Driving control system, work vehicle, driving control method, and computer program

Abstract

The present invention provides a driving control system, a work vehicle, and a driving control method that enable work vehicles to perform repetitive actions efficiently. [Solution] The vehicle driving control system comprises a positioning device that outputs position data relating to the position of the vehicle, and a control device that controls the operation of the vehicle. The control device can operate in recording mode and playback mode. In recording mode, the control device records position data acquired when the vehicle is driving in a storage device, and in playback mode, it controls the speed and steering of the vehicle based on the position data recorded in the storage device to drive the vehicle automatically. When an operation is performed to start recording position data to the storage device, the control device determines whether the start conditions for starting to record position data, which include satisfying all of a plurality of conditions, have been met, and outputs a notification to the notification device indicating whether the start conditions have been met or not.

Description

Technical Field

[0001] The present invention relates to a travel control system, a work vehicle, a travel control method, and a computer program.

Background Art

[0002] As next-generation agriculture, research and development of smart agriculture utilizing ICT (Information and Communication Technology) and IoT (Internet of Things) are underway. Research and development for automating and unmanning work vehicles such as tractors used in fields are also underway. For example, work vehicles that automatically steer and travel using a positioning system such as GNSS (Global Navigation Satellite System) capable of precise positioning have been put into practical use.

[0003] Patent Document 1 discloses a work vehicle capable of autonomously moving between a plurality of tree rows by using a SLAM (Simultaneous Localization and Mapping) technique that simultaneously executes position estimation and map creation in an orchard such as a vineyard. Patent Document 1 describes that in an orchard, while the work vehicle travels between a plurality of tree rows, operations such as mowing and control are performed using a work implement (agricultural implement) connected to the work vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Work vehicles sometimes repeatedly perform the same tasks while traveling along the same route in the same way within a field (e.g., an orchard). In such cases, if autonomous driving using, for example, SLAM technology is performed each time, the processing load for autonomous driving increases unnecessarily.

[0006] Efficiently performing repetitive actions (including driving) of work vehicles is required not only for agricultural machinery, but also for work vehicles used for non-agricultural purposes, such as construction vehicles or snowplows. Furthermore, even for driving of work vehicles that does not involve work (for example, driving outside the field), efficient execution of repeated driving along the same route is required.

[0007] The present invention aims to provide a driving control system, a work vehicle, and a driving control method that can efficiently perform repetitive actions (including driving and other actions) of a work vehicle. [Means for solving the problem]

[0008] According to embodiments of the present invention, the following solutions are provided.

[0009] [Item 1] A vehicle driving control system for work vehicles, A positioning device that outputs positional data relating to the position of the aforementioned work vehicle, A control device that controls the operation of the aforementioned work vehicle and Equipped with, The control device is It can operate in both recording and playback modes. In the recording mode described above, the position data acquired when the work vehicle is in motion is recorded in the storage device. In the playback mode, the speed and steering of the work vehicle are controlled based on the position data recorded in the storage device, thereby driving the work vehicle automatically. A driving control system that, when an operation is performed to start recording the position data to the storage device, determines whether or not a start condition for starting the recording of the position data, which includes satisfying all of a plurality of conditions, is met, and causes a notification device to output a notification of whether or not the start condition is met.

[0010] [Item 2] The aforementioned notice is, A driving control system according to item 1, which includes a first notification that the start condition has been met when it is determined that the start condition has been met.

[0011] [Item 3] The aforementioned notice is, A driving control system according to item 1 or 2, which includes a second notification that notifies the user of the unmet conditions among the plurality of conditions when it is determined that the aforementioned start conditions are not met.

[0012] [Item 4] The notification device includes a display device that displays the notification, The control device is The driving control system according to item 3, which, after displaying the second notification on the display device, clears the second notification when the unmet condition is met.

[0013] [Item 5] The aforementioned notice is, A driving control system according to any one of items 1 to 4, which includes a third notification that, when it is determined that the aforementioned start condition is not met, notifies the driver of the operation to be performed to satisfy the unmet condition among the plurality of conditions.

[0014] [Item 6] The notification device includes a display device that displays the notification, The control device is The driving control system according to item 5, which, after displaying the third notification on the display device, clears the third notification when the unmet condition is met.

[0015] [Item 7] The plurality of conditions are that the roll angle of the work vehicle is not more than a predetermined value, that the pitch angle of the work vehicle is not more than a predetermined value, that the work vehicle is stopped, that the prime mover of the work vehicle is driving, and that the reception status of the satellite signal by the positioning device is good The travel control system according to any one of Items 1 to 6, including

[0016] [Item 8] The plurality of conditions are that the work vehicle is in a predetermined travel mode, and the travel control system according to any one of Items 1 to 7, including

[0017] [Item 9] In the recording mode, the work vehicle travels along a path connecting the first field and the second field, The notification device includes a display device for displaying the notification, The control device Before the recording mode, causes the display device to display a graphical user interface (GUI) for the user to set the first field and the second field. The travel control system according to any one of Items 1 to 8, including

[0018] [Item 10] The plurality of conditions are that the work vehicle is within a predetermined area in the first field, and the travel control system according to Item 9, including

[0019] [Item 11] An implement is connected to the work vehicle, The work vehicle has a connecting device for connecting the implement, The connecting device includes a PTO shaft for supplying power to the implement and a three-point hitch for adjusting the height of the implement, The plurality of conditions are The rotation of the PTO shaft is turned off, and The height of the three-point hitch is greater than or equal to a predetermined value. A driving control system as described in any one of items 1 through 10, including the following:

[0020] [Item 12] The control device is A driving control system according to any one of items 1 to 11, wherein when an operation to terminate the recording mode is performed by the user, the system determines whether or not an termination condition for terminating the recording mode, which includes the condition that all of a plurality of conditions are met, is met, and causes the notification device to output another notification indicating whether or not the termination condition is met.

[0021] [Item 13] The aforementioned other notices A driving control system according to item 12, which includes a fourth notification that the termination condition has been met when it is determined that the termination condition has been met.

[0022] [Item 14] The aforementioned other notices A driving control system according to item 12 or 13, which includes a fifth notification that, when it is determined that the termination conditions are not met, notifies the user of any of the multiple conditions included in the termination conditions that are not met.

[0023] [Item 15] The notification device includes a display device that displays the notification, The control device is The driving control system according to item 14, which, after displaying the fifth notification on the display device, clears the fifth notification when the unmet condition is met.

[0024] [Item 16] The aforementioned other notices A driving control system according to any one of items 12 to 15, which includes a sixth notification that, when it is determined that the termination condition is not met, notifies the driver of an operation to be performed to satisfy the unmet condition among the multiple conditions included in the termination condition.

[0025] [Item 17] The notification device includes a display device that displays the notification, The control device is The driving control system according to item 16, which, after displaying the sixth notification on the display device, clears the sixth notification when the unmet condition is met.

[0026] [Item 18] A driving control system described in any one of items 1 through 17, Running gear including the steering wheels, A drive unit that drives the aforementioned traveling device and Equipped with, The control device, in the playback mode, controls the drive unit based on the position data recorded in the storage device, thereby causing the work vehicle to move automatically.

[0027] [Item 19] A control device for controlling the operation of a work vehicle, which is executed by a control device capable of operating in recording mode and playback mode, and a method for controlling the movement of a work vehicle, In the recording mode described above, the location data relating to the position of the work vehicle, acquired when the work vehicle is in motion, is recorded in the storage device. In the playback mode, the speed and steering of the work vehicle are controlled based on the position data recorded in the storage device, thereby driving the work vehicle automatically. When an operation is performed to start recording the position data to the storage device, it is determined whether the start condition for starting the recording of the position data, which includes satisfying all of a plurality of conditions, is met, and a notification of whether or not the start condition is met is output to the notification device. A driving control method including the above.

[0028] [Item 20] A computer program executed by a processor in a control device that controls the operation of a work vehicle and is capable of operating in recording mode and playback mode, The aforementioned processor, In the recording mode described above, the location data relating to the position of the work vehicle, acquired when the work vehicle is in motion, is recorded in the storage device. In the playback mode, the speed and steering of the work vehicle are controlled based on the position data recorded in the storage device, thereby driving the work vehicle automatically. When an operation is performed to start recording the position data to the storage device, it is determined whether the start condition for starting the recording of the position data, which includes satisfying all of a plurality of conditions, is met, and a notification of whether or not the start condition is met is output to the notification device. A computer program that executes something.

[0029] [Item 21] A control device that performs the driving control method described in item 19.

[0030] [Item 22] A computer program executed by a computer that controls the operation of a work vehicle, A computer program that causes the computer to execute the steps of the driving control method described in item 19.

[0031] [Item 23] A computer program medium executed by a computer that controls the operation of a work vehicle, A computer program medium that causes the computer to execute the driving control method described in item 19.

[0032] [Item 24] A vehicle driving control system for work vehicles, A positioning device that outputs positional data relating to the position of the aforementioned work vehicle, The control device described in item 21 and A driving control system having the following features.

[0033] [Item 25] A control device for controlling the operation of a work vehicle, which is capable of operating in recording mode and playback mode, In the recording mode, means for recording the position data relating to the position of the work vehicle, acquired when the work vehicle is in motion, in a storage device, In the playback mode, means for driving the work vehicle by automatic driving by controlling the speed and steering of the work vehicle based on the position data recorded in the storage device, When an operation is performed to start recording the position data to the storage device, the means determines whether the start condition for starting the recording of the position data, which includes satisfying all of a plurality of conditions, is met, and causes a notification device to output a notification of whether or not the start condition is met. A control device, including a control device.

[0034] [Item 26] A vehicle driving control system for work vehicles, A positioning device that outputs positional data relating to the position of the aforementioned work vehicle, The control device described in item 25 and A driving control system having the following features.

[0035] [Item 27] One or more processors, The above-mentioned one or more processors have one or more memories that store a computer program that causes the steps of the driving control method described in item 19 to be executed, and A control device having

[0036] [Item 28] The control device described in item 27, A first drive unit that drives the running gear of the aforementioned work vehicle and Equipped with, The control device is a driving control system that, in the playback mode, controls the first drive unit based on the position data recorded in the storage device to drive the work vehicle automatically.

