Autonomous driving system and autonomous driving method

Abstract

For example, the turning pattern of the work vehicle along the turning path can be changed and set according to the preferences of the workers or the nature of the work. [Solution] The autonomous driving system is an autonomous driving system that causes a work vehicle to autonomously drive along a driving path which includes a plurality of work paths in a field where work is performed by the work vehicle, and a turning path which connects each work path and causes the work vehicle to turn, and comprises a skip count setting unit 35 and a path generation unit 32. The skip count setting unit 35 sets the number of skips in the work path by the turning path. The path generation unit 32 generates the turning path based on at least the set number of skips.

Description

Technical Field

[0001] The present invention relates to an autonomous driving system and an autonomous driving method that generate a driving route for autonomously driving a work vehicle and cause the work vehicle to autonomously drive along the driving route.

Background Art

[0002] In the above-described autonomous driving system, the driving route includes a plurality of linear work routes where work is performed by the work vehicle and a turning route that connects each work route and turns the work vehicle (see, for example, Patent Document 1).

[0003] When turning the work vehicle on the turning route, a space for securing a turning radius or the like for turning the work vehicle is required. For example, when generating a turning route so as to connect two adjacent work routes, a space (shoulder) for securing a turning radius or the like becomes a large space in the direction along the work route.

[0004] Therefore, in the system described in Patent Document 1, the turning route is generated such that a plurality of work routes are arranged between the work route and the next work route where work is performed next to the work route. Thereby, it is suppressed that a space for securing a turning radius or the like becomes a large space in the direction along the work route.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the system described in Patent Document 1, a turning path is generated such that multiple work paths are arranged between the work path and the next work path where work will be performed after that work path. Compared to a system that generates a turning path to connect two adjacent work paths, the length of the turning path becomes longer, which increases the travel distance of the work vehicle and may reduce work efficiency.

[0007] Furthermore, depending on the preferences of the workers and the nature of the work, there are cases where it is desirable to generate a turning path that connects two adjacent work paths to reduce the space required to secure the turning radius, and cases where it is desirable to generate a turning path so that multiple work paths are arranged between a work path and the next work path where work will be performed, in order to improve work efficiency.

[0008] In view of these circumstances, the main objective of the present invention is to provide an autonomous driving system and autonomous driving method that can change and set the turning pattern of a work vehicle along a turning path according to, for example, the preferences of the worker or the content of the work. [Means for solving the problem]

[0009] An autonomous driving system according to one aspect of the present invention is an autonomous driving system that autonomously drives a work vehicle along a driving path which includes a plurality of work paths in which work is performed by the work vehicle in a field, and a turning path which connects each work path and turns the work vehicle, and comprises a skip count setting unit and a path generation unit. The skip count setting unit sets the number of skips of the work path by the turning path. The path generation unit generates the turning path based on at least the set skip count.

[0010] An autonomous driving method according to one aspect of the present invention is an autonomous driving method for driving a work vehicle autonomously along a driving path that includes a plurality of work paths in a field where work is performed by the work vehicle, and a turning path that connects each work path and turns the work vehicle, comprising setting the number of skips of the work path by the turning path, and generating the turning path based on at least the set number of skips. [Brief explanation of the drawing]

[0011] [Figure 1] Side view of the tractor [Figure 2] Tractor control block diagram [Figure 3] A diagram showing the travel path when a single tractor is driven autonomously. [Figure 4] A diagram showing the travel path when two tractors are operated autonomously. [Figure 5] Schematic diagrams illustrating solo operation, coordinated follow operation, and coordinated accompanying operation by a tractor. [Figure 6] A schematic diagram showing the turning pattern of a tractor along a turning path. [Figure 7] This diagram shows the display screen when setting collaborative work mode information. [Figure 8] This diagram shows the display screen when setting the turning pattern information. [Figure 9] Diagram showing the display screen when setting overlap information. [Figure 10] This diagram shows the display screen when setting the number of skips. [Figure 11] This diagram shows the display screen when setting the non-working area width information. [Figure 12] Diagram showing the display screen when setting partition settings. [Modes for carrying out the invention]

[0012] An embodiment of the autonomous driving system according to the present invention will be described with reference to the drawings. This autonomous driving system is configured to generate a driving route and enable a tractor 1 as a work vehicle to autonomously drive along the generated driving route.

