Autonomous driving unit for work vehicles

Abstract

To provide an automated travelling unit for a work vehicle capable of switching work vehicle states by an operation sequence desired by a user.SOLUTION: An automated travelling unit for a work vehicle includes: an automated travelling control unit 23F for causing a work vehicle V having a travelling vehicle body 1 and a work machine 3D to make automated travelling according to a target route; a plurality of operation devices that can be electronically controlled having operation devices 18 and 32 for travelling for operating the travelling vehicle body 1 and operation devices 19 and 49 for the work machine for operating the work machine 3D; and an optional setting unit 23Fa capable of optionally setting a work machine-compatible operation sequence that is set according to the work machine 3D. The automated travelling control unit 23F controls the operation of the operation devices on the basis of the work machine- compatible operation sequence optionally set by the optional setting unit 23Fa, and operates the travelling vehicle body 1 and the work machine 3D.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to an automatic driving unit for a work vehicle that enables automatic driving of the work vehicle. [Background technology]

[0002] In the above-mentioned automatic driving unit for a work vehicle, a work machine control unit is provided that switches a rotary tiller (one example of a work machine) of the work vehicle from a working state to a non-working state when the work vehicle moves from a work area to a non-working area, and switches the rotary tiller from a non-working state to a working state when the work vehicle moves from a non-working area to the work area. Some work machine control units are configured to stop the drive of the rotary tiller first when switching the rotary tiller from a working state to a non-working state, and to raise the rotary tiller after a delay time has elapsed since the drive was stopped, and conversely, to drive and lower the rotary tiller at the same time when switching the rotary tiller from a non-working state to a working state (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-121594 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the automatic driving unit for a work vehicle described in Patent Document 1, a lifting actuator and a PTO clutch are provided as operating devices for switching the rotary tiller between a working state and a non-working state. With this, the working machine control unit controls the operation of the lifting actuator and the PTO clutch based on a preset operating sequence, so that when switching the rotary tiller from a working state to a non-working state, the rotary tiller can be raised after a delay time has elapsed after first stopping the drive of the rotary tiller, and when switching the rotary tiller from a non-working state to a working state, the rotary tiller can be driven and lowered at the same time.

[0005] However, when a user manually operates a work vehicle, not all users switch the rotary tiller between working and non-working states based on the operating sequence described above. Some users may switch the rotary tiller between working and non-working states using an arbitrary operating sequence that takes into account the field condition, workability, etc.

[0006] Specifically, the rotary tiller may be switched from a working state to a non-working state using any operating sequence, such as stopping the drive of the rotary tiller and raising it at the same time, or temporarily stopping the traveling body and then stopping the drive of the rotary tiller and raising it at the same time.

[0007] When such a user performs tilling work with a rotary tiller while the work vehicle is automatically driven using the automatic driving unit for work vehicles described in Patent Document 1, the user may become dissatisfied because the rotary tiller switches between working and non-working states due to the operation of each operating device based on an operating sequence different from the operating sequence preferred by the user.

[0008] In view of this situation, a main object of the present invention is to provide an automatic driving unit for a work vehicle that can switch the state of the work vehicle in an operation sequence desired by a user. [Means for solving the problem]

[0009] A first characteristic configuration of the present invention is an automatic driving unit for a work vehicle, an automatic driving control unit that automatically drives a work vehicle having a traveling body and a work implement connected to the traveling body along a target route; A plurality of electronically controllable operating devices including a traveling operating device for operating the traveling vehicle body and a working machine operating device for operating the working machine; An arbitrary setting unit that enables an arbitrary setting of an operation sequence corresponding to the work machine, the operation sequence being set according to the work machine, The automatic driving control unit controls the operation of the operating equipment based on an operation sequence corresponding to the work machine arbitrarily set by the arbitrary setting unit, thereby operating the traveling vehicle body and the work machine.

[0010] According to this configuration, the operation of the operating equipment is controlled based on an arbitrarily set operation sequence corresponding to the work machine, so that the traveling body and the work machine operate in accordance with the arbitrarily set operation sequence corresponding to the work machine.

[0011] As a result, for example, when the operating sequence corresponding to the work machine is for switching a work vehicle having a rotary tiller connected to the rear of the traveling body so that it can be raised and lowered, from a working state to a non-working state, the work vehicle can be switched from a working state to a non-working state using any operating sequence, such as the work machine being stopped from being driven by the work clutch (work machine operating device) and then the work machine being raised by the lift cylinder (work machine operating device), the work machine being stopped from being driven by the work clutch after the work machine has begun to be raised by the lift cylinder, the work machine being raised by the lift cylinder at the same time as the work machine being stopped from being driven by the work clutch, or the traveling body being stopped by the transmission (traveling operating device) and the brake (traveling operating device), and then the work machine being stopped from being driven by the work clutch and the work machine being raised by the lift cylinder at the same time.

[0012] In other words, even when the work vehicle is automatically driven using an automatic driving unit for the work vehicle, the state of the work vehicle can be switched in any operating sequence that takes into account the user's preferred field conditions, workability, etc.

[0013] The second characteristic configuration of the present invention is as follows: The arbitrary setting unit arbitrarily sets an operation sequence corresponding to the work machine by recording an operation procedure and an operation timing when a manual operation is performed to switch the state of the work vehicle.

[0014] According to this configuration, when the user performs a manual operation to switch the state of the work vehicle, the operation procedure and operation timing at that time are recorded in the optional setting section, and an operation sequence corresponding to the work machine is optionally set.

[0015] This eliminates the need for the user to manually input operation procedures and operation timings for switching the state of the work vehicle on an operation terminal, etc. As a result, it is possible to significantly reduce the effort required for the user to arbitrarily set an operation sequence corresponding to the work machine.

[0016] The third characteristic configuration of the present invention is as follows: The arbitrary setting section enables customization of the operation procedure and the operation timing.

[0017] According to this configuration, the user can modify the operation sequence corresponding to the work machine obtained from the operation sequence and operation timing based on the user's manual operation, or manually re-input the entire operation sequence. This allows the user to arbitrarily set an operation sequence corresponding to the work machine that is more suited to the user's preferences.