[0037] Comprehensive or specific embodiments of the present invention may be realized by apparatus, systems, methods, integrated circuits, computer programs, or computer-readable non-temporary storage media, or any combination thereof. Computer-readable storage media may include volatile storage media or non-volatile storage media. An apparatus may consist of multiple devices. If an apparatus consists of two or more devices, these two or more devices may be located in a single device or in two or more separate devices. [Effects of the Invention]

[0038] According to embodiments of the present invention, a driving control system, a work vehicle, and a driving control method are provided that can efficiently perform repetitive operations (including driving and other operations) of a work vehicle. [Brief explanation of the drawing]

[0039] [Figure 1] This is a schematic side view showing an example of a work vehicle in an embodiment of the present invention. [Figure 2] This is a schematic block diagram showing an example of the configuration of a work vehicle and work machine in an embodiment of the present invention. [Figure 3A]This block diagram shows a schematic configuration example of a driving control system according to an embodiment of the present invention. [Figure 3B] This is a block diagram showing an example of the configuration of a control device in a driving control system according to an embodiment of the present invention. [Figure 4] This is a schematic diagram showing an example of the configuration of a driving control system according to an embodiment of the present invention. [Figure 5A] This figure schematically shows an example of a route traveled by a work vehicle according to an embodiment of the present invention in recording mode. [Figure 5B] This figure schematically shows an example of a route traveled by a work vehicle according to an embodiment of the present invention in regeneration mode. [Figure 6] This figure shows an example of waypoint data recorded in a storage device. [Figure 7A] This flowchart shows an example of processing performed by the control unit in recording mode. [Figure 7B] This flowchart shows an example of processing performed by the control unit in recording mode. [Figure 8] This flowchart shows an example of processing performed by the control unit in recording mode. [Figure 9A] This is an example of a display screen shown on a user-operated terminal. [Figure 9B] This is an example of a display screen shown on a user-operated terminal. [Figure 9C] This is an example of a display screen shown on a user-operated terminal. [Figure 9D] This is an example of a display screen shown on a user-operated terminal. [Figure 10A] This is an example of a display screen shown on a user-operated terminal. [Figure 10B] This is an example of a display screen shown on a user-operated terminal. [Figure 10C] This is an example of a display screen shown on a user-operated terminal. [Figure 11A] This is an example of a display screen shown on a user-operated terminal. [Figure 11B] This is an example of a display screen shown on a user-operated terminal. [Figure 11C] This is an example of a display screen shown on a user-operated terminal. [Figure 12A] This is an example of a display screen shown on a user-operated terminal. [Figure 12B] This is an example of a display screen shown on a user-operated terminal. [Figure 12C] This is an example of a display screen shown on a user-operated terminal. [Figure 13A] This is an example of a display screen shown on a user-operated terminal. [Figure 13B] This is an example of a display screen shown on a user-operated terminal. [Figure 13C] This is an example of a display screen shown on a user-operated terminal. [Figure 14] This flowchart shows an example of processing performed by the control unit in playback mode. [Figure 15] This is a schematic diagram illustrating an example of processing performed by a control device. [Modes for carrying out the invention]

[0040] (Definition of terms) In this specification, “work vehicle” means a vehicle used to perform work in a work area. “Work area” is any place where work can be performed, such as a field, forest, or construction site. “Field” is any place where agricultural work can be performed, such as an orchard, farm, rice paddy, grain farm, or pasture. A work vehicle may be agricultural machinery such as a tractor, rice transplanter, combine harvester, riding cultivator, or riding mower, or a vehicle used for non-agricultural purposes, such as a construction vehicle or snowplow. A work vehicle may be configured to be equipped with work implements (also called “working devices” or “implements”) on at least one of its front and rear ends, depending on the work being performed. In particular, work implements attached to agricultural tractors are sometimes called “agricultural implements.” The act of a work vehicle driving while performing work with work implements may be referred to as “work driving.” The “operation” of a work vehicle includes not only the driving of the work vehicle but also other operations.

[0041] "Automated driving" means that the vehicle's movement is controlled by a control device, without manual operation by the driver. During automated driving, not only the vehicle's movement but also the operation of work (e.g., the operation of work equipment) may be controlled automatically. The movement of the vehicle under automated driving conditions is referred to as "automated driving." The control device can control at least one of the following necessary for the vehicle's movement: steering, adjustment of driving speed, starting and stopping the vehicle. When controlling a work vehicle equipped with work equipment, the control device may also control operations such as raising and lowering the work equipment and starting and stopping the operation of the work equipment. Driving under automated driving conditions may include not only driving the vehicle along a predetermined route toward a destination but also driving while following a target. In addition to automated driving mode, a vehicle performing automated driving may also operate in manual driving mode, where it is driven by the driver's manual operation. Driving under the driver's manual operation is referred to as "manual driving." "Driver's manual operation" includes not only manual operation by the driver on the vehicle but also remote operation by an operator outside the vehicle. A vehicle performing automated driving conditions may be driven partially based on the driver's manual operation. "Automatic steering" refers to the steering of a vehicle by a control device, without manual operation by the driver. Part or all of the control device may be located outside the vehicle. Communication, such as control signals, commands, or data, may take place between the external control device and the vehicle. A vehicle capable of autonomous driving may operate autonomously, sensing its surroundings without human intervention in controlling its movement. A vehicle capable of autonomous driving can operate unmanned. Obstacle detection and obstacle avoidance may occur during autonomous driving.

[0042] A "crop row" refers to a row of crops, trees, or other plants growing in a field such as an orchard or farm, or in a forest. In this specification, the concept of a "crop row" includes a "tree row."

[0043] (Embodiment) Embodiments of the present invention will be described below. However, unnecessarily detailed explanations will be omitted. Yes. For example, detailed explanations of already well-known matters and redundant explanations of substantially identical components may be omitted. This is to avoid the following explanation becoming unnecessarily verbose and to facilitate understanding for those skilled in the art. The inventors provide the accompanying drawings and the following explanation so that those skilled in the art can fully understand the invention, and not to limit the subject matter described in the claims. In the following explanation, components having the same or similar function are denoted by the same reference numerals.

[0044] The following embodiments are illustrative, and the technology of the present invention is not limited to these embodiments. For example, the numerical values, shapes, materials, steps, and order of steps shown in the following embodiments are merely examples, and various modifications are possible as long as they do not create a technical inconsistency. Furthermore, it is possible to combine one embodiment with another.

[0045] The following describes an embodiment in which the work vehicle is a tractor used for agricultural work in fields such as orchards. The technology of the present invention is not limited to tractors, but can also be applied to other types of agricultural machinery such as rice transplanters, combine harvesters, riding cultivators, and riding lawnmowers. The technology of the present invention can also be applied to work vehicles used for purposes other than agriculture, such as construction vehicles or snowplows. The technology of the present invention can also be applied to the driving of work vehicles outside of work areas, and to the driving of work vehicles without performing work.

[0046] [Outline of the work vehicle configuration] Figure 1 is a schematic side view showing an example of a work vehicle 100 and a work machine 300 connected to the work vehicle 100. Figure 2 is a schematic block diagram showing an example configuration of the work vehicle 100 and the work machine 300.

[0047] As shown in Figures 1 and 2, the work vehicle 100 includes a positioning device 110 (e.g., a GNSS unit) that outputs positional data relating to the position of the work vehicle 100, and a control device 180 that controls the operation of the work vehicle 100.

[0048] The work vehicle 100 may further include a group of sensors 150 that output sensor data related to the state of the work vehicle 100. The group of sensors 150 includes one or more internal sensors. The "internal sensors" include various sensors that detect the state of the work vehicle 100.

[0049] The work vehicle 100 may further be equipped with multiple external sensors that sense the surroundings of the work vehicle 100. "External sensors" are sensors that sense the external conditions of the work vehicle. In the example in Figure 1, the external sensors include multiple LiDAR sensors 140, multiple cameras 120, and multiple obstacle sensors 130.

[0050] In the example shown in Figure 2, the work vehicle 100 includes a positioning device 110, a camera 120, an obstacle sensor 130, a LiDAR sensor 140, a sensor group 150, a storage device 170, a control device 180, and an operating terminal 200, as well as a communication device 190, an operating switch group 210, and a drive device 240 (sometimes referred to as the "first drive device"). These components are connected to each other via a bus so as to be able to communicate with one another.

[0051] As shown in Figure 1, the work vehicle 100 comprises a body 101, a prime mover (engine) 102, and a transmission 103. The body 101 is provided with a running gear including wheels with tires 104 and a cabin 105. The running gear includes four wheels 104, axles that rotate the four wheels, and brakes that brake each axle. The wheels 104 include a pair of front wheels 104F and a pair of rear wheels 104R. Inside the cabin 105 are a driver's seat 107, a steering gear 106, an operating terminal 200, and a group of switches for operation. One or both of the front wheels 104F and the rear wheels 104R may be replaced with multiple wheels fitted with tracks (crawlers) instead of wheels with tires.

[0052] The prime mover 102 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 103 can change the propulsion force and travel speed of the work vehicle 100 by shifting gears. The transmission 103 can also switch the work vehicle 100 between forward and reverse.

[0053] The steering system 106 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering system that assists steering by the steering wheel. The front wheels 104F are steering wheels, and the direction of travel of the work vehicle 100 can be changed by changing their steering angle (also referred to as the "steering angle"). The steering angle of the front wheels 104F can be changed by operating the steering wheel. The power steering system includes a hydraulic system or electric motor that supplies auxiliary force to change the steering angle of the front wheels 104F. When automatic steering is performed, the steering angle is automatically adjusted by the force of the hydraulic system or electric motor under control from a control device located inside the work vehicle 100.

[0054] A coupling device 108 is provided at the rear of the vehicle body 101. The coupling device 108 includes, for example, a three-point support device (also called a "three-point hitch" or "three-point link"), a PTO (Power Take Off) shaft, a universal joint, and a communication cable. The coupling device 108 allows the work implement 300 to be attached to and detached from the work vehicle 100. The coupling device 108 can change the position or orientation of the work implement 300 by raising and lowering the three-point hitch, for example, by a hydraulic system. Power can also be supplied from the work vehicle 100 to the work implement 300 via the universal joint. The work vehicle 100 can pull the work implement 300 and have the work implement 300 perform a predetermined task. The coupling device may be provided at the front of the vehicle body 101. In that case, the work implement can be connected to the front of the work vehicle 100.

[0055] The implement 300 shown in Figure 1 is a sprayer for spraying chemicals onto crops, but the implement 300 is not limited to a sprayer. For example, any implement such as a mower, seeder, spreader, rake, baler, harvester, plow, harrow, or rotary tiller can be connected to the work vehicle 100 and used.

[0056] The positioning device 110 receives satellite signals (also referred to as GNSS signals) transmitted from multiple GNSS satellites and performs positioning based on these satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou. In this embodiment, the positioning device 110 is located on top of the cabin 105, but it may be located in other positions.

[0057] As shown in Figure 2, the positioning device 110 comprises a GNSS receiver 111, an RTK receiver 112, and a processing circuit 116. The positioning device 110 may further include an inertial measurement unit (IMU) 115.

[0058] The GNSS receiver 111 includes an antenna for receiving signals from GNSS satellites and a processing circuit for determining the position of the work vehicle 100 based on the signals received by the antenna. The GNSS receiver 111 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is generated in a predetermined format, such as NMEA-0183 format. The GNSS data may include, for example, the identification number, elevation angle, azimuth angle, and received signal strength of each satellite from which the satellite signal was received.

[0059] The positioning device 110 may perform positioning of the work vehicle 100 using RTK (Real Time Kinematic)-GNSS. In RTK-GNSS positioning, in addition to satellite signals transmitted from multiple GNSS satellites, correction signals transmitted from a base station are used. The base station may be installed near the work site where the work vehicle 100 will be driving (for example, within 10 km of the work vehicle 100). Based on the satellite signals received from multiple GNSS satellites, the base station generates a correction signal, for example, in RTCM format and transmits it to the positioning device 110. The RTK receiver 112 includes an antenna and a modem and receives the correction signal transmitted from the base station. The processing circuit 116 of the positioning device 110 corrects the positioning result from the GNSS receiver 111 based on the correction signal. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, an error of a few centimeters. Position information, including latitude, longitude, and altitude information, is acquired by high-precision positioning using RTK-GNSS. The positioning device 110 calculates the position of the work vehicle 100 at a frequency of, for example, 1 to 10 times per second. The positioning method is not limited to RTK-GNSS; any positioning method that can obtain the necessary accuracy of positional information (such as interferometric positioning or relative positioning) can be used. For example, positioning may be performed using VRS (Virtual Reference Station) or DGPS (Differential Global Positioning System).

[0060] The positioning device 110 in this embodiment further includes an IMU 115. By including the IMU 115, the positioning device 110 can supplement position data using signals from the IMU 115. By supplementing position data based on satellite signals using data acquired by the IMU 115, the positioning performance can be improved.

[0061] The IMU115 may be equipped with a 3-axis accelerometer and a 3-axis gyroscope. The IMU115 may also be equipped with an orientation sensor, such as a 3-axis geomagnetic sensor. The IMU115 functions as a motion sensor and can output signals indicating various quantities such as acceleration, velocity, displacement, and attitude of the work vehicle 100. The processing circuit 116 can estimate the position and orientation of the work vehicle 100 with higher accuracy based on the signals output from the IMU115 in addition to the satellite signals and correction signals. The signals output from the IMU115 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU115 outputs signals at a higher frequency than the GNSS receiver 111. For example, the IMU115 outputs signals at a frequency of several tens to several thousand times per second. Using these high-frequency signals, the processing circuit 116 can measure the position and orientation of the work vehicle 100 at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU115, a 3-axis accelerometer and a 3-axis gyroscope may be provided separately. The IMU 115 may be provided as a separate device from the positioning device 110.