[0013] First, the tractor 1 will be described based on FIG. 1. This tractor 1 includes a vehicle body part 2 to which a working machine 50 can be attached on the rear side. The front part of the vehicle body part 2 is supported by a pair of left and right front wheels 3, and the rear part of the vehicle body part 2 is supported by a pair of left and right rear wheels 4. A bonnet 5 is arranged at the front part of the vehicle body part 2, and an engine 6 as a drive source is accommodated in the bonnet 5. A cabin 7 for a driver to board is provided on the rear side of the bonnet 5, and a steering wheel 8 for the driver to perform a steering operation, a driver's seat 9, etc. are provided in the cabin 7.

[0014] The engine 6 can be constituted by, for example, a diesel engine, but is not limited thereto, and may be constituted by, for example, a gasoline engine. Further, in addition to or instead of the engine 6 as a drive source, an electric motor may be adopted.

[0015] In this embodiment, the tractor 1 is taken as an example of a work vehicle. As work vehicles, in addition to tractors, rice transplanters, combines, civil engineering and construction work devices, snow removal vehicles, etc., ride-on work vehicles, walking work vehicles are also included.

[0016] On the rear side of the vehicle body part 2, a three-point link mechanism composed of a pair of left and right lower links 10 and upper links 11 is provided, and the working machine 50 can be attached to the three-point link mechanism. On the rear side of the vehicle body part 2, although not shown in the figure, a lifting device having a hydraulic device such as a lifting cylinder is provided, and this lifting device lifts the working machine 50 by lifting the three-point link mechanism.

[0017] Regarding the working machine 50, in FIG. 1, the case where a tilling device is attached is illustrated, but not limited to the tilling device, various working machines such as a plow, a fertilizer applicator, etc. can be applied.

[0018] As shown in Figure 2, the tractor 1 is equipped with a governor device 21 that can adjust the rotational speed of the engine 6, a transmission device 22 that transmits the rotational driving force from the engine 6 to the drive wheels after changing the speed, and a control unit 23 that can control the governor device 21 and the transmission device 22. The transmission device 22 is configured by combining, for example, a main transmission device consisting of a hydraulic continuously variable transmission and a sub-transmission device consisting of a gear-type multi-speed transmission.

[0019] This tractor 1 is not only capable of being driven with a driver inside the cabin 7, but is also configured to be able to drive autonomously even without a driver inside the cabin 7, through control by the control unit 23 based on instructions from the wireless communication terminal 30.

[0020] As shown in Figure 2, the tractor 1 is equipped with a steering device 24, a positioning antenna 25, a wireless communication antenna 26, etc., and is configured to be able to drive autonomously while acquiring its own current position information (position information of the vehicle body 2).

[0021] The steering device 24 is, for example, located midway along the rotation axis of the steering wheel 8 and is configured to adjust the rotation angle (steering angle) of the steering wheel 8. The control unit 23 controls the steering device 24, enabling not only straight-line driving but also turning at a desired turning radius by adjusting the rotation angle of the steering wheel 8 to a desired angle. Note that the steering device 24 may adjust the steering angle of the front wheels 3 of the tractor 1 instead of the rotation angle of the steering wheel 8, in which case the steering wheel 8 will not rotate even when turning.

[0022] As shown in Figure 1, the positioning antenna 25 is configured to receive signals from, for example, positioning satellites 63 that constitute a Global Navigation Satellite System (GNSS). The positioning antenna 25 is located on the upper surface of the roof 12 of the cabin 7.

[0023] The wireless communication antenna 26 is configured to transmit and receive various signals via a wireless communication network established with the wireless communication terminal 30 and the like. The wireless communication antenna 26 is located on the upper surface of the roof 12 of the cabin 7. As shown in Figure 2, the signals received by the wireless communication antenna 26 can be input to the control unit 23, and the signals from the control unit 23 can be transmitted via the wireless communication antenna 26 to the wireless communication device 31 of the wireless communication terminal 30 and the like.

[0024] Here, as a positioning method using a satellite positioning system, a reference station 60 is provided at a predetermined reference point, and the current position of the tractor 1 (mobile station) is determined by correcting the satellite positioning information of the tractor 1 using correction information from the reference station 60. For example, various positioning methods such as DGPS (Differential GPS positioning) and RTK positioning (Real-time Kinematic positioning) can be applied. Incidentally, as for the positioning method, it is also possible to use standalone positioning without a reference station 60.