[0018] The fourth characteristic configuration of the present invention is as follows: The target path includes a motion reference position for setting a motion sequence corresponding to the work machine, The arbitrary setting unit enables an arbitrary setting of an operation sequence corresponding to the work machine based on either or both of a distance and a time based on the operation reference position.

[0019] According to this configuration, for example, as an operation sequence corresponding to a work machine, when the work vehicle reaches the operating reference position, the work machine is stopped from being driven by the work clutch upon reaching the operating reference position, and then the work machine is raised by the lift cylinder a predetermined time after reaching the operating reference position or after traveling a predetermined distance, or the work machine is lowered by the lift cylinder at a point or time a predetermined time or distance back from the operating reference position. It is possible to arbitrarily set an operation sequence.

[0020] This makes it possible to arbitrarily set an operation sequence for the work machine that is more suited to the user's preferences, including distance and time based on the operation reference position.

[0021] The fifth characteristic configuration of the present invention is as follows: The working machine is provided with a detector that outputs to the optional setting unit that a storage amount in a storage unit of the working machine has reached a limit value, The arbitrary setting unit makes it possible to arbitrarily set an operation sequence corresponding to the work machine based on either or both of a distance and a time based on a detection time point of the detector.

[0022] According to this configuration, for example, as an operating sequence corresponding to a work machine, when the detector detects that the amount of stored material has reached a limit value, the transmission and brakes are used to stop the traveling vehicle body upon detection, and then the work machine is stopped by the work clutch after a predetermined time has elapsed or after a predetermined distance has been traveled based on the time of detection. An operating sequence can be arbitrarily set.

[0023] This makes it possible to arbitrarily set an operation sequence for the work machine that is more suited to the user's preferences, including distance and time based on the point in time of detection by the detector.

[0024] The sixth characteristic configuration of the present invention is as follows: A storage unit that stores an operation sequence corresponding to the work machine that is arbitrarily set for each of the work machines that can be attached to and detached from the traveling vehicle body; A work machine information input unit that enables input of work machine information including the type of the work machine, The arbitrary setting unit reads out from the memory unit and sets an operation sequence corresponding to the work machine information based on the work machine information inputted via the work machine information input unit.

[0025] According to this configuration, when a work machine, in which an operation sequence corresponding to the work machine is stored in a memory unit, is coupled to a traveling vehicle body to perform work, the user can set an operation sequence corresponding to the work machine that is arbitrarily set according to the work machine, simply by inputting the work machine information using the work machine information input unit.

[0026] Furthermore, when a work machine similar to a work machine for which an operation sequence corresponding to the work machine is stored in a memory unit is connected to a traveling vehicle body for work, it becomes possible to read out and use the operation sequence corresponding to the work machine stored in the memory unit, or to modify part of the read operation sequence corresponding to the work machine and use it.

[0027] This simplifies the setting operation when arbitrarily setting an operation sequence corresponding to a different work machine each time a different work machine is coupled to the traveling vehicle body.

[0028] The seventh characteristic configuration of the present invention is A storage unit that stores an operation sequence corresponding to the work machine that is arbitrarily set for each of the work machines that can be attached to and detached from the traveling vehicle body; a communication system that enables transmission of information about the work machine from the work machine to the traveling vehicle body in conjunction with the connection of the work machine to the traveling vehicle body, The arbitrary setting unit reads out from the memory unit and sets an operation sequence corresponding to the work machine in accordance with information relating to the work machine acquired via the communication system.

[0029] According to this configuration, when a work machine, in which an operation sequence corresponding to the work machine is stored in a memory unit, is coupled to a traveling body to perform work, the user can set an operation sequence corresponding to the work machine that is arbitrarily set according to the work machine simply by coupling the work machine to the traveling body.

[0030] This effectively simplifies the setting operation when arbitrarily setting an operation sequence corresponding to a different work machine each time a different work machine is coupled to the traveling vehicle body.

[0031] The eighth characteristic configuration of the present invention is as follows: The operating equipment for the work machine includes an operating equipment for hydraulic control provided on the traveling vehicle body, and a hydraulic operating equipment provided on the work machine and whose operation is controlled by the operating equipment for hydraulic control.

[0032] According to this configuration, for example, the operation of the work machine by the hydraulic operating device on the work machine side, such as a hydraulic cylinder, whose operation is controlled by a hydraulic control operating device such as a sub-control valve provided on the traveling vehicle body, can be included in the operation sequence corresponding to the work machine. This makes it possible to switch the state of the work vehicle, including the operation of the work machine by the hydraulic operating device on the work machine side, based on the operation sequence preferred by the user. [Brief description of the drawings]

[0033] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of an automatic driving system for a work vehicle. [Diagram 2] Side view of a work vehicle equipped with a tiller [Diagram 3] Side view of a work vehicle equipped with a boom sprayer [Figure 4] Side view of a work vehicle equipped with a roll baler [Diagram 5] A block diagram showing the schematic configuration of an automatic driving system for a work vehicle. [Figure 6] Schematic diagram showing the tractor's transmission configuration [Figure 7] FIG. 1 is a plan view showing an example of a target route for automatic driving; [Figure 8] A block diagram showing a schematic configuration of an obstacle detection unit. [Figure 9] A block diagram showing a control configuration of a work vehicle equipped with a boom sprayer. [Figure 10] A block diagram showing a control configuration of a work vehicle equipped with a roll baler. [Figure 11] FIG. 13 is a diagram showing an operation sequence display screen of a work vehicle equipped with a rotary tiller. [Figure 12] A diagram showing an operation sequence display screen of a work vehicle equipped with a cultivator [Figure 13] FIG. 13 is a diagram showing an operation sequence display screen of a work vehicle equipped with a boom sprayer. [Figure 14] FIG. 13 is a diagram showing an operation sequence display screen of a work vehicle equipped with a roll baler. [Figure 15] FIG. 13 is a diagram showing an operation sequence display screen of a work vehicle equipped with a roll baler. [Figure 16] Flowchart of optional setting execution confirmation process DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings.