[0062] The sensor group 150 may include various sensors (i.e., internal sensors) that detect the state of the work vehicle 100 or work machine 300. For example, the sensor group 150 may include a steering wheel sensor 152, a steering angle sensor 154, and an axle sensor 156.

[0063] The steering wheel sensor 152 measures the rotation angle of the steering wheel of the work vehicle 100. The steering angle sensor 154 measures the steering angle of the front wheels 104F, which are the steering wheels. The values ​​measured by the steering wheel sensor 152 and the steering angle sensor 154 can be used for steering control by the control device 180.

[0064] The axle sensor 156 measures the rotational speed of the axle connected to the wheel 104, i.e., the number of rotations per unit time. The axle sensor 156 may be a sensor that utilizes, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The axle sensor 156 outputs a numerical value indicating, for example, the number of rotations of the axle per minute (unit: rpm). The axle sensor 156 is used to measure the speed of the work vehicle 100. The value measured by the axle sensor 156 can be used for speed control by the control device 180.

[0065] The storage device 170 includes one or more storage media, such as flash memory or magnetic disks. The storage device 170 stores various data generated by the positioning device 110, camera 120, obstacle sensor 130, LiDAR sensor 140, sensor group 150, and control device 180. The data stored in the storage device 170 may include an environmental map of the environment in which the work vehicle 100 travels, an obstacle map that is generated sequentially during travel, and route data for autonomous driving. The storage device 170 also stores computer programs that cause each ECU in the control device 180 to perform various operations described later. Such computer programs may be provided to the work vehicle 100 via a storage medium (e.g., semiconductor memory or optical disk) or a telecommunications line (e.g., the Internet). Such computer programs may be sold as commercial software.

[0066] The control device 180 includes a plurality of ECUs. These plurality of ECUs include, for example, an ECU 181 for speed control, an ECU 182 for steering control, an ECU 183 for work equipment control, and an ECU 184 for automatic driving control.

[0067] The ECU 181 controls the speed of the work vehicle 100 by controlling the prime mover 102, the transmission 103, and the brakes, which are included in the drive unit 240.

[0068] The ECU 182 controls the steering of the work vehicle 100 by controlling the hydraulic system or electric motor included in the steering device 106 based on the measurements of the steering wheel sensor 152.

[0069] The ECU 183 controls the operation of the three-point hitch and PTO shaft, etc., included in the coupling device 108, in order to make the work implement 300 perform the desired operation. The ECU 183 also generates signals to control the operation of the work implement 300 and transmits these signals from the communication device 190 to the work implement 300.

[0070] The ECU 184 performs calculations and controls to achieve autonomous driving based on data output from the positioning device 110, camera 120, obstacle sensor 130, LiDAR sensor 140, and sensor group 150. For example, the ECU 184 estimates the position of the work vehicle 100 based on data output from at least one of the positioning device 110, camera 120, and LiDAR sensor 140. In situations where the reception strength of satellite signals from GNSS satellites is sufficiently high, the ECU 184 may determine the position of the work vehicle 100 based only on data output from the positioning device 110. On the other hand, in environments such as orchards where there are obstacles such as trees that obstruct the reception of satellite signals around the work vehicle 100, the ECU 184 estimates the position of the work vehicle 100 using data output from the LiDAR sensor 140 or camera 120. During autonomous driving, the ECU 184 performs calculations necessary for the work vehicle 100 to travel along the target path based on the estimated position of the work vehicle 100. ECU184 sends a command to ECU181 to change speed and a command to ECU182 to change steering angle. ECU181 changes the speed of the work vehicle 100 by controlling the prime mover 102, the transmission 103, or the brakes in response to the command to change speed. ECU182 changes the steering angle by controlling the steering device 106 in response to the command to change steering angle.

[0071] Through the operation of these ECUs, the control unit 180 enables autonomous driving. During autonomous driving, the control unit 180 controls the drive unit 240 based on the measured or estimated position of the work vehicle 100 and the sequentially generated target path. This allows the control unit 180 to drive the work vehicle 100 along the target path.

[0072] Multiple ECUs included in the control unit 180 can communicate with each other according to a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. In Figure 2, each of the ECUs 181 to 184 is shown as a separate block, but each of their functions may be implemented by multiple ECUs. An on-board computer integrating at least some of the functions of ECUs 181 to 184 may be provided. The control unit 180 may also include ECUs other than ECUs 181 to 184, and any number of ECUs can be provided depending on their function. Each ECU includes a processing circuit containing one or more processors.

[0073] Cameras 120 may be installed, for example, on the front, rear, left, and right sides of the work vehicle 100. Cameras 120 capture images of the environment around the work vehicle 100 and generate image data. The images acquired by cameras 120 may be transmitted, for example, to a terminal device for remote monitoring. These images may be used to monitor the work vehicle 100 during unmanned operation. Cameras 120 may be installed as needed, and their number is arbitrary.

[0074] The LiDAR sensor 140 is an example of an external sensor that outputs sensor data showing the distribution of features around the work vehicle 100. In the example in Figure 1, two LiDAR sensors 140 are located at the front and rear of the cabin 105. The LiDAR sensors 140 may be located in other places (for example, at the lower front of the vehicle body 101). Each LiDAR sensor 140 repeatedly outputs sensor data showing the distance and direction to each measurement point of an object in the surrounding environment, or the two-dimensional or three-dimensional coordinate values ​​of each measurement point, while the work vehicle 100 is in motion. The number of LiDAR sensors 140 is not limited to two; it may be one or three or more.

[0075] The LiDAR sensor 140 may be configured to output two-dimensional or three-dimensional point cloud data as sensor data. In this specification, “point cloud data” broadly means data showing the distribution of multiple reflection points observed by the LiDAR sensor 140. The point cloud data may include, for example, the coordinate values ​​of each reflection point in two-dimensional or three-dimensional space, or information indicating the distance and direction of each reflection point. The point cloud data may also include brightness information for each reflection point. The LiDAR sensor 140 may be configured to repeatedly output the point cloud data, for example, at a preset period. Thus, the ambient sensor may include one or more LiDAR sensors 140 that output point cloud data as sensor data.

[0076] Sensor data output from the LiDAR sensor 140 is processed by a control device that controls the automatic driving of the work vehicle 100. While the work vehicle 100 is driving, the control device can sequentially generate an obstacle map showing the distribution of objects around the work vehicle 100 based on the sensor data output from the LiDAR sensor 140. The control device can also generate an environmental map by stitching together the obstacle maps during automatic driving, for example, using an algorithm such as SLAM. The control device can also estimate the position and orientation of the work vehicle 100 (i.e., self-localization) by matching the sensor data with the environmental map.

[0077] The multiple obstacle sensors 130 shown in Figure 1 are located at the front and rear of the cabin 105. Obstacle sensors 130 may also be located in other areas. For example, one or more obstacle sensors 130 may be provided at any location on the sides, front, and rear of the vehicle body 101. Obstacle sensors 130 may include, for example, laser scanners or ultrasonic sonar. Obstacle sensors 130 are used to detect surrounding obstacles during autonomous driving and to stop or bypass the work vehicle 100.

[0078] The control device of the work vehicle 100 may use sensing data acquired by a sensing device such as a camera 120 or a LiDAR sensor 140 for positioning, in addition to the positioning results from the positioning device 110. If there are features that function as characteristic points in the environment in which the work vehicle 100 travels, such as farm roads, forest roads, public roads, or orchards, the position and orientation of the work vehicle 100 can be estimated with high accuracy based on the data acquired by the camera 120 or LiDAR sensor 140 and an environmental map stored in a storage device in advance. By correcting or supplementing the position data based on satellite signals using the data acquired by the camera 120 or LiDAR sensor 140, the position of the work vehicle 100 can be determined with even higher accuracy.

[0079] The work vehicle 100 and the work machine 300 can communicate with each other via a communication cable included in the coupling device 108. The work vehicle 100 can also communicate with a terminal device 400 for remote monitoring via the network 60. The terminal device 400 is any computer, such as a personal computer (PC), laptop computer, tablet computer, or smartphone.

[0080] The work machine 300 includes a drive unit 340 (sometimes referred to as the "second drive unit"), a control device 380, and a communication device 390. Figure 2 shows components that are relatively highly relevant to the operation of the work vehicle 100's automatic driving function, and other components are not shown.

[0081] Camera 120 is an imaging device that captures the environment around the work vehicle 100. Camera 120 includes an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Xide Semiconductor). Camera 120 may also include an optical system including one or more lenses and a signal processing circuit. While the work vehicle 100 is in motion, Camera 120 captures the environment around the work vehicle 100 and generates image (e.g., video) data. Camera 120 can capture video at a frame rate of, for example, 3 frames per second (fps) or higher. The images generated by Camera 120 can be used, for example, when a remote observer uses a terminal device 400 to check the environment around the work vehicle 100. The images generated by Camera 120 may be used for positioning or obstacle detection. As shown in Figure 1, multiple cameras 120 may be installed at different locations on the work vehicle 100, or a single camera may be installed. A visible light camera that generates visible light images and an infrared camera that generates infrared images may be provided separately. Both the visible light camera and the infrared camera may be provided as cameras that generate surveillance images. The infrared camera can also be used for detecting obstacles at night.

[0082] The obstacle sensor 130 detects objects present around the work vehicle 100. The obstacle sensor 130 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 130 outputs a signal indicating the presence of an obstacle when an object is closer than a predetermined distance from the obstacle sensor 130. Multiple obstacle sensors 130 may be installed at different locations on the work vehicle 100. For example, multiple laser scanners and multiple ultrasonic sonars may be placed at different locations on the work vehicle 100. By providing many such obstacle sensors 130, blind spots in monitoring obstacles around the work vehicle 100 can be reduced.

[0083] The drive system 240 includes various devices necessary for the movement of the work vehicle 100 and the driving of the work equipment 300, such as the prime mover 102, the transmission 103, the steering system 106, and the coupling device 108. The prime mover 102 may be an internal combustion engine, such as a diesel engine. The drive system 240 may also be equipped with an electric motor for traction, either in place of or in conjunction with the internal combustion engine.

[0084] The communication device 190 is a device that includes a circuit for communicating with the work machine 300 and the terminal device 400. The communication device 190 includes a circuit for transmitting and receiving signals compliant with the ISOBUS standard, such as ISOBUS-TIM, to and from the communication device 390 of the work machine 300. This makes it possible to make the work machine 300 perform desired operations or to obtain information from the work machine 300. The communication device 190 may further include an antenna and a communication circuit for transmitting and receiving signals via the network 60 to and from the terminal device 400. The network 60 may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G and the internet. The communication device 190 may also have a function for communicating with a mobile terminal used by a supervisor near the work vehicle 100. Communication with such a mobile terminal may be conducted in accordance with any wireless communication standard, such as Wi-Fi®, cellular mobile communication such as 3G, 4G, or 5G, or Bluetooth®.

[0085] The operation terminal 200 is a terminal for the user to perform operations related to the movement of the work vehicle 100 and the operation of the work machine 300, and is also called a virtual terminal (VT). The operation terminal 200 may be equipped with a display device such as a touch screen and / or one or more buttons. The display device may be a display such as a liquid crystal or organic light-emitting diode (OLED). By operating the operation terminal 200, the user can perform various operations such as switching the automatic driving mode on / off, switching the recording (teaching) mode and playback mode (described later) on / off, and switching the work machine 300 on / off. At least some of these operations can also be achieved by operating the operation switch group 210. The operation terminal 200 may be configured to be detachable from the work vehicle 100. A user located away from the work vehicle 100 may control the operation of the work vehicle 100 by operating the detached operation terminal 200. The operation terminal 200 may be equipped with a storage device. The storage device in the operating terminal 200 may store various data necessary for the operation of the work vehicle 100 instead of the storage device 170.