[0025] In this embodiment, for example, RTK positioning is applied, and as shown in Figures 1 and 2, in addition to the positioning antenna 25 on the tractor 1 which is the mobile station, a base station 60 equipped with a base station positioning antenna 62 is also provided. The base station 60 is placed in a location (reference point) that does not interfere with the movement of the tractor 1, such as around the field. The location information of the reference point where the base station 60 is installed is set in advance. The base station 60 is equipped with a base station wireless communication device 61 that can wirelessly transmit various signals via a wireless communication network constructed by the wireless communication antenna 26 of the tractor 1 and the wireless communication device 31 of the wireless communication terminal 30, and is configured to transmit and receive various information between the base station 60 and the tractor 1 and between the base station 60 and the wireless communication terminal 30.

[0026] In RTK positioning, the carrier phase (satellite positioning information) from positioning satellites 63 is measured at both the reference station 60 installed at the reference point and the positioning antenna 25 of the tractor 1, which is the mobile station for which position information is to be sought. At the reference station 60, each time satellite positioning information is measured from positioning satellites 63, or each time a set period has elapsed, correction information including the measured satellite positioning information and the position information of the reference point is generated and transmitted from the reference station radio communication device 61 to the radio communication antenna 26 of the tractor 1. The control unit 23 of the tractor 1 corrects the satellite positioning information measured by the positioning antenna 25 using the correction information transmitted from the reference station 60 to obtain the current position information of the tractor 1. As the current position information of the tractor 1, the control unit 23 obtains, for example, latitude information and longitude information.

[0027] In the autonomous driving system, in addition to the tractor 1 and the reference station 60, the control unit 23 of the tractor 1 is equipped with a wireless communication terminal 30 that can instruct the tractor 1 to drive autonomously. The wireless communication terminal 30 is composed of, for example, a tablet-type personal computer with a touch panel, which can display various information on the touch panel, and various information can also be input by operating the touch panel.

[0028] As shown in Figure 2, the wireless communication terminal 30 includes a wireless communication device 31 that can communicate wirelessly with the wireless communication antenna 26 of the tractor 1 and the reference station wireless communication device 61 of the reference station 60, and a route generation unit 32 that generates the travel routes K1, K2, K3 (see Figures 3 and 4) for the autonomous driving of the tractor 1.

[0029] Incidentally, Figure 3 shows an example of a planned work path K1 generated by the path generation unit 32 in the case of a single tractor 1 performing autonomous driving alone. Figure 4 shows an example of planned work paths K2 and K3 generated by the path generation unit 32 in the case of a coordinated operation in which two tractors 1a and tractor 1b perform autonomous work in coordination. In Figure 4, as a coordinated operation, tractor 1a starts working first, and tractor 1b starts working later, showing accompanying work in which tractors 1a and tractor 1b work on different work paths Ka. The planned work path corresponding to tractor 1a (shown as a solid line in the figure) is shown as K2, and the planned work path corresponding to tractor 1b (shown as a dotted line in the figure) is shown as K3. Figures 3 and 4 are merely examples, and the type of path generated by the path generation unit 32 as a planned work path can be changed as appropriate.

[0030] As shown in Figures 3 and 4, the travel paths K1, K2, and K3 are configured as paths that include a work path Ka for performing tasks such as tilling while the tractor 1 is autonomously driven, and a turning path Kb for turning the tractor 1 from one work path Ka to the next work path Ka. The work path Ka is generated for the work area R1, and the turning path Kb is generated for the non-work area R2 (headland). The work path Ka is a straight path for autonomous driving from one end to the other within the work area R1 of the field H, and multiple such straight paths are generated so that they are adjacent to each other in the width direction of the field H across the entire work area R1. The turning path Kb is generated as a path for turning the tractor 1 by connecting the ends of two work paths Ka that are aligned in the width direction of the field H.

[0031] Furthermore, the wireless communication terminal 30 is equipped with a work mode setting unit 33 that sets the work mode when the tractor 1 performs autonomous driving in order to generate the travel routes K1, K2, and K3 in the route generation unit 32.

[0032] As shown in Figure 2, the work mode setting unit 33 includes a turning mode setting unit 34, a skip count setting unit 35, and a non-working area width setting unit 36. As shown in Figures 3 and 4, the turning mode setting unit 34 is configured to set the turning mode of the tractor 1 in the turning path Kb to one turning mode selected from a plurality of mutually different turning modes. The skip count setting unit 35 is configured to set the number of skips in the work path Ka by the turning path Kb. The skip count indicates how many other work paths Ka are arranged between work path Ka and the next work path Ka in which work is performed after work path Ka. The non-working area width setting unit 36 ​​is configured to set the width of the non-working area R2, and is configured to set, for example, the width W1 of the first non-working area formed along the work direction in the work path Ka, and the width W2 of the second non-working area excluding the first non-working area.