[0035] As shown in Figs. 1 to 4, the work vehicle V exemplified in this embodiment has a tractor 1 functioning as a traveling vehicle body and a working machine 3 detachably connected to the rear of the tractor 1 via a link mechanism 2. In the work vehicle V shown in Fig. 1, a rotary tiller 3A, which is an example of the working machine 3, is connected to the rear of the tractor 1 via the link mechanism 2 so that it can be raised and lowered and rolled. In the work vehicle V shown in Fig. 2, a cultivator 3B, which is an example of the working machine 3, is connected to the rear of the tractor 1 via the link mechanism 2 so that it can be raised and lowered. In the work vehicle V shown in Fig. 3, a boom sprayer 3C, which is an example of the working machine 3, is connected to the rear of the tractor 1 via the link mechanism 2. In the work vehicle V shown in Fig. 4, a roll baler 3D, which is an example of the working machine 3, is connected to the rear of the tractor 1 via the link mechanism 2.

[0036] In addition to the above-mentioned implement 3, rear-mounted implements such as a reversible plow, a disc harrow, a subsoiler, a seeding device, and an offset mower can be connected to the rear of the tractor 1. Also, front-mounted implements such as a front loader and a front mower conditioner can be connected to the front of the tractor 1.

[0037] By using an automatic driving system for work vehicles, a work vehicle V can automatically travel in a field A shown in Fig. 7 and the like. As shown in Figs. 1 and 5, the automatic driving system for work vehicles includes an automatic driving unit 4 mounted on a tractor 1, and a mobile communication terminal 5, which is an example of a wireless communication device set to be able to wirelessly communicate with the automatic driving unit 4. The mobile communication terminal 5 is equipped with a multi-touch display device (e.g., a liquid crystal panel) 50 that allows various information related to automatic driving to be displayed and input operations to be performed.

[0038] A tablet-type personal computer, a smartphone, or the like can be used as the mobile communication terminal 5. For wireless communication, a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) or a short-distance wireless communication such as Bluetooth (registered trademark) can be used.

[0039] As shown in Figures 1 to 5, the tractor 1 is equipped with left and right front wheels 10 that can be driven and steered, left and right rear wheels 11 that can be driven, a cabin 13 forming a riding driver's section 12, an electronically controlled diesel engine (hereinafter referred to as the engine) 14 having a common rail system, a bonnet 15 that covers the engine 14 and the like, and a speed change unit 16 that changes the speed of the power from the engine 14. As a result, the tractor 1 is configured as a front-wheel steering specification that allows four-wheel drive. Note that an electronically controlled gasoline engine having an electronic governor may be used as the engine 14.

[0040] As shown in Fig. 5, the tractor 1 is provided with a fully hydraulic power steering unit 17 for steering the left and right front wheels 10, a brake unit (one example of a driving device) 18 for braking the left and right rear wheels 11, an electronically controlled working clutch unit (one example of a working device) 19 for interrupting the transmission of power to a driven working machine 3 such as a rotary tiller 3A, an electronically controlled lifting drive unit (one example of a working device) 20 for lifting and lowering the working machine 3, an electronically controlled rolling unit 21 for driving the rotary tiller 3A in the roll direction, a vehicle state detection device 22 including various sensors and switches for detecting various settings and operating states of each part of the tractor 1, and an on-board control unit 23 having various control units. The power steering unit 17 may be an electric type having an electric motor for steering.

[0041] 1 to 5, the driving section 12 is equipped with a steering wheel 25 for manual steering, a seat 26 for a passenger, and an operation terminal 27 that enables various information displays and input operations. Although not shown, the driving section 12 is equipped with operation levers such as an accelerator lever and a main shift lever, and operation pedals such as an accelerator pedal and a clutch pedal. A multi-touch type liquid crystal monitor or an ISOBUS-compatible virtual terminal can be used as the operation terminal 27.

[0042] As shown in Fig. 6, the transmission unit 16 is provided with a traveling transmission system 16A that changes the speed of the power from the engine 14 for traveling, and a work transmission system 16B that changes the speed for work. The power after the speed change by the traveling transmission system 16A is transmitted to the left and right front wheels 10 via a front-wheel drive transmission shaft 28 and a front-wheel differential 30 built into a front axle case 29, etc. In addition, the power after the speed change by the work transmission system 16B is transmitted to the driving type work machine 3. The transmission unit 16 is provided with left and right brakes 31 that brake the left and right rear wheels 11 individually.

[0043] The traveling transmission system 16A includes an electronically controlled main transmission (an example of a traveling operating device) 32 that changes the speed of the power from the engine 14, an electronically hydraulically controlled forward / reverse switching device (an example of a traveling operating device) 33 that switches the power from the main transmission 32 between forward and reverse, a gear-type auxiliary transmission 34 that changes the forward or reverse power from the forward / reverse switching device 33 into two high and low speed stages, a gear-type creep transmission 35 that changes the forward or reverse power from the forward / reverse switching device 33 to an ultra-low speed stage, a rear wheel differential 36 that distributes the power from the auxiliary transmission 34 or the creep transmission 35 to the left and right rear wheels 11, left and right reduction gears 37 that reduce the speed of the power from the rear wheel differential 36 and transmit it to the left and right rear wheels 11, and an electronically hydraulically controlled transmission switching device 38 that switches the transmission from the auxiliary transmission 34 or the creep transmission 35 to the left and right front wheels 10.

[0044] The work transmission system 16B includes a hydraulic work clutch (one example of a work machine operating device) 39 that interrupts the power from the engine 14, a work speed change device 40 that switches the power that has passed through the work clutch 39 between three forward speeds and one reverse speed, and a PTO shaft 41 that outputs the power from the work speed change device 40 for work use. When a driven work machine 3 is connected to the rear of the tractor 1, the power taken out from the PTO shaft 41 is transmitted to the work machine 3 via an external transmission shaft or the like. The work clutch 39 is included in the work clutch unit 19 together with an electromagnetic control valve (not shown) that controls the flow of oil to the work clutch 39, and the like.

[0045] The main transmission 32 employs an integrated hydrostatic mechanical transmission (I-HMT), which is an example of a hydrostatic mechanical continuously variable transmission having higher transmission efficiency than a hydrostatic continuously variable transmission (HST).

[0046] Note that, instead of the I-HMT, a continuously variable transmission such as an HMT (Hydraulic Mechanical Transmission), which is an example of a hydromechanical continuously variable transmission, a hydrostatic continuously variable transmission, or a belt type continuously variable transmission may be used for the main transmission 32. Also, instead of the continuously variable transmission, an electronically controlled stepped transmission having a plurality of hydraulically type shift clutches and a plurality of electromagnetic shift valves that control the flow of oil thereto may be used.