[0086] The drive unit 340 in the work machine 300 shown in Figure 2 performs the operations necessary for the work machine 300 to perform a predetermined operation. The drive unit 340 includes devices such as a hydraulic system, an electric motor, or a pump, depending on the application of the work machine 300. The control device 380 controls the operation of the drive unit 340. The control device 380 causes the drive unit 340 to perform various operations in response to signals transmitted from the work vehicle 100 via the communication device 390. It can also transmit signals corresponding to the status of the work machine 300 from the communication device 390 to the work vehicle 100.

[0087] [Driving control system] A driving control system according to an embodiment of the present invention will now be described. The driving control system according to an embodiment of the present invention is applied, for example, to the work vehicle 100 described above. In the example shown in Figures 1 and 2, a work machine 300 is connected to the work vehicle 100, but it is not essential that the work machine 300 is connected to the work vehicle 100. That is, the driving control system according to an embodiment of the present invention can also be applied to a work vehicle 100 that is not connected to a work machine 300.

[0088] Figure 3A is a block diagram showing a schematic configuration example of a driving control system 1000 according to an embodiment of the present invention. As shown in Figure 3A, the driving control system 1000 according to this embodiment includes a positioning device 110 that detects the position of a work vehicle 100 and outputs position data, and a control device 180 that controls the operation of the work vehicle 100. In this embodiment, as shown in Figure 2, the positioning device 110 and the control device 180 are installed on the work vehicle 100. The control device 180 works in cooperation with the positioning device 110 to function as the driving control system 1000 of the work vehicle 100. The control device 180 and the positioning device 110 can be connected to communicate with each other via a bus 810.

[0089] Figure 3A also shows one or more internal sensors (sensor group) 150 that output sensor data related to the status of the work vehicle 100. The sensor group 150 may be included in the driving control system 1000 or it may be an external element of the driving control system 1000. In this embodiment, the sensor group 150 is provided on the work vehicle 100 as shown in Figure 2. The sensor group 150 may be connected to the control device 180 and the positioning device 110 so as to be able to communicate with each other via the bus 810.

[0090] Figure 3A also shows a storage device 870 in which information acquired by the control device 180 is recorded. The storage device 870 may be included in the travel control system 1000 or may be an external component of the travel control system 1000. The storage device 870 may be mounted on the work vehicle 100 or on the work machine 300. The storage device 870 may be connected to the control device 180 so as to be able to communicate with each other via the bus 810. For example, the storage device 870 may be the storage device 170 shown in Figure 2 or a storage device provided in the operation terminal 200. The operation terminal 200 may be included in the travel control system 1000. The storage device 870 may be located outside the work vehicle 100 and the work machine 300. A storage device 870 located outside the work vehicle 100 and the work machine 300 may be connected to the control device 180 via a communication network. The storage device 870 may be included in a server computer connected to the control device 180 via a communication network.

[0091] In the example shown in Figure 1, the positioning device 110 is mounted on the work vehicle 100, but the positioning device 110 may also be mounted on a work machine 300 connected to the work vehicle 100. In addition to, or instead of, the positioning device mounted on the work vehicle 100, a positioning device (e.g., a GNSS unit) mounted on the work machine 300 may function as the positioning device 110 of the driving control system 1000. The position measured by the positioning device mounted on the work vehicle 100 or the work machine 300 is strictly speaking the position of the point where the positioning device is located, but in this specification, that position is referred to as the "position of the work vehicle".

[0092] The sensor group 150 is not limited to the steering wheel sensor 152, steering angle sensor 154, and axle sensor 156 described above, but may include various sensors mounted on the work vehicle 100. For example, the sensor group 150 may include one or more sensors selected from a temperature sensor, illuminance sensor, fuel sensor, water temperature sensor, oil level gauge, engine speed sensor, vehicle speed sensor, battery voltage sensor, shuttle sensor, hand accelerator sensor, accelerator pedal sensor, main transmission lever sensor, sub-transmission lever sensor, seat belt sensor, PM sensor, acceleration sensor, angular velocity sensor, IMU (Inertial Measurement Unit), and geomagnetic sensor. The sensor group 150 may also include a PTO sensor that detects the on / off state of rotation of the PTO shaft, and / or a 3P position sensor that detects the height position of the 3-point hitch (hereinafter also simply referred to as "height"). Furthermore, in addition to one or more sensors mounted on the work vehicle 100, or in place of one or more sensors mounted on the work machine 300, one or more sensors mounted on the work machine 300 may be included in the sensor group 150 of the travel control system 1000.

[0093] In the example shown in Figure 3A, the control unit 180 includes multiple ECUs. These ECUs may include, for example, ECUs 181 to 184 shown in Figure 2. However, the control unit 180 may be a single ECU or other computing device. Figure 3B is a block diagram showing an example configuration of such a control unit 180. In the example in Figure 3B, the control unit 180 comprises a processor 281, a ROM (Read Only Memory) 283, a RAM (Random Access Memory) 285, a communication device 287, and a storage device 289. These components may be interconnected via a bus 290.

[0094] The processor 281 is a semiconductor integrated circuit, also referred to as a central processing unit (CPU) or microprocessor. The processor 281 may include an image processing unit (GPU). The processor 281 sequentially executes a computer program describing a predetermined set of instructions stored in the ROM 283, thereby realizing the processing performed by the driving control system according to an embodiment of the present invention. The control device 180 may comprise a plurality of processors 281. The processing performed by the driving control system according to an embodiment of the present invention may be performed collaboratively by the plurality of processors 281. Part or all of the processor 281 may be an FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), or ASSP (Application Specific Standard Product) equipped with a CPU.

[0095] The communication device 287 is an interface for data communication between the control device 180 and an external computing device. The communication device 287 can perform wired communication such as CAN (Controller Area Network), or wireless communication compliant with the Bluetooth® standard and / or Wi-Fi® standard.

[0096] The storage device 289 can store location data acquired from the positioning device 110, sensor data acquired from the sensor group 150, location data and / or sensor data during processing, first information acquired from location data, and second information acquired from sensor data, etc. The storage device 289 includes, for example, a hard disk drive or a non-volatile semiconductor memory. In this example, the storage device 289 may also function as the storage device 870 in the example of Figure 3A.

[0097] The hardware configuration of the control device 180 is not limited to the example above. It is not necessary for part or all of the control device 180 to be mounted on the work vehicle 100. By utilizing the communication device 287, one or more computing devices located outside the work vehicle 100 can function as part or all of the control device 180. For example, one or more server computers and / or computing devices included in a terminal device connected to a network can function as part or all of the control device 180. Alternatively, one or more computing devices mounted on the work vehicle 100 may perform all the functions required of the control device 180.

[0098] Figure 4 is a schematic diagram showing another configuration example of a driving control system according to an embodiment of the present invention. The system shown in Figure 4 includes a work vehicle 100, other work vehicles 700, a server computer 500, and a plurality of terminal devices 400. The terminal devices 400 may be portable or fixed terminal devices. Some or all of the functions of the control device 180 shown in Figure 3B may be implemented by one or more computing devices connected to the communication device 287 of the control device 180 in the work vehicle 100 via a communication network 800. Such computing devices may be the server computer 500 or the terminal devices 400. Other work vehicles (e.g., agricultural machinery) 700 may be connected to such a communication network 800. Communication may take place between the control device 180 in the work vehicle 100 and the other work vehicles 700. Some of the data used for processing by the control device 180 in the work vehicle 100 may be provided to the control device 180 from the other work vehicles 700 via the communication network 800. For example, waypoint data defining a route and a series of operations generated by a control device in another work vehicle 700 may be transmitted from the other work vehicle 700 to the control device 180 of work vehicle 100. Based on this waypoint data, the control device 180 can perform a playback operation in the playback mode described later.

[0099] As shown in Figure 3B, one example of a "control device" in an embodiment of the present invention is a computing device comprising at least one processor and at least one memory that stores a computer program (code) that defines a control process executed by the processor. The "control device" may also be a computing device comprising a hardware accelerator such as an FPGA (Field-Programmable Gate Array), ASSP (Application Specific Standard Product), or ASIC (Application-Specific Integrated Circuit) configured to execute the control process.

[0100] In embodiments of the present invention, "processor" refers to hardware electronic circuits such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), ISP (Image Signal Processor), or NPU (Neural Network Processing Unit). "Memory" refers to hardware electronic circuits such as ROM (Read Only Memory) or RAM (Random Access Memory). Part of the memory may be a storage medium connected to the processor by wiring or a network. These hardware electronic circuits may be implemented by one or more integrated circuits (ICs) or large-scale integrated circuits (LSIs). Each functional unit or block and associated component within the electronic circuit may be manufactured individually as separate integrated circuit chips, or some or all of these functional units or blocks may be combined and manufactured as a single integrated circuit chip.

[0101] A program defining the operation of the processor is designed to cause the processor to perform one or more functions, operations, steps, or processes in embodiments of the present invention.

[0102] [Recording mode and playback mode] As described below, the travel control system 1000 can control the operation of the work vehicle 100 using the so-called teaching-playback method used in the field of robot control. The control device 180 in the travel control system 1000 can operate in recording mode and playback mode. Recording mode is a mode in which a plurality of positions (hereinafter sometimes referred to as "waypoints") that define the path traveled by the work vehicle 100 are recorded. In recording mode, the operation of the work vehicle 100 at each waypoint may be further recorded. Playback mode is a mode in which the travel path of the work vehicle 100 is reproduced based on the position data of the work vehicle 100 recorded in recording mode. If the operation of the work vehicle 100 at each waypoint is recorded in recording mode, the operation of the work vehicle 100 at each waypoint may also be reproduced in playback mode. The operations in recording mode and playback mode correspond to the teaching operation and playback operation in the teaching-playback method, respectively. The operation of the control device 180 in recording mode and playback mode may be referred to as "teaching" and "playback," respectively. Recording mode may also be referred to as "teaching mode," and playback mode as "playback mode."

[0103] The operation of the control device 180 in the travel control system 1000 in recording mode and playback mode will be explained with reference to Figures 5A and 5B. Figure 5A is a schematic diagram showing an example of a route 31T on which the work vehicle 100 travels in recording mode. Figure 5B is a schematic diagram showing an example of a route 31P on which the work vehicle 100 travels in playback mode. In this example, routes 31T and 31P are routes connecting the first field 70a and the second field 70b.

[0104] (Recording mode) As shown in Figure 5A, in recording mode, the work vehicle 100 travels along route 31T from position R1 in the first field 70a to position R2 in the second field 70b. In recording mode, the control device 180 records the position data output from the positioning device 110, acquired when the work vehicle 100 travels along route 31T, into the storage device 870.

[0105] Figure 5A shows the state in which the work vehicle 100 is located at the starting point (position R1) of the route 31T and the state in which the work vehicle 100 is located at the ending point (position R2). In this example, the route 31T starts from position R1 in the first field 70a, exits the first field 70a through the entrance / exit 73a of the first field 70a, travels outside the field, enters the second field 70b through the entrance / exit 73b of the second field 70b, and ends at position R2 in the second field 70b. Position R1 in the first field 70a is, for example, located within a predetermined area 71a in the first field 70a. Position R2 in the second field 70b is, for example, located within a predetermined area 71b in the second field 70b.

[0106] In recording mode, the control device 180 records multiple waypoint data in the storage device 870 based on position data output from the positioning device 110, for example, while the work vehicle 100 is traveling along route 31T. Each of the multiple waypoint data includes information about the position of the work vehicle 100 (sometimes referred to as "first information"). For example, as shown in Figure 5A, position data indicating each of the multiple positions (waypoints) Pr on the traveled route 31T is recorded in the storage device 870 as waypoint data. The multiple waypoint data can be recorded in the storage device 870 as "route data" indicating route 31T, associated with information about route 31T. Specific examples will be described later with reference to Figure 6.