[0033] The work mode setting unit 33 is configured to allow setting of tractor information (work vehicle information), field information, and work information as work modes. Tractor information includes, for example, the model of tractor 1, the size of tractor 1 (overall length and width), the type and size (width) of implement 50, and information indicating the target vehicle speed and target engine rotation speed when autonomous driving is performed. Field information includes, for example, the shape of the field, the work start position (position indicated by S1 in Figure 3, and positions indicated by S2 and S3 in Figure 4), the work end position (position indicated by G1 in Figure 3, and positions indicated by G2 and G3 in Figure 4), the work direction (direction indicated by arrows in Figures 3 and 4), and information indicating the presence or absence and location of obstacles.

[0034] When setting tractor information, for example, the model and size of tractor 1, and other items that can be set as tractor information are displayed on the display unit of the wireless communication terminal 30. These items can be displayed one by one or multiple items can be displayed simultaneously. By displaying the items in this way, operators can input various information for each of the multiple items by operating the touch panel. Similarly, when setting field information, the configurable items are displayed on the display unit of the wireless communication terminal 30, and operators can input various information for each of the multiple items by operating the touch panel.

[0035] As shown in Figure 2, the wireless communication terminal 30 is equipped with a storage unit 38 that stores various types of information. This storage unit 38 stores tractor information and field information set in the work mode setting unit 33. For example, the storage unit 38 stores individual tractor information, such as tractor 1 and the tractor information set for tractor 1, and individual field information, such as fields and the field information set for those fields. As a result, when setting tractor information or field information, the individual tractor information and individual field information stored in the storage unit 38 are read and displayed on the display unit of the wireless communication terminal 30, allowing the operator to select the individual tractor information or individual field information.

[0036] To explain the work information, it includes information such as cooperative work mode information, turning mode information, overlap information, skip count information, non-work area width information, and partition setting information.

[0037] The cooperative work mode information indicates how tractor 1 will be driven and used to perform work in field H. For example, it indicates whether the work will be performed individually, in a coordinated follow operation, or in a coordinated accompanying operation. Individual work is performed by one tractor 1 along the work path Ka, as shown in Figure 5(a). Coordinated follow operation is performed by multiple tractors 1 working in cooperation along the same work path Ka, as shown in Figure 5(b). Coordinated accompanying operation is performed by multiple tractors 1 working in cooperation along different work paths Ka, as shown in Figure 5(c).

[0038] The turning pattern information indicates the turning pattern in which the tractor 1 will turn along the turning path Kb (see Figures 3 and 4) on the travel paths K1, K2, and K3. For example, it indicates whether the turning pattern will be without reverse or with reverse. In the turning pattern without reverse, as shown in Figures 6(a) and 6(b), the tractor turns from the end of one work path Ka to the end of the next work path Ka without reversing. Incidentally, Figures 6(a) and 6(b) have different turning radii; the turning pattern in Figure 6(a) has a turning radius within a first predetermined range, while the turning pattern in Figure 6(b) has a turning radius within a second predetermined range, which is larger than the first predetermined range. In the turning pattern with reverse, as shown in Figure 6(c), the tractor travels diagonally forward from the end of one work path Ka, reverses once, and then turns to the next work path Ka.

[0039] In Figures 3 and 4, overlap information indicates the overlap width between work path Ka and adjacent work paths Ka for each of the multiple work paths Ka.

[0040] The skip count information, as shown in Figures 3 and 4, indicates how many other work paths Ka are located between work path Ka and the next work path Ka where work will be performed after work path Ka. For example, it indicates whether the skip count is 0, 1, or 2. When the skip count is 0, as shown in Figure 3, there are no other work paths Ka between work path Ka and the next work path Ka, so work path Ka and the next work path Ka are adjacent paths.

[0041] Non-working area width information, as shown in Figures 3 and 4, is information indicating the width of the non-working area R2. For example, it is information indicating the width W1 of the first non-working area formed along the work direction in the work path Ka, and the width W2 of the second non-working area excluding the first non-working area.

[0042] The plot setting information indicates whether the entire field included in the field information has been divided into plots, and if so, how many plots it has been divided into.

[0043] Regarding the setting of work information, for example, it is configured so that it can be set in the following order: collaborative work mode information, turning mode information, overlap information, skip count information, non-work area width information, and partition setting information. This setting order can be changed as needed.

