as in Figures 17A and 17B for target paths corresponding to other operations if any part of it extends outside the field F. The control unit 21 repeatedly performs the above processing for all target paths of operations until the path generation error is resolved, thereby generating each target path in the work plan.

[0095] Thus, in the process of generating the first target route and the second target route, the control unit 21 may display warning information on the route generation screen (route creation result screen D7) if it determines that at least one of the first target route and the second target route would cause a part of the vehicle body to fly outside the field F when the work vehicle 10 is automatically driven.

[0096] In another embodiment of the present invention, the control unit 21 of the operation terminal 20 may set the crop type based on the work results of the work vehicle 10. For example, when the work vehicle 10 is performing ridging work, if the operator presses the "Set Cropping Type" button K71 on the driving screen D8 (see Figure 18), the control unit 21 sets the area where the work vehicle 10 has performed ridging work as the crop type (cropping type range C11). Once the control unit 21 sets the crop type based on the work results, it generates a target route for that crop type when generating a target route for the next operation (planting, weeding, pest control, harvesting, etc.). In this way, the control unit 21 may set the crop type based on the work history and generate a target route for the next operation based on that crop type. The control unit 21 may also update the crop type for each operation. With the above configuration, the range intended by the operator can be set as the crop type while the operation is actually being performed.

[0097] Furthermore, the control unit 21 may display a message prompting the user to set the cropping type on the driving screen D8 shown in Figure 18 (a pop-up display). For example, if target values ​​(setting information such as work area, number of plants to be worked on, amount of seedlings to be transplanted, and number of work blocks) that serve as a guideline for the cropping range C11 are registered in advance, the control unit 21 may display the message as a pop-up when the work result approaches the target value.

[0098] Furthermore, the control unit 21 may allow the operator to choose whether to set the crop type before starting work (see Figure 14) or to set the crop type based on the work results. For example, on the registration confirmation screen D4 shown in Figure 19, the control unit 21 accepts an operation from the operator to select either "set before starting work" or "set from work results" regarding the method of setting the crop type. If the operator selects "set before starting work", the control unit 21 generates a target path (Figures 10 to 12) and displays the crop type selection screen D6 shown in Figure 14 to accept the operation from the operator to set the crop type. On the other hand, if the operator selects "set from work results", the control unit 21 generates a target path (Figures 10 to 12), completes the various registration operations, and accepts the operation from the operator to set the crop type during work after the start of work (see Figure 18).

[0099] The control unit 21 may set the cropping pattern before the start of work and update the cropping pattern based on the work results. In this case, for example, the work vehicle 10a may perform the first operation for the first cropping pattern that has been set in advance, and the work vehicle 10b may perform the second operation for the second cropping pattern that has been set based on the work results. As described above, the control unit 21 generates a target path for the cropping patterns set by the operator in the field F (such as the cropping pattern set before the start of work and the cropping pattern set based on the work results).

[0100] The setting system of the present invention may consist of an operating terminal 20 alone, or a work vehicle 10 and the operating terminal 20, or a work vehicle 10 alone. The setting system may also consist of a server equipped with each processing unit included in the operating terminal 20.

[0101] [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.

[0102] <Note 1> Registering the first task corresponding to the first work vehicle that automatically travels within the first work area of ​​the work area, Registering a second task corresponding to a second work vehicle that automatically travels within the second work area of ​​the aforementioned work area, When the first and second operations are registered, a first target route is generated to automatically drive the first operation vehicle within the first operation range based on the operation information of the first operation, and a second target route is generated to automatically drive the second operation vehicle within the second operation range based on the operation information of the first and second operations, How to configure it to run.

[0103] <Note 2> A work plan is registered that includes information on the first work vehicle and first work machine used for the first work, and information on the second work vehicle and second work machine used for the second work. When the aforementioned work plan is registered, the first target route and the second target route are generated. The setup method is described in Appendix 1.

[0104] <Note 3> In the registration screen for registering the aforementioned work plan, the work details, identification information of the work vehicle, identification information of the work equipment, and the work area are displayed in a list for each work. The setup method is described in Appendix 2.