[0107] In recording mode, the control device 180 may further record sensor data relating to the state of the work vehicle 100, output from the sensor group 150, in the storage device 870. In such a case, for example, each of the multiple waypoint data further includes information relating to the state of the work vehicle 100 (sometimes referred to as "second information"). The second information included in each of the multiple waypoint data may be recorded in association with the corresponding first information. By recording the second information in association with the corresponding first information, information on the state of the work vehicle 100 at each position on the route 31T traveled by the work vehicle 100 is recorded.

[0108] Figure 6 is a schematic diagram showing an example of waypoint data recorded in the storage device 870. Each waypoint data 89 shown in Figure 6 includes a waypoint number (No.) 90, first information 91 indicating the position of the work vehicle 100, and second information 92 indicating the status of the work vehicle 100. The first information 91 indicates the position coordinates of the waypoint. The position coordinates may, for example, show latitude and longitude in a geographic coordinate system, or they may show position coordinates in a coordinate system different from the geographic coordinate system. In addition to latitude and longitude, the position coordinates may also include altitude information. In the example in Figure 6, the second information 92 includes information indicating the vehicle speed, heading, steering angle, and attitude of the work vehicle 100. The second information 92 may include only a part of this information. Alternatively, the second information 92 may include other information not shown in Figure 6. As mentioned above, the waypoint data does not have to include the second information 92. Route data 88, which includes a collection of waypoint data 89 (i.e., multiple waypoint data), may be recorded in a storage device 870, associated with an identifier (e.g., route ID) 80 that identifies the route. The route identifier 80 is associated with information 81 about the route. In the illustrated example, the information 81 about the route includes, for example, information about the date and time the route data was created, information about the starting point of the route (e.g., the field before movement), information about the ending point of the route (e.g., the field after movement), information about the latitude and longitude of the reference points of the route (e.g., the start or end point of the route), and information about the size of the implement attached to the work vehicle when the route was traveled. The information 81 about the route may include only some of this information, or it may include other information not shown in Figure 6.

[0109] The second information broadly includes information about the state of the work vehicle 100 other than its position. The second information includes, for example, information about the operation of the work vehicle 100, such as its driving state. The driving state of the work vehicle 100 is determined by the speed of the work vehicle 100, acceleration (i.e., rate of change of speed per unit time), direction of travel (orientation), etc. Information about the driving state of the work vehicle 100 includes, for example, one or more of the following: information about the speed of the work vehicle 100, information about the engine speed of the work vehicle 100, information about the acceleration of the work vehicle 100, information about the orientation of the work vehicle 100, information about the steering angle of the steering wheels of the work vehicle 100, information about the gear ratio of the transmission 103 of the work vehicle 100, etc. The second information may also include information about the attitude of the work vehicle 100. Information about the orientation of the work vehicle 100 may include, for example, information about the angle between the horizontal component of the direction of travel of the work vehicle 100 and the reference direction (e.g., north). The orientation information of the work vehicle 100 may include, for example, information on the roll angle and pitch angle of the work vehicle 100. The orientation information of the work vehicle 100 may also include, for example, information on the orientation of the work vehicle 100. The second information is not limited to information on the operation of the work vehicle 100, but may also include, for example, information on the temperature of the work vehicle 100 (e.g., engine coolant temperature), information on whether or not there is a malfunction in the work vehicle 100 (e.g., diagnostic trouble code: DTC), etc. Specific examples of methods for acquiring the second information will be described later.

[0110] The second information may include information regarding the state of the coupling device 108 for connecting the work implement 300. The coupling device 108 may include, for example, a PTO shaft that supplies power to the work implement 300 and a three-point hitch for adjusting the height of the work implement 300. The information regarding the state of the coupling device 108 may include, for example, one or more of the following: information on whether the rotation of the PTO shaft is on or off, and information on the height of the three-point hitch.

[0111] The second information may include, in addition to information regarding the status of the work vehicle 100, information regarding the status of the work machine 300 if the work machine 300 is connected to the work vehicle 100. For example, if a positioning device is attached to the work machine 300, information regarding the position or orientation (e.g., angle relative to a reference orientation) of the work machine 300 may be included in the second information. Alternatively, if a sensor for detecting the movement of a movable part of the work machine 300 is provided on the work machine 300, information detected by that sensor may be included in the second information.

[0112] In the example shown in Figure 5A, in recording mode, the work vehicle 100 is driven manually by the driver 9 on the work vehicle 100. However, the example is not limited to this, and in recording mode, the work vehicle 100 may also be driven automatically. When the work vehicle 100 is driven automatically in recording mode, it may drive autonomously without the intervention of the driver's manual operation, or it may drive automatically while partially based on the driver's manual operation. For example, automatic steering control may be performed during driving in recording mode, where the driver controls the driving speed of the work vehicle 100 and the steering is controlled automatically. Alternatively, during driving in recording mode, the work vehicle 100 may be driven automatically while the work machine 300 is operated by the driver's manual operation. The driver's manual operation includes not only the driver's manual operation on the work vehicle 100, but also remote operation by an operator outside the work vehicle 100. Such remote operation can be performed using, for example, the terminal device 400 shown in Figure 4, or other remote control devices.

[0113] (Playback mode) In the playback mode shown in Figure 5B, the work vehicle 100 drives automatically. In playback mode, the control device 180 drives the work vehicle 100 automatically by controlling its speed and steering based on the position data recorded in the storage device 870. In playback mode, the control device 180 drives the work vehicle 100 along a target path 31P defined by, for example, first information contained in multiple waypoint data recorded in the storage device 870. For example, the control device 180 controls the steering of the work vehicle 100 to minimize the deviation of the work vehicle 100's position and orientation (azimuth) from the target path 31P. This allows the work vehicle 100 to drive along the target path 31P. In playback mode, the work vehicle 100 can automatically reproduce the path of the work vehicle 100 recorded in recording mode.

[0114] In playback mode, as shown in Figure 5B, the automatic driving of the work vehicle 100 may be controlled by a driver (user) 9 located away from the work vehicle 100 operating a terminal device 400. The driver operating the terminal device or control terminal may be on the work vehicle 100, and this is not limited to the illustrated example. The terminal device 400 operated by the driver 9 may be a portable control terminal or a fixed control terminal. A fixed control terminal may be attached to the work vehicle 100 or located away from the work vehicle 100. The terminal device 400 may be equipped with a display device such as a touchscreen. The display device may be a display such as a liquid crystal or organic light-emitting diode (OLED). The terminal device 400 may further be equipped with one or more buttons. The terminal device 400 may be equipped with a storage device.

[0115] According to the driving control system of this embodiment, in playback mode, the operation (e.g., driving) of the work vehicle 100 can be automatically reproduced based on first information regarding the position of the work vehicle 100 recorded in the storage device 870, so that repetitive operations of the work vehicle 100 can be performed efficiently. Therefore, automation and unmanned operation of the work vehicle 100 are promoted.

[0116] In recording mode, if second information relating to the state of the work vehicle 100 other than its position is further recorded in association with first information relating to the position of the work vehicle 100, the automation and unmanned operation of the work vehicle 100 can be further promoted.

[0117] As shown in the examples in Figures 5A and 5B, when the work machine 300 is connected to the work vehicle 100, the control device 180 can control the operation of the work vehicle 100 and the work machine 300 while the work vehicle 100 is automatically driven, based on the first information (or the first and second information) contained in the multiple waypoint data recorded in recording mode. In other words, in playback mode, the work vehicle 100 can automatically reproduce not only the operation of the work vehicle 100 recorded in recording mode, but also the operation of the work machine 300.

[0118] When a work implement 300 is attached to a work vehicle 100, in playback mode, the operation of the work vehicle 100 with the work implement 300 attached can be reproduced based on the first information recorded in recording mode, thus enabling efficient repetitive operations of the work vehicle 100 with the work implement 300 attached. For example, in recording mode, by recording second information regarding the state of the work implement 300 in association with first information regarding the position of the work vehicle 100, automation and unmanned operation of work by the work implement 300 can be promoted. In other words, the work vehicle 100 can automatically reproduce not only the operation of the work vehicle 100 recorded in recording mode, but also the operation of the work implement 300, thus enabling efficient repetitive operations performed by the work implement 300.

[0119] (Example of processing in recording mode) Figure 7A is a flowchart showing an example of processing performed by the control device 180 in recording mode.

[0120] In step S111, the control device 180 receives a signal including an instruction to start recording location data. For example, when an operation to start recording location data is performed, for example, by a user (for example, the driver of the work vehicle 100), the control device 180 receives a signal including an instruction to start recording location data. For example, the user performs the operation to start recording location data by operating an input device such as a predetermined operation switch or operation terminal 200 provided in the work vehicle 100. The "operation to start recording location data" may be performed, for example, when starting to record location data at the starting point of a route to be recorded in recording mode. However, it may also be performed when recording location data has been stopped in the middle of a route to be recorded in recording mode and is to be resumed.

[0121] In step S112, the control device 180 determines whether the conditions for starting the recording of position data (sometimes called "start conditions" or "recording start conditions") are met. The recording start conditions include satisfying all of a predetermined set of conditions. That is, the control device 180 determines whether all of the set of conditions are met. If it is determined that the recording start conditions are met (Yes in step S112), the process proceeds to step S113. If it is determined that the recording start conditions are not met (No in step S112), the process proceeds to step S114.

[0122] The multiple conditions that constitute the recording start condition include, for example, two or more of the following conditions. Details of each condition and how to determine them will be described later. However, the conditions that constitute the recording start condition are not limited to those exemplified. • Work vehicle 100 is stopped. • The engine 102 of the work vehicle 100 is being driven. • The roll angle of the work vehicle 100 must be below a specified value. • The pitch angle of the work vehicle 100 must be below a specified value. • The satellite signal reception status by the positioning device 110 is good. • The work vehicle 100 is in a specified driving mode. • The work vehicle 100 is within the designated area. • The rotation of the PTO shaft of the coupling device 108 of the work vehicle 100 is turned off. The height of the three-point hitch on the coupling device 108 of the work vehicle 100 is equal to or greater than a predetermined value.

[0123] In step S113, the control device 180 causes the notification device to output a notification that the recording start condition has been met (sometimes referred to as the "first notification"). In step S114, the control device 180 causes the notification device to output a notification that the recording start condition has not been met.

[0124] The notification device may include, for example, a display device and / or an audio output device such as a buzzer or speaker. The notification device is provided, for example, on an operating terminal operated by the user (for example, an operating terminal 200 on the work vehicle 100). The notification device may be mounted on the work vehicle 100, or is not limited to this example as long as it is in a form that can output notifications to the user. Notifications may be issued in a way that stimulates the user's five senses, such as by images, light, sound, or vibration. A combination of one or more of images, light, sound, or vibration may be used as a notification. The control device 180 causes the notification device to output different notifications depending on whether the recording start condition is met or not. For example, if the notification device includes a display device, the control device may display different images depending on whether the recording start condition is met or not. If the notification includes light or vibration, the flashing pattern (period) of the light or the pattern (period) of the vibration may be different depending on whether the recording start condition is met or not.

[0125] The control device 180 can prevent location data from being recorded in conditions unsuitable for recording by outputting a notification to the notification device indicating whether or not the recording start conditions have been met. Therefore, the reproducibility of the operation of the work vehicle 100 in playback mode is improved, and the automatic driving of the work vehicle 100 in playback mode can be made smoother. Furthermore, the possibility of location data recording being interrupted midway through recording mode can be reduced. This solves the problem of having to restart the recording mode from the beginning if location data recording is interrupted midway through recording mode, thus improving user convenience.