[0047] The transmission switching device 38 switches the transmission state to the left and right front wheels 10 between a transmission cut-off state in which transmission to the left and right front wheels 10 is cut off, a constant speed transmission state in which power is transmitted to the left and right front wheels 10 so that the peripheral speeds of the left and right front wheels 10 are the same as the peripheral speeds of the left and right rear wheels 11, and a double speed transmission state in which power is transmitted to the left and right front wheels 10 so that the peripheral speed of the left and right front wheels 10 is approximately twice as fast as the peripheral speed of the left and right rear wheels 11. This allows the tractor 1 to be switched between a two-wheel drive state, a four-wheel drive state, and a front-wheel double speed state.

[0048] Although not shown in the figure, the brake unit 18 includes left and right brakes 31, a foot brake system that activates the left and right brakes 31 in conjunction with the depression of the left and right brake pedals provided on the driver's unit 12, a parking brake system that activates the left and right brakes 31 in conjunction with the operation of a parking lever provided on the driver's unit 12, and a turning brake system that activates the brake 31 on the inside of a turn in conjunction with steering the left and right front wheels 10 beyond a set angle.

[0049] The vehicle state detection device 22 is a collective term for various sensors, switches, etc. provided in various parts of the tractor 1. Although not shown in the figure, the vehicle state detection device 22 includes an accelerator sensor that detects the operating position of an accelerator lever, a speed change sensor that detects the operating position of a main speed change lever, a reverser sensor that detects the operating position of a reverser lever for switching between forward and reverse travel, a rotation sensor that detects the output speed of the engine 14, a vehicle speed sensor that detects the vehicle speed of the tractor 1, and a steering angle sensor that detects the steering angle of the front wheels 10.

[0050] As shown in Fig. 5, the vehicle-mounted control unit 23 includes an engine control unit 23A that controls the engine 14, a transmission unit control unit 23B that controls the transmission unit 16 such as the vehicle speed of the tractor 1 and switching between forward and reverse, a steering control unit 23C that controls steering, a work machine control unit 23D that controls the work machine 3, a display control unit 23E that controls display and notification on the operation terminal 27, etc., an automatic travel control unit 23F that controls automatic travel, and a non-volatile vehicle-mounted storage unit 23G that stores a target route P (see Fig. 7) for automatic travel generated according to a travel area divided in a farm field. Each of the control units 23A to 23F is constructed by an electronic control unit in which a microcontroller or the like is integrated, various control programs, etc. Each of the control units 23A to 23F is connected to be able to communicate with each other via a CAN (Controller Area Network).

[0051] For the mutual communication between the control units 23A to 23F, a communication standard other than CAN or a next-generation communication standard, such as in-vehicle Ethernet or CAN-FD (CAN with Flexible Data rate), may be adopted.

[0052] The engine control unit 23A executes engine speed maintenance control for maintaining the engine speed at a speed corresponding to the operating position of the accelerator lever, based on detection information from the accelerator sensor and detection information from the rotation sensor.

[0053] The speed change unit control section 23B executes vehicle speed control for controlling the operation of the main speed change device 32 so that the vehicle speed of the tractor 1 is changed to a speed corresponding to the operating position of the main speed change lever based on detection information from the speed change sensor and the vehicle speed sensor, and forward / reverse switching control for switching the transmission state of the forward / reverse switching device based on detection information from the reverser sensor, etc. The vehicle speed control includes a deceleration / stop process for controlling the main speed change device 32 to decelerate to the zero speed state and stopping the travel of the tractor 1 when the speed change lever is operated to the zero speed position.

[0054] The work machine control unit 23D executes work clutch control that controls the operation of the work clutch unit 19 based on the operation of a PTO switch provided in the driving unit 12, lift control that controls the operation of the lift drive unit 20 based on the operation of a lift switch provided in the driving unit 12 and the setting value of a height setting dial, and rolling control that controls the operation of the rolling unit 21 based on the setting value of a roll angle setting dial provided in the driving unit 12. The PTO switch, lift switch, height setting dial, and roll angle setting dial are included in the vehicle state detection device 22.

[0055] As shown in FIG. 5, the tractor 1 is provided with a positioning unit 42 that measures the position and orientation of the tractor 1. The positioning unit 42 includes a satellite navigation device 43 that measures the position and orientation of the tractor 1 using a global navigation satellite system (GNSS), which is an example of a satellite positioning system, and an inertial measurement unit (IMU) 44 that has a three-axis gyroscope and a three-directional acceleration sensor and measures the attitude and orientation of the tractor 1. Positioning methods using the GNSS include DGNSS (Differential GNSS: relative positioning method) and RTK-GNSS (Real Time Kinematic GNSS: interferometric positioning method). In this embodiment, RTK-GNSS, which is suitable for positioning a moving object, is adopted. Therefore, as shown in FIG. 1, a base station 6 that enables positioning by RTK-GNSS is installed at a known position around the field.

[0056] As shown in Fig. 1 and Fig. 5, the tractor 1 and the base station 6 are each provided with a GNSS antenna 45, 60 for receiving radio waves transmitted from a positioning satellite 7 (see Fig. 1), and communication modules 46, 61 enabling wireless communication of information including positioning information between the tractor 1 and the base station 6. This allows the satellite navigation device 43 of the positioning unit 42 to measure the position and orientation of the tractor 1 with high accuracy based on the positioning information obtained by the GNSS antenna 45 on the tractor side receiving radio waves from the positioning satellite 7 and the positioning information obtained by the GNSS antenna 60 on the base station side receiving radio waves from the positioning satellite 7. In addition, the positioning unit 42 has the satellite navigation device 43 and the inertial measurement unit 44, and thus can measure the position, orientation, and attitude angles (yaw angle, roll angle, pitch angle) of the tractor 1 with high accuracy.

[0057] In this tractor 1, the inertial measurement device 44, the GNSS antenna 45, and the communication module 46 of the positioning unit 42 are included in an antenna unit 47 shown in Figures 1 to 4. The antenna unit 47 is disposed in the center of the upper part on the front side of the cabin 13 in the left-right direction.