[0044] First, when setting the collaborative work mode information, a setting screen is displayed on the wireless communication terminal 30's display unit, as shown in Figure 7, allowing the user to select one of the following options: solo work, collaborative follow-up work, or collaborative escort work. The user can select one of these options by operating the touch panel of the wireless communication terminal 30. On the setting screen, the selected option is surrounded by a colored frame, allowing the user to easily identify their selection. The work mode setting unit 33 then sets the collaborative work mode information based on the user's selection on the wireless communication terminal 30.

[0045] Once the cooperative work mode information is set, a setting screen is displayed on the wireless communication terminal 30 to select either a turning mode without reverse or a turning mode with reverse, as shown in Figure 8, in order to set the turning mode information. The operator can select either a turning mode without reverse or a turning mode with reverse by operating the touch panel of the wireless communication terminal 30. The turning mode setting unit 34 then sets the turning mode information based on the selection information made by the operator on the wireless communication terminal 30.

[0046] Here, as examples of turning modes without reverse movement, there are two types: the one shown in Figure 6(a) where the turning radius is within a first predetermined range, and the one shown in Figure 6(b) where the turning radius is within a second predetermined range. Therefore, in the turning mode without reverse movement, it is also possible to select either the turning mode shown in Figure 6(a) or the turning mode shown in Figure 6(b). In this case, for example, if the width (working width) of the work implement 50 is smaller than the predetermined width, the turning mode shown in Figure 6(a) can be selected, and if the width (working width) of the work implement 50 is larger than the predetermined width, the turning mode shown in Figure 6(b) can be selected. In other words, depending on the width (working width) of the work implement 50, either the turning mode shown in Figure 6(a) or the turning mode shown in Figure 6(b) can be selected.

[0047] Once the turning pattern information is set, a setting screen is displayed on the wireless communication terminal 30's display unit, as shown in Figure 9, to select either an overlapping pattern or a non-overlapping pattern in order to set the overlap information. The operator can select either an overlapping pattern or a non-overlapping pattern by operating the touch panel of the wireless communication terminal 30. The operator can also input the overlap amount in the overlapping pattern and the interval of the work path Ka in the non-overlapping pattern by operating the touch panel of the wireless communication terminal 30. The work pattern setting unit 33 then sets the overlap information based on the selection information and input information from the operator on the wireless communication terminal 30.

[0048] Once overlap information is set, a setting screen is displayed on the display unit of the wireless communication terminal 30, as shown in Figure 10, to select one of the following modes for setting the number of skips: no skips (number of skips = 0), skipping one example (number of skips = 1), or skipping two columns (number of skips = 2).

[0049] Here, the skip count setting unit 35 is configured to set the number of skips in the work path Ka based on the turning pattern set by the turning pattern setting unit 34. As a result, on the setting screen when setting the skip count information, one of the following is pre-selected and enclosed in a colored frame, depending on the turning pattern set by the turning pattern setting unit 34: no skips (skip count = 0), skip one example (skip count = 1), and skip two columns (skip count = 2). For example, if the turning pattern state is set to no reverse, the skip count information is pre-selected as no skips (skip count = 0).

[0050] Operators can choose from pre-selected skip count patterns, or they can operate the touch panel of the wireless communication terminal 30 to select a different skip count pattern from the pre-selected patterns, such as no skipping, skipping one example, or skipping two rows. The skip count setting unit 35 sets the skip count information based on the selection information made by the operator on the wireless communication terminal 30.

[0051] When the skip count setting unit 35 changes to a skip count pattern different from the pre-selected skip count pattern, the rotation pattern setting unit 34 can change to a rotation pattern different from the currently set rotation pattern in response to the change in the skip count pattern. Once a rotation pattern is set in the rotation pattern setting unit 34, a skip count pattern corresponding to that rotation pattern is pre-set, but there are times when it is desired to change this skip count. Therefore, the skip count setting unit 35 is configured to change to a skip count pattern different from the pre-selected skip count pattern, allowing the skip count to take priority. In this case, if it is necessary to change the rotation pattern by changing the skip count pattern, the rotation pattern setting unit 34 changes to a rotation pattern different from the currently set rotation pattern.

[0052] Furthermore, if cooperative escort work is set as the cooperative work mode information, the option to select a mode that does not skip is disabled in the skip count information. Alternatively, it is possible to select whether to prioritize setting cooperative escort work as the cooperative work mode information or to prioritize setting a mode that does not skip as the skip count information. Incidentally, if the priority is given to setting a mode that does not skip as the skip count information, the need to perform collision avoidance control to avoid collisions between tractors 1 increases, so a predetermined notification can be given to warn of this.