[0126] In step S114, the control device 180 may cause the notification device to output a notification (sometimes referred to as a "second notification") that notifies the user of any of the multiple conditions that have not been met. The control device 180 may also cause the notification device to output a notification (sometimes referred to as a "third notification") that notifies the user of the operation to be performed in order to satisfy any of the multiple conditions that have not been met. For example, if the notification device includes a display device, the second notification and / or the third notification may be notified to the user as an image. If the notification device includes an audio output device, the second notification and / or the third notification may be notified to the user as an audio. If the notification device includes a display device, after displaying the second notification and / or the third notification on the display device, the displayed second notification and / or third notification may be erased when the unmet condition is met. Since the recording start condition includes satisfying all of the multiple conditions, the user's convenience is improved by causing the notification device to output the second notification and / or the third notification. For example, the actions required to satisfy the recording start condition are easier for the user to understand.

[0127] If the process proceeds to step S114, the control device 180 will, for example, perform the determination in step S112 again after a predetermined time has elapsed.

[0128] If the process proceeds to step S113, after step S113, in step S115, the control device 180 records position data as the work vehicle 100 travels. For example, the control device 180 may record position data each time the work vehicle 100 travels a certain distance, or it may record position data at regular intervals. The certain distance (for example, in the example in Figure 5A, the distance between two adjacent waypoints Pr in the direction of travel of the work vehicle 100) can be set to a value of, for example, several tens of centimeters (cm) to several meters (m). The regular interval can be set to a value within the range of, for example, 1 second to 10 seconds. Note that the recording of position data in step S115 includes not only recording the position data output from the positioning device 110 in the storage device 870, but also temporarily storing it in a storage device different from the storage device 870. The storage device different from the storage device 870 may be, for example, a memory of the control device 180 such as the RAM 285 shown in Figure 3B, or it may be a storage device included in a server computer connected to the control device 180 via a communication network.

[0129] After step S115, in step S116, the control device 180 receives a signal including an instruction to terminate the recording of location data. For example, when an operation to terminate the recording of location data is performed, for example, by the user, the control device 180 receives a signal including an instruction to terminate the recording of location data.

[0130] After step S116, in step S120, the control device 180 terminates the recording of position data.

[0131] Figure 7B is a flowchart showing another example of processing performed by the control device 180 in recording mode. The flowchart in Figure 7B differs from the flowchart in Figure 7A in that it further includes steps S117, S118, and S119. The differences from the flowchart in Figure 7A will be explained in detail below.

[0132] The processing in steps S111 to S116 is carried out in the same manner as in the example in Figure 7A.

[0133] After step S116, in step S117, the control device 180 determines whether the conditions for terminating the recording of position data (sometimes called "termination conditions" or "recording termination conditions") have been met. The recording termination conditions include satisfying all of a predetermined set of conditions. That is, the control device 180 determines whether all of the set of conditions have been met. If it is determined that the recording termination conditions have been met (Yes in step S117), the process proceeds to step S118. If it is determined that the recording termination conditions have not been met (No in step S117), the process proceeds to step S119.

[0134] The multiple conditions that constitute the recording termination condition include, for example, two or more of the examples of conditions that constitute the recording start condition described above. The recording termination condition may be the same as the recording start condition.

[0135] In step S118, the control device 180 causes the notification device to output a notification that the recording termination condition has been met (sometimes referred to as the "fourth notification"). In step S119, the control device 180 causes the notification device to output a notification that the recording termination condition has not been met. The notification device that outputs notifications in steps S118 and S119 may be the same as the notification device that outputs a notification in step S113 or step S114 indicating whether or not the recording start condition has been met, or it may be a different notification device.

[0136] The control device 180 can prevent the recording of location data from being terminated in a state unsuitable for termination by outputting a notification to the notification device indicating whether or not the recording termination conditions have been met. Therefore, the reproducibility of the operation of the work vehicle 100 in playback mode can be improved, and the automatic driving of the work vehicle 100 in playback mode can be made smoother.

[0137] In step S119, the control device 180 may cause the notification device to output a notification (sometimes referred to as the "fifth notification") that notifies the user of any of the multiple conditions that have not been met. The control device 180 may also cause the notification device to output a notification (sometimes referred to as the "sixth notification") that notifies the user of the operation that should be performed to satisfy any of the multiple conditions that have not been met. For example, if the notification device includes a display device, the fifth notification and / or the sixth notification may be notified to the user as an image. If the notification device includes an audio output device, the fifth notification and / or the sixth notification may be notified to the user as an audio. If the notification device includes a display device, after displaying the fifth notification and / or the sixth notification on the display device, the displayed fifth notification and / or sixth notification may be erased when the unmet condition is met. Since the recording termination condition includes satisfying all of the multiple conditions, the user's convenience is improved by causing the notification device to output the fifth notification and / or the sixth notification. For example, the user will understand the action required to satisfy the recording termination condition.

[0138] If the process proceeds to step S119, the control device 180 will, for example, perform the determination in step S117 again after a predetermined time has elapsed.

[0139] If the process proceeds to step S118, after step S118, in step S120, the control device 180 terminates the recording of position data.

[0140] Figure 8 is a flowchart showing an example of processing performed by the control device 180 in recording mode. Figure 8 is a flowchart showing an example of processing that may be performed in step S115 of Figure 7A or Figure 7B.

[0141] The timing of the start of the recording mode is specified, for example, by the user. For example, the control device 180 may start the recording mode when a signal containing an instruction to start the recording mode is sent to the control device 180 by the driver's operation. For example, the driver on the work vehicle 100 can send a signal containing an instruction to start the recording mode to the control device 180 by operating an input device such as a predetermined operation switch or operation terminal 200 provided inside the work vehicle 100. The recording mode may be started while the work vehicle 100 is in motion, or it may be started when the work vehicle 100 is stopped.

[0142] When recording mode is started, in step S101, the control device 180 acquires position data output from the positioning device 110. The control device 180 may acquire position data at regular intervals, or it may acquire position data each time the work vehicle 100 travels a certain distance.

[0143] In step S102, the control device 180 determines whether there has been a change of a predetermined value or more in the driving state of the work vehicle 100. The driving state of the work vehicle 100 is defined by the speed, acceleration, direction of travel (orientation), etc., of the work vehicle 100, as described above. For example, if any change in the speed, acceleration, or direction of travel (orientation) of the work vehicle 100 exceeds a predetermined value, it is determined that there has been a change of a predetermined value or more in the driving state of the work vehicle 100 ("Yes" in step S102). For example, if the work vehicle 100 stops from a moving state, or if the work vehicle 100 starts moving from a stopped state, it is determined that there has been a change of a predetermined value or more in the driving state of the work vehicle 100. If "Yes" is answered in step S102, the process proceeds to step S103. If "No" is answered in step S102, the process proceeds to step S104.

[0144] In step S103, the control device 180 records the position data acquired in step S101. Recording the position data in step S103 includes not only recording the position data output from the positioning device 110 in the storage device 870, but also temporarily storing it in a storage device different from the storage device 870. The storage device different from the storage device 870 may be, for example, a memory of the control device 180 such as the RAM 285 shown in Figure 3B, or a storage device included in a server computer connected to the control device 180 via a communication network.

[0145] In step S104, the control device 180 determines whether the distance traveled from the position where the previous position data was recorded exceeds a threshold. The distance traveled threshold can be set to a value of, for example, several tens of centimeters (cm) to several meters (m). Alternatively, in step S104, the control device 180 may determine whether the time elapsed since the previous position data was recorded exceeds a threshold. The time threshold can be set to a value within the range of, for example, 1 second to 10 seconds.

[0146] If the answer in step S104 is "Yes", proceed to step S103. If the answer in step S104 is "No", no location data is recorded, and the process returns to step S101.

[0147] The control device 180 repeats the processes of steps S101, S102, S103, and S104 until it receives a signal that includes an instruction to terminate the recording of position data (step S105).

[0148] (Example of a display screen related to recording mode) Figures 9A-9D, 10A-10C, 11A-11C, 12A-12C, and 13A-13C show examples of display screens shown on an operating terminal operated by a user (e.g., the driver of the work vehicle 100). These display screens include a graphical user interface (GUI) for the user to configure settings related to the recording mode. These display screens are shown, for example, on a display device on the operating terminal 200 of the work vehicle 100. Here, an example is shown in recording mode, where position data is recorded when the work vehicle 100 travels along a route connecting fields.

[0149] Figures 9A, 9B, 9C, and 9D are examples of display screens for setting the recording mode before the work vehicle 100 starts running in recording mode. Figures 10A, 10B, 10C, 11A, 11B, 11C, 12A, 12B, and 12C are examples of display screens displayed in recording mode. Figures 13A, 13B, and 13C are examples of display screens displayed after the work vehicle 100 has finished running in recording mode.

[0150] As shown in Figure 9A, a display screen is shown that allows the user to select whether to create or delete route data. On the display screen in Figure 9A, the user can select either the "Create" button 51a or the "Delete" button 51b depending on the operation they are about to perform. To create new route data, select the "Create" button 51a, as shown in the example. Selecting the "Create" button 51a on the display screen in Figure 9A will transition to the display screen in Figure 9B or Figure 9C.

[0151] The display screen in Figure 9B includes a GUI that allows the user to set the size of the implement 300. In the illustrated example, the user can enter the width and length of the implement 300 in boxes 66a and 66b, respectively. The GUI may be configured to allow the user to enter other information about the work in addition to the width and length of the implement 300. For example, the GUI may be configured to allow the user to enter at least one of the type of work, the type of implement (e.g., model), or the maximum height of the implement when raised.

[0152] The display screen in Figure 9C includes a GUI that allows the user to set the field before relocation. In the illustrated example, the user selects the field before relocation from the displayed field images 52a, 52b, 52c, and 52d (sometimes referred to simply as "fields 52a-52d"). The display screen also shows an image 53 representing the work vehicle 100. Image 53 representing the work vehicle 100 may be shown at a position that reflects the work vehicle 100's current location. This allows the user to confirm the positional relationship between the work vehicle 100 and the field from the display screen. In the example in Figure 9C, field 52a is selected as the field before relocation. After selecting the field before relocation, the display screen in Figure 9D is accessed.

[0153] The display screen in Figure 9D includes a GUI that allows the user to set the field to be moved. In the illustrated example, the user selects the field to be moved from among fields 52b, 52c, and 52d, which are different from the field 52a before the move. In the illustrated example, it is shown that route data for the route 54 connecting the selected field 52a and field 52d before the move has already been recorded. In the example in Figure 9D, field 52b is selected as the field to be moved.

[0154] The display screen shown in Figure 10A may be displayed until the work vehicle 100 moves to the field 52a before moving. After the work vehicle 100 has moved to the field 52a before moving, the display screen shown in Figure 10B will be displayed.

[0155] The display screen in Figure 10B includes a GUI for the user to perform operations to start recording location data. On the display screen in Figure 10B, the user performs operations to start recording location data by selecting the "Start Recording" button 64a. If it is determined that the conditions for starting recording are not met, the display screen in Figure 10C is displayed. If it is determined that the conditions for starting recording are met, the display screen in Figure 11B is displayed.

[0156] The display screen in Figure 10C includes notifications 55a, 55b, and 55c that notify the user of conditions that are not met among the multiple conditions for starting recording. Notifications 55a, 55b, and 55c correspond to the conditions "the work vehicle 100 is stopped," "the work vehicle 100 is in a predetermined driving mode," and "the satellite signal reception status by the positioning device 110 is good," respectively. If it is determined that any of these conditions is met, the notification corresponding to the met condition is deleted. For example, the display screen in Figure 11A may be displayed after the display screen in Figure 10C has been displayed, when the condition "the work vehicle 100 is stopped" is met by the work vehicle 100 stopping. In the display screen in Figure 11A, notification 55a has been deleted from the display screen in Figure 10C.

[0157] The display screen in Figure 11B includes a notification 56a that indicates that the recording start conditions have been met.

[0158] If it is determined that the recording start conditions have been met, the system transitions to the display screen shown in Figure 11C. The display screen shown in Figure 11C may be displayed while location data is being recorded. The display screen shown in Figure 11C includes an image 53 of the work vehicle 100 and a trajectory 63 of the work vehicle 100.