[0058] Although not shown in the figure, the vehicle body position is set to the rear axle center position when identifying the position of the tractor 1. The vehicle body position can be obtained from positioning information from the positioning unit 42 and vehicle body information including the positional relationship between the mounting position of the GNSS antenna 45 in the tractor 1 and the rear axle center position.

[0059] 1 to 5, the tractor 1 is provided with an electronically controlled dual sub-control valve (an example of an operating device for hydraulic control that functions as an operating device for a work machine) 49. The sub-control valve 49 controls the flow of oil pumped by a work hydraulic pump (not shown) provided in the tractor 1.

[0060] 5, the mobile communication terminal 5 includes a terminal control unit 51 having an electronic control unit in which a microcontroller and the like are integrated, various control programs, and the like. The terminal control unit 51 includes a display control unit 51A that controls display and notification on the display device 50 and the like, a target route generating unit 51B that generates a target route P for automatic driving, and a non-volatile terminal storage unit 51C that stores the target route P generated by the target route generating unit 51B, and the like. The terminal storage unit 51C stores various information used in generating the target route P, such as vehicle body information such as the turning radius of the tractor 1 and the working width of the rotary tiller 3A, and field information obtained from the positioning information described above. The field information includes four corner points Pa to Pd (see Figure 7) which serve as multiple shape identification points (shape identification coordinates) in field A obtained using GNSS when tractor 1 is driven along the outer edge of field A to identify the shape, size, etc. of field A, and a rectangular shape identification line SL (see Figure 7) which connects these corner points Pa to Pd and identifies the shape, size, etc. of field A.

[0061] As shown in Fig. 5, the tractor 1 and the mobile communication terminal 5 are provided with communication modules 48, 52 that enable wireless communication of various information including positioning information between the on-board control unit 23 and the terminal control unit 51. When Wi-Fi is adopted for wireless communication with the mobile communication terminal 5, the communication module 48 of the tractor 1 functions as a converter that converts communication information in both directions between CAN and Wi-Fi. The terminal control unit 51 can acquire various information related to the tractor 1 including the position and direction of the tractor 1 through wireless communication with the on-board control unit 23. This allows the display device 50 of the mobile communication terminal 5 to display various information including the position and direction of the tractor 1 relative to the target route P.

[0062] The target path generating unit 51B generates a target path P based on the turning radius of the tractor 1 and the working width of the work implement 3 contained in the vehicle body information, and the shape and size of the field A contained in the field information.

[0063] For example, as shown in Figure 7, when a start position p1 and end position p2 of automatic driving are set in a rectangular field A, and the work driving direction of the tractor 1 is set to be along the short side of the field A, the target path generating unit 51B first divides the field A into a margin area A1 adjacent to the outer periphery of the field A and a driving area A2 located inside the margin area A1 based on the four corner points Pa to Pd mentioned above and the rectangular shape specification line SL.

[0064] Next, the target path generating unit 51B divides the travel area A2 into a pair of end areas A2a set at the ends of each long side of the travel area A2 and a central area A2b set between the pair of end areas A2a based on the turning radius of the tractor 1 and the working width of the work implement 3. After that, the target path generating unit 51B generates a plurality of parallel paths P1 in the central area A2b, which are arranged in parallel at a predetermined interval according to the working width in the direction along the long side of the field A. In addition, the target path generating unit 51B generates a plurality of connecting paths P2 in each end area A2a, which connect the plurality of parallel paths P1 in the travel order of the tractor 1. This enables the target route generating unit 51B to generate a target route P along which the tractor 1 can automatically travel from the start position p1 to the end position p2 of the automatic travel set in the field A shown in FIG.

[0065] In the field A shown in Fig. 7, a margin area A1 is an area secured between the outer edge of the field A and the travel area A2 to prevent the working implement 3 and the like from contacting other objects such as fences and trees adjacent to the field A when the tractor 1 automatically travels along the edge of the travel area A2. Each edge area A2a is a direction change area when the tractor 1 changes direction and moves from the currently traveling parallel path P1 to the next parallel path P1 along the connecting path P2. The central area A2b is a working area where the tractor 1 automatically travels in a working state along each parallel path P1.

[0066] In the target route P shown in FIG. 7, each parallel route P1 is a work route along which the tractor 1 automatically travels while performing work with the work implement 3. Each connecting route P2 is a non-work route along which the tractor 1 automatically travels without performing work with the work implement 3. The start position p3 of each parallel route P1 is a work start position where the tractor 1 starts work with the work implement 3. The end position p4 of each parallel route P1 is a work stop position where the tractor 1 stops work with the work implement 3. Among the start positions p3 of each parallel route P1, the start position p3 of the parallel route P1 in which the tractor 1's travel order is set first is the start position p1 of the automatic travel. The start position p3 of the remaining parallel route P1 is a connection position with the end position of the connecting route P2. The end position p4 of the parallel route P1 in which the tractor 1's travel order is set last is the end position p2 of the automatic travel.

[0067] Note that the target route P shown in Figure 7 is merely an example, and the target route generation unit 51B can generate various target routes P suitable for the various situations based on vehicle information that differs depending on the model of the tractor 1 and the type of work implement 3, and field information such as the shape and size of the field A that differs depending on the field A.

[0068] Incidentally, in the target route P shown in FIG. 7, when the tractor 1 performs plowing work using a tiller, each of the parallel routes P1 and each of the connecting routes P2 is used as a work route.

[0069] The target route P is stored in the terminal storage unit 51C in a state associated with vehicle body information, field information, and the like, and can be displayed on the display device 50 of the mobile communication terminal 5. The target route P includes, in addition to the work start position p3 and work stop position p4 described above, the azimuth angle of each parallel route P1, the target vehicle speed of the tractor 1 on each parallel route P1, the target vehicle speed of the tractor 1 on each connecting route P2, the front wheel steering angle on each parallel route P1, and the front wheel steering angle on each connecting route P2.