[0053] Once the skip count information is set, a setting screen showing the width W1 of the first non-working area and the width W2 of the second non-working area (pillow area) is displayed on the display unit of the wireless communication terminal 30, as shown in Figure 11, in order to set the non-working area width information. The worker can input the width W1 of the first non-working area and the width W2 of the second non-working area by operating the touch panel of the wireless communication terminal 30. The non-working area width setting unit 36 ​​then sets the width W1 of the first non-working area and the width W2 of the second non-working area based on the information input by the worker on the wireless communication terminal 30. At this time, the non-working area width setting unit 36 ​​can set the width W1 of the first non-working area and the width W2 of the second non-working area to be the same width, or it can set the width W1 of the first non-working area and the width W2 of the second non-working area to be different widths.

[0054] Once the non-working area width information is set, a setting screen is displayed on the wireless communication terminal 30 to select either a mode in which the field is not divided or a mode in which the field is divided, as shown in Figure 12, in order to set the partition setting information. Workers can select either a mode in which the field is not divided or a mode in which the field is divided by operating the touch panel of the wireless communication terminal 30. Furthermore, when workers select a mode in which the field is divided, they can change the position of the partition lines P on the setting screen to change the division ratio or add new partition lines P to change the number of divisions by operating the touch panel of the wireless communication terminal 30. The work mode setting unit 33 then sets the partition setting information based on the selection information and input information from the workers on the wireless communication terminal 30.

[0055] In this way, when the cooperative work mode information, turning mode information, overlap information, skip count information, non-working area width information, and section setting information are set sequentially, the route generation unit 32 is configured to generate travel routes K1, K2, and K3 for autonomous driving by the tractor 1 based on the work mode set by the work mode setting unit 33, the turning mode information set by the turning mode setting unit 34, the skip count information set by the skip count setting unit 35, and the non-working area width information set by the non-working area width setting unit 36, as shown in Figures 3 and 4.

[0056] The travel route K1 shown in Figure 3 represents a case where the cooperative work mode information is set to solo work, the skip count information is set to no skips, and the field setting information is set to no division of the field.

[0057] The travel routes K2 and K3 shown in Figure 4 represent the case where cooperative work is set as the cooperative work mode information, one-row skipping is set as the skip count information, and the field is not divided as the plot setting information.

[0058] As shown in Figure 2, the wireless communication terminal 30 is equipped with a confirmation unit 37 that, when the route generation unit 32 generates travel routes K1, K2, and K3, provides a predetermined notification to confirm which turning pattern the tractor 1 will use when turning along the turning route Kb within those travel routes K1, K2, and K3. For example, the wireless communication terminal 30 displays a screen on its display unit that shows which of the three turning patterns shown in Figures 6(a) to (c) the tractor 1 will use when turning. This allows the operator to confirm the actual turning pattern.

[0059] This confirmation may sometimes allow the operator to change the turning pattern. For example, as shown in Figure 8, if the turning pattern setting unit 34 is set to a turning pattern without reverse, the actual turning pattern will be either the turning pattern shown in Figure 6(a) or the turning pattern shown in Figure 6(b). In this case, if the actual turning pattern is the turning pattern shown in Figure 6(b), the width W2 of the second non-working area (heading) will increase in Figures 3 and 4, so the operator may want to change the turning pattern. In such cases, the setting screen shown in Figure 8 can be displayed again on the display unit of the wireless communication terminal 30, and the operator can operate the touch panel to change the turning pattern setting unit 34 to a different turning pattern (for example, a turning pattern with reverse) from the currently set turning pattern (for example, a turning pattern without reverse).

[0060] Thus, when the rotation mode setting unit 34 changes the rotation mode, the non-working area width setting unit 36 ​​can, for example, change the width W2 of the second non-working area (heading) as needed.

[0061] Furthermore, once the aforementioned work information is set, the route generation unit 32 generates travel routes K1, K2, and K3 based on that work information. However, it is also possible to change the work information once these travel routes K1, K2, and K3 have been generated. In this case, the route generation unit 32 will regenerate travel routes K1, K2, and K3 based on the changed work information.

[0062] Incidentally, the route generation unit 32 is not limited to generating a single travel route; it can also generate multiple travel routes. When multiple travel routes are generated, the operator can select the travel route to actually use from among the multiple routes.