[0159] The display screen in Figure 12A may be displayed, for example, after the work vehicle 100 has reached the field after moving. The display screen in Figure 12A includes a GUI for the user to perform an operation to end the recording of location data. On the display screen in Figure 12A, the user performs an operation to end the recording of location data by selecting the "End Recording" button 64b. If it is determined that the recording end conditions are not met, the display screen in Figure 12B is displayed. If it is determined that the recording end conditions are met, the display screen in Figure 12C is displayed.

[0160] The display screen in Figure 12B includes a notification 57a ​​that notifies the user of any unmet conditions among the multiple conditions for ending recording. Notification 57a ​​corresponds to the condition "the work vehicle 100 is stopped." If it is determined that any of the unmet conditions have been met, the notification corresponding to the met condition is deleted.

[0161] The display screen in Figure 12C includes a notification 58a that indicates that the recording termination conditions have been met.

[0162] If the recording termination conditions are determined to have been met, the display screens shown in Figures 13A, 13B, and 13C may be displayed.

[0163] The display screen in Figure 13A includes a GUI for the user to perform operations to set whether or not to record the acquired location data as route data in the storage device 870. The user can set whether or not to record the data as route data in the storage device 870 by selecting the "Yes" button 59a or the "No" button 59b. In this example, while the work vehicle 100 is in motion, the location data acquired from the positioning device 110 is temporarily stored in the storage device 870 or a different storage device (for example, a memory such as the RAM 285 shown in Figure 3B), and when the user selects the "Yes" button 59a on the display screen in Figure 13A, the data is associated with a route identifier and route information and recorded in the storage device 870 as route data.

[0164] As shown in the display screen of Figure 13B, if route data for the path connecting the field 52a before relocation and the field 52b after relocation has already been recorded in the storage device 870, a screen may be displayed to set whether or not to overwrite the route data. The user can set whether or not to overwrite (replace) the route data by selecting the "Yes" button 61a or the "No" button 61b. Multiple route data sets with the same combination of field before relocation and field after relocation may be recorded in the storage device 870. In the display screen of Figure 13B, route 64 and information 62a related to route 64 that have already been recorded in the storage device 870 may also be displayed.

[0165] When route data is recorded in the storage device 870, the display screen shown in Figure 13C may be displayed. The display screen shown in Figure 13C includes a notification 65a that indicates that route data has been recorded in the storage device 870.

[0166] (Example of processing in playback mode) Figure 14 is a flowchart showing an example of processing performed by the control device 180 in playback mode.

[0167] In playback mode, the control device 180 automatically drives the work vehicle 100 based on pre-recorded waypoint data. The control device 180 acquires position data indicating the position of the work vehicle 100 output from the positioning device 110 (step S121). Next, the control device 180 calculates the deviation between the position of the work vehicle 100 and the target path (step S122). The target path is defined by the position information (first information) of multiple waypoints recorded in recording mode. The deviation represents the distance between the position of the work vehicle 100 at that time and the target path. The control device 180 determines whether the calculated position deviation exceeds a preset threshold (step S123). If the deviation exceeds the threshold (if "Yes" is answered in step S123), the control device 180 changes the steering angle by changing the control parameters of the steering device 106 included in the drive device 240 so that the deviation becomes smaller (step S124). If the deviation does not exceed the threshold in step S123 (i.e., the result is "No" in step S123), the process in step S124 is not performed. The control device 180 repeats the operations from step S121 to step S124 until an instruction to end the playback mode is issued (step S125).

[0168] In playback mode, the control device 180 automatically drives the work vehicle 100 along the target path by executing, for example, the process shown in Figure 14. The control device 180 may further control the operation of the work vehicle 100 based on state information (second information) corresponding to each of the multiple waypoints that define the target path. For example, if the second information includes information on the steering angle of the steering wheels of the work vehicle 100, in addition to the process shown in Figure 14, steering control of the work vehicle 100 based on the steering angle included in the second information may be performed. If the second information includes information on the speed of the work vehicle 100, the speed of the work vehicle 100 is controlled based on the speed information included in the second information.

[0169] Control technologies such as PID control or MPC control (model predictive control) can be applied to the steering and speed control of the work vehicle 100. By applying these control technologies, the control of the work vehicle 100 to approach the target path and target speed can be made smoother.

[0170] (If the second piece of information includes information about the driving status of the work vehicle) Referring to Figure 15, an example of processing performed by the control device 180 when the second information includes information regarding the driving state of the work vehicle 100 will be explained. Figure 15 is a schematic diagram illustrating an example of processing performed by the control device 180 in the driving control system 1000. In addition to the driving control system 1000, Figure 15 also shows the drive unit 240 and the operation switch group 210. For simplicity, some components are omitted from the illustration in Figure 15.

[0171] (Control of the speed of work vehicles) The control device 180 controls the speed of the work vehicle 100 by controlling the prime mover 102, the braking device (brake) 293, and the transmission 103, which are included in the drive unit 240. The braking device 293 brakes the axle that rotates the wheels 104 of the work vehicle 100. Specifically, the speed of the work vehicle 100 can be controlled by controlling the engine speed of the prime mover (engine) 102 and / or the gear ratio of the transmission 103. For example, the transmission 103 has multiple gears, and the control device 180 controls the gear ratio of the transmission 103 by switching the gears of the transmission 103. The multiple gears of the transmission 103 may be composed of a combination of multiple main gears and multiple sub-gears. When the work vehicle 100 is being driven manually, the control device 180 controls the speed of the work vehicle 100 by controlling the engine 102, the braking system (brakes) 293, and the transmission 103 in response to the driver's operation of the accelerator control device 215 (e.g., accelerator lever or accelerator pedal), the braking control device 216 (e.g., brake pedal), and / or the gear shift control switch 218 (e.g., shift lever). The gear shift control switch 218 is a switch for selecting the gear of the transmission 103. The control device 180 may further switch between two-wheel drive mode and four-wheel drive mode in response to the driver's operation.

[0172] In recording mode, the control device 180 sequentially acquires sensor data output from vehicle speed sensors such as the axle sensor 156, the engine speed sensor 158, and the gear ratio sensor 159, which detects the gear ratio information of the transmission 103. Based on this sensor data, the control device 180 generates and records information on the speed of the work vehicle 100, the engine speed of the work vehicle 100, and the gear ratio information of the transmission 103 as second information, associated with the position information (first information) of each waypoint. In this case, in playback mode, the control device 180 controls the speed of the work vehicle 100 by controlling the prime mover 102, the transmission 103, and the braking system 293 included in the drive unit 240, based on the second information recorded in recording mode. The gear ratio sensor 159 is mounted on the rotating shaft within the transmission 103 and may be a sensor that detects the gear ratio, or it may be a shift position sensor that identifies the selected gear by detecting the position of the shift lever (gear position operation switch 218) for selecting a gear. The gear ratio information of the transmission 103 is not limited to information indicating the gear ratio itself, but may also be information that identifies the selected gear among the multiple gears of the transmission 103. Since one gear corresponds to one gear ratio, if the gear is identified, the gear ratio can be identified.

[0173] The work vehicle 100 may be equipped with a double-speed turn mode (front wheel speed increase function). Double-speed turn is an operation that increases the speed of the front wheels when the steering angle of the front wheels exceeds a threshold due to the driver turning the steering wheel a large amount. Performing a double-speed turn reduces the turning radius and enables smoother turning. The work vehicle 100 may be equipped with a solenoid (referred to as the "double-speed solenoid") for driving a clutch to switch the double-speed turn mode on and off. The control device 180 can switch the double-speed solenoid on and off via a hydraulic circuit. When the double-speed solenoid is on, the rotational speed of the front wheels is approximately twice as fast as when the double-speed solenoid is off.

[0174] The second information may further include information regarding the driving mode of the work vehicle 100. For example, the information regarding the driving mode of the work vehicle 100 may include information on whether it is moving forward or backward. The information regarding the driving mode may also include information on whether the driving mode of the work vehicle 100 is in four-wheel drive mode or two-wheel drive mode. The information regarding the driving mode may also include information on whether the double-speed turn mode is on or off. The information regarding the driving mode may further include information on whether the automatic single-sided brake mode is on or off. When the automatic single-sided brake mode is on, it is a mode in which the inner rear wheel is lightly braked if the steering angle of the front wheel 104F, which is the steering wheel, exceeds a predetermined value while driving. In playback mode, the control device 180 controls the driving mode of the work vehicle 100 by controlling the prime mover 102, the transmission 103, and the braking device 293 included in the drive unit 240 based on the second information recorded in recording mode.

[0175] (Steering control of work vehicles) The control device 180 changes the steering angle of the front wheels 104F, which are the steering wheels of the work vehicle 100, by controlling the steering device 106, and changes the direction of the work vehicle 100 by changing the steering angle of the steering wheels. When the work vehicle 100 is being driven manually, the control device 180 changes the steering angle of the steering wheels and the direction of the work vehicle 100 by controlling the steering device 106 in response to the driver's operation of the steering wheel 217.

[0176] In recording mode, the control device 180 acquires information on the steering angle of the steering wheels of the work vehicle 100 as second information, based on sensor data (measured values) output from the steering wheel sensor 152 and / or steering angle sensor 154. In this case, in playback mode, the control device 180 controls the steering of the work vehicle 100 by controlling the hydraulic system or electric motor included in the steering system 106, based on the second information recorded in recording mode.

[0177] The second piece of information may further include information regarding the posture of the work vehicle 100. The posture of the work vehicle 100 may include, for example, the roll angle θ. R , pitch angle θ P , and yaw angle θ Y It is represented by the roll angle θ. R This represents the amount of rotation of the work vehicle 100 around its longitudinal axis. Pitch angle θ P This represents the amount of rotation of the work vehicle 100 around its left-right axis. Yaw angle θ Y This represents the amount of rotation of the work vehicle 100 around its vertical axis. The attitude can also be defined by other angles, such as Euler angles, or by quaternions. The control device 180 obtains information about the attitude of the work vehicle 100 based, for example, on data output from the IMU 115.

[0178] (Examples of recording start and end conditions) The following describes specific examples of recording start conditions and recording end conditions. Each of the recording start conditions and recording end conditions includes satisfying all of two or more of the following specific conditions. The following describes examples of processing performed by the control device 180, along with specific examples of each condition.

[0179] (1) Work vehicle 100 is stopped. The recording start condition and / or recording end condition include "the work vehicle 100 is stopped." "The work vehicle 100 is stopped" can also be expressed as "the speed of the work vehicle 100 is zero." Including the above condition improves the reproducibility of the operation of the work vehicle 100 in playback mode. The control device 180 acquires one or more of the following information: information on the speed of the work vehicle 100, information on the engine speed of the work vehicle 100, and information on the gear ratio of the transmission 103, based on sensor data output from a vehicle speed sensor such as an axle sensor 156 and a gear ratio sensor that detects information on the gear ratio of the transmission 103. The control device 180 may also acquire information on the speed of the work vehicle 100 based on sensor data output from the IMU 115. Based on the acquired information, the control device 180 determines whether or not the work vehicle 100 is stopped. The control device 180 may acquire information on the speed of the work vehicle 100 by acquiring information on the rate of change of the position of the work vehicle 100 per unit time based on the position data output from the positioning device 110.

[0180] (2) The engine 102 of the work vehicle 100 is being driven. The recording start condition and / or recording end condition include "the prime mover 102 of the work vehicle 100 is running." Including the above condition allows for smooth recording of position data in recording mode and improves the reproducibility of the operation of the work vehicle 100 in playback mode. The control device 180 determines whether or not the prime mover 102 is running based on sensor data output from, for example, the engine speed sensor 158.