[0070] In response to a transmission request command from the on-vehicle control unit 23, the terminal control unit 51 transmits the field information, the target route P, and the like stored in the terminal storage unit 51C to the on-vehicle control unit 23. The on-vehicle control unit 23 stores the received field information, the target route P, and the like in the on-vehicle storage unit 23G. Regarding the transmission of the target route P, for example, the terminal control unit 51 may transmit all of the target route P from the terminal storage unit 51C to the on-vehicle control unit 23 at once at a stage before the tractor 1 starts automatic traveling. Alternatively, the terminal control unit 51 may divide the target route P into a plurality of divided route information for each predetermined distance, and sequentially transmit a predetermined number of divided route information according to the traveling order of the tractor 1 from the terminal storage unit 51C to the on-vehicle control unit 23 each time the traveling distance of the tractor 1 reaches a predetermined distance from a stage before the tractor 1 starts automatic traveling.

[0071] In the on-board control unit 23, detection information from various sensors and switches included in the vehicle state detection device 22 is input to the automatic driving control unit 23F via the transmission unit control unit 23B, the steering control unit 23C, etc. This allows the automatic driving control unit 23F to monitor various setting states and the operating states of each unit in the tractor 1.

[0072] When the tractor 1 has been moved to the start position p1 of automatic driving by a user such as a passenger or manager through manual driving, and then manual operations have been performed to satisfy various automatic driving start conditions and the driving mode of the tractor 1 has been switched to automatic driving mode, and the display device 50 of the mobile communication terminal 5 is operated to command the start of automatic driving, the automatic driving control unit 23F starts automatic driving control to cause the tractor 1 to automatically drive along the target route P while acquiring the position, direction, etc. of the tractor 1 using the positioning unit 42.

[0073] During the execution of the automatic driving control, for example, when the user operates the display device 50 of the mobile communication terminal 5 to command the end of the automatic driving, or when the user who is riding in the driving unit 12 operates a manual operation tool such as the steering wheel 25 or the accelerator pedal, the automatic driving control unit 23F ends the automatic driving control and switches the driving mode from the automatic driving mode to the manual driving mode. When the automatic driving control is to be resumed after the automatic driving control is terminated in this way, first, the user gets into the driving unit 12 and switches the driving mode of the tractor 1 from the automatic driving mode to the manual driving mode. Next, after performing manual operations to satisfy various automatic driving start conditions, the driving mode of the tractor 1 is switched from the manual driving mode to the automatic driving mode. Then, in this state, the automatic driving control can be resumed by operating the display device 50 of the mobile communication terminal 5 to command the start of automatic driving.

[0074] The automatic driving control by the automatic driving control unit 23F includes an automatic engine control process that sends control commands for automatic driving related to the engine 14 to the engine control unit 23A, an automatic vehicle speed control process that sends control commands for automatic driving related to the vehicle speed and forward / reverse switching of the tractor 1 to the transmission unit control unit 23B, an automatic steering control process that sends control commands for automatic driving related to the steering control unit 23C, and an automatic work control process that sends control commands for automatic driving related to a work machine such as a rotary tiller 3A to the work machine control unit 23D.

[0075] In the automatic engine control process, the automatic driving control unit 23F transmits to the engine control unit 23A an engine speed change command that instructs changing the engine speed based on a set speed included in the target route P. The engine control unit 23A executes engine speed change control that automatically changes the engine speed in response to various control commands related to the engine 14 transmitted from the automatic driving control unit 23F.

[0076] In the automatic vehicle speed control process, the automatic travel control unit 23F transmits to the transmission unit control unit 23B a speed change operation command for instructing the speed change operation of the main transmission 32 based on the target vehicle speed included in the target route P, and a forward / reverse switching command for instructing the forward / reverse switching operation of the forward / reverse switching device 33 based on the traveling direction of the tractor 1 included in the target route P. The transmission unit control unit 23B executes an automobile speed control for automatically controlling the operation of the main transmission 32, an automatic forward / reverse switching control for automatically controlling the operation of the forward / reverse switching device 33, and the like, in response to various control commands related to the main transmission 32 and the forward / reverse switching device 33 transmitted from the automatic travel control unit 23F. The automobile speed control includes, for example, an automatic deceleration / stop process for controlling the main transmission 32 to decelerate to a zero speed state to stop the traveling of the tractor 1 when the target vehicle speed included in the target route P is zero speed.

[0077] In the automatic control process for steering, the automatic driving control unit 23F transmits to the steering control unit 23C steering commands instructing the steering of the left and right front wheels 10 based on the front wheel steering angle included in the target route P, etc. In response to the steering commands transmitted from the automatic driving control unit 23F, the steering control unit 23C executes automatic steering control for controlling the operation of the power steering unit 17 to steer the left and right front wheels 10, and automatic brake turning control for operating the brake unit 18 to operate the brake 31 on the inside of the turn when the left and right front wheels 10 are steered beyond a set angle.

[0078] In the automatic control process for work, the automatic travel control unit 23F transmits to the work machine control unit 23D a work start command that instructs switching the rotary tiller 3A to a working state based on a work start position p3 included in the target route P, and a work stop command that instructs switching the rotary tiller 3A to a non-working state based on a work stop position p4 included in the target route P. In response to various control commands related to the rotary tiller 3A transmitted from the automatic travel control unit 23F, the work machine control unit 23D controls the operation of the work clutch unit 19 and the lift drive unit 20 to execute automatic work start control that lowers and drives the rotary tiller 3A to the working height, and automatic work stop control that stops the rotary tiller 3A and raises it to the non-working height.

[0079] That is, the aforementioned automatic driving unit 4 includes a power steering unit 17, a brake unit 18, a work clutch unit 19, a lift drive unit 20, a rolling unit 21, a vehicle state detection device 22, an on-board control unit 23, a positioning unit 42, and communication modules 46, 48. By properly operating these components, the tractor 1 can be automatically driven with high accuracy along the target route P, and the work equipment 3 can be used to properly perform work.

[0080] 5 and 8, the tractor 1 is equipped with an obstacle detection unit 80 that monitors the surroundings of the tractor 1 and detects obstacles present therearound. Obstacles detected by the obstacle detection unit 80 include people such as workers working in the field A, other work vehicles, and electric poles, trees, and the like that exist in the field A.

[0081] As shown in Figures 1 to 4 and 8, the obstacle detection unit 80 includes an imaging unit 80A that captures images of the surroundings of the tractor 1, an active sensor unit 80B that measures the distance to a measurement object present around the tractor 1, and an information integration processing unit 80C that integrates and processes information from the imaging unit 80A and measurement information from the active sensor unit 80B.