[0105] <Note 4> The first target path is a path set for the entire work area, and the second target path is a path set for a part of the work area. The setting method is described in one of the appendices 1 to 4.

[0106] <Note 5> The second target path is generated within the user-selected range of the aforementioned work area. The setup method is described in Appendix 4.

[0107] <Note 6> In the selection screen that accepts the user's selection operation for the setting range, the areas of the work area that have been worked on and the areas of the work area that have not been worked on are displayed in a way that allows for identification. The setup method is described in Appendix 5.

[0108] <Note 7> On the aforementioned reception screen, the system displays the work area in such a way that it cannot be selected if the work area has already been completed, and displays the work area in such a way that it can be selected if the work area has not yet been completed. The setup method is described in Appendix 6.

[0109] <Note 8> The aforementioned work area includes multiple work blocks, A first target path is generated for the first work area selected by the user from the aforementioned work area. A second target path is generated for the second work range, which includes the area between two adjacent work blocks in the first work range. The setting method is described in one of the appendices 1 to 7.

[0110] <Note 9> In the process of generating the first target route and the second target route, if it is determined that at least one of the first target route and the second target route would cause a part of the vehicle body to extend outside the work area when the work vehicle is automatically driven, warning information is displayed on the route generation screen. The setting method is described in one of the appendices 1 to 8.

[0111] <Note 10> In the aforementioned work area, the first work vehicle is to be driven automatically according to the first target route set by the setting method described in any of the appendices 1 to 9, After the automatic driving of the first work vehicle is started, the second work vehicle is made to automatically drive in the work area according to the second target route set by the setting method described in any of the appendices 1 to 9, An automated driving method that performs this task. [Explanation of Symbols]

[0112] 1: Automated driving system 10: Work vehicles 10a: Work vehicle (First work vehicle) 10b: Work vehicle (Second work vehicle) 11: Vehicle control system 12: Storage section 14: Work Machines 20: Operating terminal 21: Control Unit 22: Storage section 23: Operation display section 24: Communications Department 211: Configuration Processing Unit 212: Generation Processing Unit 213: Output Processing Unit A1: Work area (First work area) A2: Work area (Second work area) A3: Scope of work B1~B5: Work Blocks Br1~Br6: Pest control road C11: Cultivation range (setting range) D1: Menu screen D2: Registration screen D21: Work Plan List D3: Route creation screen D4: Registration confirmation screen D6: Crop type selection screen (reception screen) D7: Route creation results screen D8: Driving screen (reception screen) F: Field K31: Work plan selection screen R1: Target route (First target route) R2: Target path (Second target path) R3: Target route

Claims

1. The work area in which the work vehicle can perform work is defined as the actual work area in which the work vehicle actually performs work, To generate a target route for the work vehicle to perform work within the aforementioned actual work area, How to configure it to run.

2. The actual working range is set based on the input configuration information. The setting method according to claim 1.

3. The aforementioned setting information is one of the following: the work area, the number of furrows to be worked on, or the amount of agricultural materials to be consumed. The setting method described in claim 2.

4. The aforementioned work area includes multiple work blocks, The aforementioned setting information is the work block in which the work vehicle actually performs work, among the multiple work blocks. The setting method described in claim 2.

5. The aforementioned work blocks are set based on the position in which the work vehicle travels during the pest control work. The setting method described in claim 4.

6. The plurality of work blocks are set based on the number of furrows, the spacing between furrows, the tread width of the work vehicle, or the width of the work implement attached to the work vehicle. The setting method according to claim 1.

7. The work area that has already been worked on cannot be set as the actual work area. The setting method according to any one of claims 1 to 6.

8. Within the aforementioned actual work area, a target path corresponding to each of several different tasks is generated. The setting method according to any one of claims 1 to 6.

9. In the process of generating the target route, if it is determined that a part of the vehicle will extend outside the work area when the work vehicle automatically travels along the target route, warning information is displayed on the route generation screen. The setting method according to any one of claims 1 to 6.

10. A setting processing unit sets the actual work area in which the work vehicle will perform work, from among the work areas in which the work vehicle can perform work, A generation processing unit that generates a target route for the work vehicle to perform work within the aforementioned actual work area, A configuration system equipped with the following features.

Images