[0181] (3) The roll angle of the work vehicle 100 is less than or equal to a predetermined value, and the pitch angle of the work vehicle 100 is less than or equal to a predetermined value. The recording start conditions and / or recording end conditions may include "the roll angle of the work vehicle 100 is less than or equal to a predetermined value" and / or "the pitch angle of the work vehicle 100 is less than or equal to a predetermined value". It is undesirable for the tilt angle (roll angle and / or pitch angle) of the work vehicle 100 to be too large to be reproduced in playback mode. By including the above conditions, the reproducibility of the operation of the work vehicle 100 in playback mode can be improved. The control device 180 acquires information on the posture of the work vehicle 100 based on the sensor data output from the IMU 115, and determines whether the tilt angle of the work vehicle 100 is less than or equal to a predetermined value based on the acquired information.

[0182] (4) The satellite signal reception status by the positioning device 110 is good. The recording start conditions and / or recording end conditions may include "the positioning device 110 is receiving satellite signals well." "The positioning device 110 is receiving satellite signals well" includes, for example, "the positioning device 110 is not experiencing any reception interference with satellite signals." "Satellite signal reception interference" means a state in which the reliability of positioning is reduced compared to normal conditions due to a deterioration in the reception of satellite signals. In such a state, the reliability of the position data output from the positioning device 110 may decrease, making it unsuitable for recording position data. Reception interference can occur, for example, when the number of detected satellites is small (e.g., 3 or less), when the reception strength of each satellite signal is low, or when multipath occurs. The control device 180 can determine whether or not reception interference is occurring based, for example, on satellite information included in the GNSS data. For example, it can determine whether or not reception interference is occurring based on the reception strength value for each satellite included in the GNSS data, or the DOP (Dilution of Precision) value indicating the satellite arrangement.

[0183] (5) The driving mode of the work vehicle 100 is set to a predetermined driving mode. The recording start conditions and / or recording end conditions may include "the driving mode of the work vehicle 100 is a predetermined driving mode." For example, by setting the recording start conditions and / or end conditions to be a driving mode suitable for automatic driving in playback mode, the reproducibility of the operation of the work vehicle 100 in playback mode can be improved. The "predetermined driving mode" may differ depending on the route for which route data is created (for example, whether it is an off-field route or an in-field route).

[0184] For example, if the driving mode of the work vehicle 100 allows switching the above-mentioned double-speed turn mode on or off, then "being in a predetermined driving mode" includes, for example, the double-speed turn mode being off. When creating route data for a route outside the field, in the playback mode, it is preferable that the double-speed turn mode is off from the viewpoint of ensuring smooth automatic driving of the work vehicle 100 outside the field.

[0185] For example, if the driving mode of the work vehicle 100 allows switching the above-described automatic single-sided braking mode on or off, then "being in a predetermined driving mode" includes, for example, the automatic single-sided braking mode being off. When creating route data for a route outside the field, in the regeneration mode, it is preferable that the automatic single-sided braking mode is off from the viewpoint of ensuring smooth automatic driving of the work vehicle 100 outside the field.

[0186] (6) The work vehicle 100 is within the designated area of ​​the field before or after its movement. In recording mode, when creating route data for a route connecting fields, the recording start condition may include "the work vehicle 100 is within a predetermined area of ​​the field before movement." The recording end condition may include "the work vehicle 100 is within a predetermined area of ​​the field after movement." For example, as shown in Figure 5A, the recording start condition may include the starting point of the route being within a predetermined area 71a within the field (first field) 70a before movement. The recording end condition may include the ending point of the route being within a predetermined area 71b within the field (second field) 70b after movement. The predetermined areas 71a and 71b are set, for example, by the user. By setting the starting and / or ending points of the route for which route data is created to be within predetermined areas, route data can be created to meet the needs of automatic driving in playback mode.

[0187] Information about the predetermined areas 71a and 71b is recorded, for example, in a storage device accessible by the control device 180. Based on the position data output from the positioning device 110 and the information about the predetermined areas 71a and 71b, the control device 180 determines whether the work vehicle 100 is within the predetermined area 71a of the field before it moved, and whether the work vehicle 100 is within the predetermined area 71b of the field before it moved.

[0188] (7) The rotation of the PTO shaft of the coupling device 108 of the work vehicle 100 is turned off, and the height of the three-point hitch of the coupling device 108 is above a predetermined value. When a work implement 300 is connected to a work vehicle 100, the recording start condition and / or recording end condition may include "the rotation of the PTO shaft is off" and / or "the height of the three-point hitch is above a predetermined value." For example, when creating route data for a route connecting fields in recording mode, including the above conditions in the recording start condition and / or recording end condition allows for smooth automatic driving outside the field in playback mode.

[0189] The coupling device 108 for connecting the work implement 300 includes a PTO shaft that supplies rotational power to the work implement 300 and a three-point hitch for adjusting the height of the work implement 300. The sensor group 150 includes a PTO sensor that detects whether the rotation of the PTO shaft is on or off and a 3P position sensor that detects the height position of the three-point hitch. The control device 180 acquires information on whether the rotation of the PTO shaft is on or off based on the sensor data output from the PTO sensor and determines whether the rotation of the PTO shaft is off or not. The control device 180 acquires information on the height of the three-point hitch based on the sensor data output from the 3P position sensor and determines whether the height of the three-point hitch is above a predetermined value or not.

[0190] The travel control system according to embodiments of the present invention is not limited to those illustrated. For example, the above example shows the creation of route data for a route connecting fields, but the invention is not limited to this example. For example, route data may be created for a route taken by a work vehicle within a field. Route data may also be created for a route taken by a work vehicle within a field while performing work using a work implement.

[0191] The driving control systems in the above embodiments can also be retrofitted to work vehicles that do not possess those functions. Such control systems can be manufactured and sold independently of the work vehicles. Computer programs used in such control systems can also be manufactured and sold independently of the work vehicles. Computer programs can be provided, for example, stored in a computer-readable non-temporary storage medium. Computer programs can also be provided by download via telecommunications lines (e.g., the Internet). [Industrial applicability]

[0192] The driving control system according to the embodiment of the present invention is widely applicable to various types of work vehicles used in smart agriculture. [Explanation of symbols]

[0193] 100...Work vehicle, 110...Positioning device (GNSS unit), 150...Sensor group, 180...Control device, 210...Operation switch group, 300...Work machine, 1000...Driving control system

Claims

1. A vehicle driving control system for work vehicles, A positioning device that outputs positional data relating to the position of the aforementioned work vehicle, A control device that controls the operation of the aforementioned work vehicle and Equipped with, The control device is It can operate in both recording and playback modes. In the recording mode described above, the position data acquired when the work vehicle is in motion is recorded in the storage device. In the playback mode, the speed and steering of the work vehicle are controlled based on the position data recorded in the storage device, thereby driving the work vehicle automatically. A driving control system that, when an operation is performed to start recording the position data to the storage device, determines whether or not a start condition for starting the recording of the position data, which includes satisfying all of a plurality of conditions, is met, and causes a notification device to output a notification of whether or not the start condition is met.

2. The aforementioned notice is, The driving control system according to claim 1, further comprising a first notification that the start condition has been met when it is determined that the start condition has been met.

3. The aforementioned notice is, The driving control system according to claim 2, further comprising a second notification that notifies the user of the unmet conditions among the plurality of conditions when it is determined that the aforementioned start conditions are not met.

4. The notification device includes a display device that displays the notification, The control device is The driving control system according to claim 3, wherein after the second notification is displayed on the display device, the second notification is cleared when the unmet condition is met.

5. The aforementioned notice is, A driving control system according to any one of claims 1 to 4, further comprising a third notification that, when it is determined that the aforementioned start condition is not met, notifies the driver of an operation to be performed to satisfy the unmet condition among the plurality of conditions.

6. The notification device includes a display device that displays the notification, The control device is The driving control system according to claim 5, wherein after displaying the third notification on the display device, the third notification is cleared when the unmet condition is met.

7. The aforementioned multiple conditions are, The roll angle of the aforementioned work vehicle is less than or equal to a predetermined value. The pitch angle of the aforementioned work vehicle is less than or equal to a predetermined value. The aforementioned work vehicle is stopped. The engine of the aforementioned work vehicle is running, and The satellite signal reception status by the positioning device is good. A driving control system according to any one of claims 1 to 4, including the above.

8. The aforementioned multiple conditions are, The driving control system according to any one of claims 1 to 4, further comprising the work vehicle being in a predetermined driving mode.

9. In the recording mode, the aforementioned work vehicle travels along a route connecting the first field and the second field. The notification device includes a display device that displays the notification, The control device is The driving control system according to any one of claims 1 to 4, wherein, prior to the recording mode, a graphical user interface (GUI) for the user to set the first field and the second field is displayed on the display device.

10. The aforementioned multiple conditions are, The driving control system according to claim 9, further comprising the work vehicle being located within a predetermined area within the first field.

11. The aforementioned work vehicle is connected to a work machine, The aforementioned work vehicle has a coupling device for connecting the aforementioned work machine, The coupling device includes a PTO shaft that supplies power to the work implement and a three-point hitch that adjusts the height of the work implement. The aforementioned multiple conditions are, The rotation of the PTO shaft is turned off, and The height of the three-point hitch is greater than or equal to a predetermined value. A driving control system according to any one of claims 1 to 4, including the above.

12. The control device is A driving control system according to any one of claims 1 to 4, wherein when an operation to terminate the recording mode is performed by the user, the system determines whether or not an termination condition for terminating the recording mode, which includes the condition that all of a plurality of conditions are met, is met, and the system outputs another notification from the notification device indicating whether or not the termination condition is met.

13. The aforementioned other notices The driving control system according to claim 12, further comprising a fourth notification that the termination condition has been met when it is determined that the termination condition has been met.

14. The aforementioned other notices The driving control system according to claim 12, further comprising a fifth notification that, when it is determined that the termination conditions are not met, notifies the driver of the conditions among the plurality of conditions included in the termination conditions that are not met.

15. The notification device includes a display device that displays the notification, The control device is The driving control system according to claim 14, wherein after displaying the fifth notification on the display device, the fifth notification is cleared when the unmet condition is met.

16. The aforementioned other notices The driving control system according to claim 12, further comprising a sixth notification that, when it is determined that the termination condition is not met, notifies the driver of an operation to be performed to satisfy the unmet condition among the plurality of conditions included in the termination condition.

17. The notification device includes a display device that displays the notification, The control device is The driving control system according to claim 16, wherein after the sixth notification is displayed on the display device, the sixth notification is cleared when the unmet condition is met.

18. A driving control system according to any one of claims 1 to 4, Running gear including the steering wheels, A drive unit that drives the aforementioned traveling device and Equipped with, The control device, in the playback mode, controls the drive unit based on the position data recorded in the storage device, thereby causing the work vehicle to move automatically.

19. A control device for controlling the operation of a work vehicle, which is executed by a control device capable of operating in recording mode and playback mode, and a method for controlling the movement of a work vehicle, In the recording mode described above, the location data relating to the position of the work vehicle, acquired when the work vehicle is in motion, is recorded in the storage device. In the playback mode, the speed and steering of the work vehicle are controlled based on the position data recorded in the storage device, thereby driving the work vehicle automatically. When an operation is performed to start recording the position data to the storage device, it is determined whether the start condition for starting the recording of the position data, which includes satisfying all of a plurality of conditions, is met, and a notification of whether or not the start condition is met is output to the notification device. A driving control method including the above.

20. A computer program executed by a processor in a control device that controls the operation of a work vehicle and is capable of operating in recording mode and playback mode, The aforementioned processor, In the recording mode described above, the location data relating to the position of the work vehicle, acquired when the work vehicle is in motion, is recorded in the storage device. In the playback mode, the speed and steering of the work vehicle are controlled based on the position data recorded in the storage device, thereby driving the work vehicle automatically. When an operation is performed to start recording the position data to the storage device, it is determined whether the start condition for starting the recording of the position data, which includes satisfying all of a plurality of conditions, is met, and a notification of whether or not the start condition is met is output to the notification device. A computer program that executes something.

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