[0082] The imaging unit 80A includes a front camera 81 whose imaging range is set to a predetermined range forward from the cabin 13, a rear camera 82 whose imaging range is set to a predetermined range rearward from the cabin 13, a right camera 83 whose imaging range is set to a predetermined range to the right of the cabin 13, a left camera 84 whose imaging range is set to a predetermined range to the left of the cabin 13, and an image processing device 85 that processes images from each of the cameras 81-84.

[0083] The active sensor unit 80B includes a front lidar sensor 86, the measurement range of which is set to a predetermined range forward from the cabin 13, a rear lidar sensor 87, the measurement range of which is set to a predetermined range rearward from the cabin 13, and a sonar 88, the measurement range of which is set to a predetermined range to the right of the cabin 13 and a predetermined range to the left of the cabin 13. Each lidar sensor 86, 87 includes a measurement unit 86A, 87A that performs measurement in the measurement range using a laser light (e.g., a pulsed near-infrared laser light) which is an example of measurement light, and a lidar control unit 86B, 87B that generates a distance image based on the measurement information from the measurement unit 86A, 87A. The sonar 88 includes a right ultrasonic sensor 88A, a left ultrasonic sensor 88B, and a single sonar control unit 88C.

[0084] The information integration processing unit 80C, the image processing device 85, the lidar control units 86B and 87B, and the sonar control unit 88C are constructed by an electronic control unit in which microcontrollers and the like are integrated, various control programs, etc. The information integration processing unit 80C, the image processing device 85, the lidar control units 86B and 87B, and the sonar control unit 88C are connected to the on-board control unit 23 via CAN so as to be able to communicate with each other.

[0085] The front camera 81 and the rear camera 82 are disposed on the left-right center line of the tractor 1. The front camera 81 is disposed in a left-right center position at the upper part of the front end side of the cabin 13 in a front-down position looking down on the front side of the tractor 1 from an obliquely upward direction. As a result, the front camera 81 sets a predetermined range on the front side of the vehicle body with the left-right center line of the tractor 1 as an axis of symmetry as the imaging range. The rear camera 82 is disposed in a left-right center position at the upper part of the rear end side of the cabin 13 in a rear-down position looking down on the rear side of the tractor 1 from an obliquely upward direction. As a result, the rear camera 82 sets a predetermined range on the rear side of the vehicle body with the left-right center line of the tractor 1 as an axis of symmetry as the imaging range. The right camera 83 is disposed in a front-right center position at the upper part of the right end side of the cabin 13 in a right-down position looking down on the right side of the tractor 1 from an obliquely upward direction. As a result, the right camera 83 sets a predetermined range on the right side of the vehicle body as an imaging range. The left camera 84 is disposed in a center position between the front and rear of the upper left end side of the cabin 13, in a downward-left posture looking diagonally down from above onto the left side of the tractor 1. As a result, the imaging range of the left camera 84 is set to a predetermined range on the left side of the vehicle body.

[0086] In each of the lidar sensors 86, 87, the measurement units 86A, 87A measure the distance from each of the measurement units 86A, 87A to each of the distance measurement points in the measurement range by a TOF (Time Of Flight) method that measures the distance to the distance measurement point based on the round-trip time it takes for the irradiated laser light to reach the distance measurement point and return. Each of the measurement units 86A, 87A performs three-dimensional measurement in each measurement range by scanning the laser light vertically and horizontally at high speed over the entire measurement range and sequentially measuring the distance to the distance measurement point for each scanning angle (coordinate). Each of the measurement units 86A, 87A sequentially measures the intensity of reflected light (hereinafter referred to as reflection intensity) from each of the distance measurement points obtained when the laser light is scanned vertically and horizontally at high speed over the entire measurement range. Each of the measurement units 86A, 87A repeatedly measures the distance to each of the distance measurement points in the measurement range and each reflection intensity in real time. Each lidar control unit 86B, 87B generates a distance image and extracts a group of ranging points that are estimated to be obstacles from measurement information such as the distance to each ranging point measured by each measurement unit 86A, 87A and the scanning angle (coordinates) for each ranging point, and transmits the measurement information regarding the extracted group of ranging points to the information integration processing unit 80C as measurement information regarding obstacle candidates.

[0087] The front lidar sensor 86 and the rear lidar sensor 87 are disposed on the left-right center line of the tractor 1, like the front camera 81 and the rear camera 82. The front lidar sensor 86 is disposed in a left-right center location at the upper part of the front end side of the cabin 13, in a front-down position looking down on the front side of the tractor 1 from an obliquely upward direction. As a result, a predetermined range on the front side of the vehicle body with the left-right center line of the tractor 1 as the axis of symmetry is set as the measurement range of the front lidar sensor 86 by the measurement unit 86A. The rear lidar sensor 87 is disposed in a left-right center location at the upper part of the rear end side of the cabin 13, in a rear-down position looking down on the rear side of the tractor 1 from an obliquely upward direction. As a result, a predetermined range on the rear side of the vehicle body with the left-right center line of the tractor 1 as the axis of symmetry is set as the measurement range of the rear lidar sensor 87 by the measurement unit 87A.

[0088] In the sonar 88, the sonar control unit 88C determines whether or not a measurement object exists within the measurement range based on the transmission and reception of ultrasonic waves by the left and right ultrasonic sensors 88A, 88B. The sonar control unit 88C measures the distance from each ultrasonic sensor 88A, 88B to the measurement object using a TOF (Time Of Flight) method that measures the distance to a ranging point based on the round-trip time it takes for an emitted ultrasonic wave to reach the ranging point and return, and transmits the measured distance to the measurement object and the direction of the measurement object to the information integration processing unit 80C as measurement information related to an obstacle candidate.

[0089] Although not shown in the drawings, the right ultrasonic sensor 88A is attached to the right boarding / alighting step located between the right front wheel 10 and the right rear wheel 11 in a position facing outward to the right of the vehicle body. As a result, a predetermined range on the right outer side of the vehicle body is set as a measurement range for the right ultrasonic sensor 88A. As shown in FIG. 1, the left ultrasonic sensor 88B is attached to the left boarding / alighting step 24 located between the left front wheel 10 and the left rear wheel 11 in a position facing outward to the left of the vehicle body. As a result, a predetermined range on the left outer side of the vehicle body is set as a measurement range for the left ultrasonic sensor 88B.