[0063] In this way, when the route generation unit 32 generates travel routes K1, K2, and K3, the wireless communication terminal 30 is configured to transmit various information for autonomous driving of the tractor 1, such as the travel routes K1, K2, and K3 generated by the route generation unit 32 and the command to start autonomous driving, to the control unit 23 of the tractor 1 via the wireless communication network. The control unit 23 of the tractor 1 is configured to start autonomous driving of the tractor 1 after receiving the information such as the travel routes K1, K2, and K3 from the wireless communication terminal 30 and receiving the command to start autonomous driving. The control unit 23 of the tractor 1 is configured to control the governor device 21, the transmission 22, the steering device 24, etc., based on the current position information of the tractor 1 obtained from the received signal of the positioning antenna 25, so that the tractor 1 autonomously drives along the travel routes K1, K2, and K3 generated by the route generation unit 32.

[0064] [Another embodiment] (1) In the above embodiment, the turning mode setting unit 34 sets the same turning mode (see Figure 8) for multiple turning paths Kb, but for example, different turning modes can be set for different turning paths Kb. For example, in Figures 3 and 4, a turning mode without reverse movement can be set for the turning path Kb located on the upper side of the figure, and a turning mode with reverse movement can be set for the turning path Kb located on the lower side of the figure.

[0065] (2) In the above embodiment, a wireless communication terminal 30 capable of instructing the tractor 1 to drive autonomously is provided. However, it is also possible to provide at least some of the functions of the wireless communication terminal 30, such as a route generation unit 32, in the control unit 23 of the tractor 1, or in an external control device, etc.

[0066] <Notes on the invention> One aspect of the present invention is an autonomous driving system that causes a work vehicle to autonomously travel along a travel path which includes a plurality of work paths in a field where work is performed by a plurality of work vehicles, and a turning path that connects each work path and allows the work vehicle to turn. A cooperative work mode setting unit sets the cooperative work mode to be performed by the aforementioned work vehicle, A turning mode setting unit sets the turning mode of the work vehicle in the turning path to one turning mode selected from a plurality of mutually different turning modes, A skip count setting unit sets the number of skips in the work path based on the rotation pattern set by the rotation pattern setting unit, It is preferable to include a selection unit that can choose to prioritize either the aforementioned cooperative work mode setting unit or the aforementioned skip number setting unit.

[0067] With this configuration, the turning pattern setting unit sets the turning pattern of the work vehicle in the turning path to one of several different turning patterns selected from a plurality of different turning patterns. Therefore, the turning pattern of the work vehicle in the turning path can be changed and set in the turning pattern setting unit according to the preferences of the worker or the content of the work. In other words, if you want to improve work efficiency, you can set the turning pattern setting unit to generate a turning path that connects two adjacent work paths. Also, if you want to reduce the space required to secure the turning radius, you can set the turning pattern setting unit to generate a turning path that places multiple work paths between a work path and the next work path where work will be performed after that work path. Thus, the turning pattern of the work vehicle in the turning path can be set to a suitable turning pattern according to the preferences of the worker or the content of the work, resulting in a highly convenient autonomous driving system. According to this configuration, the skip count setting unit can set an appropriate skip count based on the turning pattern set by the turning pattern setting unit, taking into consideration, for example, the turning radius and the working width of the work vehicle. Here, the skip count indicates how many other work paths are placed between a work path and the next work path where work will be performed after that work path. In this way, by setting an appropriate skip count, the skip count setting unit can generate an appropriate turning path corresponding to that skip count.

[0068] One aspect of the present invention includes a confirmation unit that provides a predetermined notification to confirm which turning pattern the work vehicle is turning in the turning path of the travel path, Preferably, the rotation mode setting unit can change the rotation mode to another rotation mode that is different from the set rotation mode.

[0069] In this configuration, the confirmation unit provides a predetermined notification indicating which turning pattern the work vehicle is using when it turns along the turning path in the travel route. This allows workers to confirm which turning pattern the work vehicle is using when it autonomously travels along the travel route. Since workers may want to change the turning pattern based on this confirmation, the turning pattern setting unit allows the turning pattern to be changed to a turning pattern different from the set turning pattern. This allows workers to confirm the actual turning pattern and to respond flexibly to any changes they may want to make based on that confirmation.

[0070] One aspect of the present invention preferably includes a notification unit for avoiding collisions between the plurality of work vehicles.

[0071] One aspect of the present invention is that the skip count setting unit is configured to allow the skip count to be changed. Preferably, the rotation mode setting unit can change the rotation mode to a rotation mode different from the first rotation mode in accordance with the change in the number of skips.

[0072] With this configuration, by changing the number of skips in the skip count setting unit, the turning pattern setting unit can change the turning pattern to a different turning pattern from one of the default turning patterns in response to the change in the number of skips. Therefore, if you want to prioritize the number of skips over the turning pattern, you can simply change the number of skips in the skip count setting unit, and the turning pattern setting unit will change to a turning pattern corresponding to that number of skips.

[0073] One aspect of the present invention includes a non-working area width setting unit that sets the width of a non-working area surrounding the work area where the plurality of work paths are generated, according to the rotation pattern setting unit set by the rotation pattern setting unit, Preferably, the non-working area width setting unit can set the width of the first non-working area, which is formed along the work direction in the work path, and the width of the second non-working area, which is excluding the first non-working area, to different widths.

[0074] With this configuration, the non-working area width setting unit can set the width of the first non-working area and the width of the second non-working area. Therefore, the widths of the first and second non-working areas can be changed according to the preferences of the worker or the nature of the work. Thus, the widths of the first and second non-working areas can be made suitable for the preferences of the worker or the nature of the work, thereby improving convenience. One aspect of the present invention includes a wireless communication terminal capable of communicating with the work vehicle, The wireless communication terminal includes a display unit for displaying the field, It is preferable to have a section setting unit that can set section lines in the field displayed on the display unit.

[0075] The first characteristic configuration of the present invention is an autonomous driving system that autonomously drives a work vehicle along a travel path which includes multiple work paths in a field where work is performed by multiple work vehicles, and a turning path that connects each work path and allows the work vehicle to turn. A cooperative work mode setting unit sets the cooperative work mode to be performed by the aforementioned work vehicle, The system includes a turning mode setting unit that sets the turning mode of the work vehicle along the turning path to one turning mode selected from a plurality of mutually different turning modes, The turning mode setting unit is characterized by setting the turning mode based on the set cooperative work mode.

[0076] A second characteristic feature of the present invention is that it includes a skip count setting unit that sets the number of skips in the work path based on the turning pattern set by the turning pattern setting unit.

[0077] A third characteristic feature of the present invention is that it is equipped with a notification unit for avoiding collisions between the plurality of work vehicles.

[0078] An autonomous driving system according to one aspect of the present invention is an autonomous driving system that causes a work vehicle to autonomously drive along a driving path that includes a plurality of work paths in which work is performed by the work vehicle within a field, and comprises a non-work area width setting unit. The field includes a work area where the plurality of work paths are generated and a non-work area surrounding the work area. The non-work area width setting unit sets the width of the non-work area based on information input by the user.

[0079] An autonomous driving system according to one aspect of the present invention is an autonomous driving system for autonomously driving a work vehicle, comprising a turning mode setting unit and a control unit. The turning mode setting unit sets one turning mode selected from a plurality of turning modes as the set turning mode when turning the work vehicle. The control unit turns the work vehicle based on the set turning mode.

[0080] An autonomous driving method according to one aspect of the present invention is an autonomous driving method for making a work vehicle autonomously drive, comprising: setting one turning mode selected from a plurality of turning modes as the set turning mode when turning the work vehicle; and turning the work vehicle based on the set turning mode. [Explanation of Symbols]

[0081] 1. Tractor (work vehicle) 33. Work Mode Setting Unit (Cooperative Work Mode Setting Unit) 34. Swivel Mode Setting Unit 35. Skip Count Setting Section 36 Non-working area width setting section K1 Route K2 Route K3 Route Ka Work Route Kb turning path

Claims

1. An autonomous driving system that autonomously drives a work vehicle along a travel path which includes multiple work paths in a field where work is performed by the work vehicle, and a turning path that connects each work path and allows the work vehicle to turn, A skip count setting unit that sets the number of skips in the work path according to the aforementioned turning path, The system comprises a path generation unit that generates the turning path based on at least the set number of skips, Autonomous driving system.

2. The skip count setting unit can set the skip count to one or two times. The autonomous driving system according to claim 1.

3. The skip count setting unit can set the skip count to 0. The autonomous driving system according to claim 1 or 2.

4. An autonomous driving method for autonomously driving a work vehicle along a travel path that includes multiple work paths in a field where work is performed by the work vehicle, and a turning path that connects each work path and allows the work vehicle to turn, Setting the number of skips in the work path by the aforementioned turning path, The process involves generating the turning path based on at least the set number of skips, Autonomous driving methods.

Images