[0090] The image processing device 85 performs image processing on the images sequentially transmitted from each of the cameras 81 to 84. The image processing device 85 is subjected to a learning process for recognizing people, such as workers working in the field A, other work vehicles, and existing utility poles, trees, and the like in the field A as obstacles.

[0091] The image processing device 85 synthesizes the images transmitted sequentially from each camera 81-84 to generate an all-around image (e.g., a surround view) of the tractor 1, and transmits the generated all-around image and the images from each camera 81-84 to the display control unit 23E of the tractor 1 and the display control unit 51A of the mobile communication terminal 5.

[0092] This allows the entire surrounding image and the image of the traveling direction of the tractor 1 generated by the image processing device 85 to be displayed on the operation terminal 27 of the tractor 1 and the display device 50 of the mobile communication terminal 5. This display allows the user to visually confirm the situation around the tractor 1 and the situation in the traveling direction.

[0093] The image processing device 85 judges whether or not an obstacle that affects the traveling of the tractor 1 is present in the imaging range of any of the cameras 81 to 84 based on the images sequentially transmitted from each of the cameras 81 to 84. If an obstacle is present, the image processing device 85 obtains the coordinates of the obstacle on the image where the obstacle is present, and converts the obtained coordinates of the obstacle into coordinates based on the vehicle body coordinate origin based on the mounting position and mounting angle of each of the cameras 81 to 84. Then, the image processing device 85 obtains the straight-line distance between the converted coordinates and a preset distance calculation reference point as the distance from the distance calculation reference point to the obstacle, and transmits the converted coordinates and the obtained distance to the obstacle to the information integration processing device 80C as information about the obstacle. On the other hand, if no obstacle is present, the image processing device 85 transmits to the information integration processing device 80C that the obstacle has not been detected.

[0094] In this way, when an obstacle is present within any of the imaging ranges of the cameras 81-84, the image processing device 85 transmits information about the obstacle to the information integration processing device 80C, and the information integration processing device 80C, by receiving the information about the obstacle, can grasp that an obstacle is present within the imaging range of any of the cameras 81-84 and can obtain the position of the obstacle and the distance to the obstacle. Also, when an obstacle is not present within the imaging ranges of the cameras 81-84, the image processing device 85 transmits a non-detection of the obstacle to the information integration processing device 80C, and the information integration processing device 80C can grasp that an obstacle is not present within the imaging ranges of the cameras 81-84.

[0095] When information about an obstacle from the imaging unit 80A, which has high object discrimination accuracy, and measurement information about an obstacle candidate from the active sensor unit 80B, which has high distance measurement accuracy, match, the information integration processing unit 80C adopts the distance to the obstacle candidate obtained from the active sensor unit 80B as the distance to the obstacle. This allows the obstacle detection unit 80 to obtain information about an obstacle with high object discrimination accuracy and distance measurement accuracy in the information integration processing unit 80C. The obstacle detection unit 80 transmits the information about the obstacle obtained by the information integration processing unit 80C to the automatic driving control unit 23F.

[0096] The automatic driving control unit 23F executes collision avoidance control to avoid collision with an obstacle based on information about the obstacle from the obstacle detection unit 80. In the collision avoidance control, the automatic driving control unit 23F is configured to acquire the distance to the obstacle based on the information about the obstacle from the obstacle detection unit 80, and appropriately perform various collision avoidance processes such as an alarm process for activating an alarm such as an alarm buzzer or an alarm lamp provided on the tractor 1 and the mobile communication terminal 5, an automatic deceleration process for automatically reducing the vehicle speed of the tractor 1, and an automatic driving stop process for automatically stopping the driving of the tractor 1, depending on the acquired distance to the obstacle.

[0097] In the work vehicle V shown in Fig. 1, the rotary tiller 3A is driven by power taken from a PTO shaft 41 (see Fig. 5) of the tractor 1. As a result, the rotary tiller 3A switches between a driving state in which the tiller rotor 3Aa is driven and a stopped state in which the driving of the tiller rotor 3Aa is stopped by controlling the operation of the work clutch unit 19 by the work implement control unit 23D.

[0098] The rotary tiller 3A is raised and lowered between a working position where the tilling rotor 3Aa is grounded and a retracted position where the tilling rotor 3Aa is lifted, by the operation of the lifting drive unit 20 being controlled by the work implement control section 23D.

[0099] As a result, when the work vehicle V is performing tilling work with the rotary tiller 3A connected to the rear of the tractor 1, the operation of the work clutch unit 19 and the lifting drive unit 20 is controlled by the work implement control unit 23D, thereby switching between a tilling work state in which the rotary tiller 3A is positioned at the work position and driven, and a non-working state in which the rotary tiller 3A is stopped and positioned at the retracted position.

[0100] In the work vehicle V shown in Figure 2, the cultivator 3B is raised and lowered between a working position where each cultivating blade 3Ba is in contact with the ground and a retracted position where each cultivating blade 3Ba is raised by controlling the operation of the lifting drive unit 20 by the work machine control unit 23D.

[0101] When the lifting and lowering operation of the inter-cultivating cultivator 3B is started, the tractor 1 is switched from a traveling state to a temporary stop state by the operation of the main transmission 32 and the brake unit 18 being controlled by the transmission unit control section 23B. When the lifting and lowering operation of the inter-cultivating cultivator 3B is completed, the tractor 1 is switched from a temporary stop state to a traveling state by the operation of the main transmission 32 and the brake unit 18 being controlled by the transmission unit control section 23B.

[0102] As a result, when the work vehicle V is performing tilling work with the tilling cultivator 3B connected to the rear of the tractor 1, the operation of the main transmission 32 and the brake unit 18 is controlled by the transmission unit control unit 23B and the tractor 1 is temporarily stopped, while the operation of the lifting drive unit 20 is controlled by the work implement control unit 23D, thereby switching between a tilling work state in which the tilling cultivator 3B is located in a work position, and a non-working state in which the tilling cultivator 3B is located in a retracted position.

[0103] In the work vehicle V shown in Figure 3, as shown in Figures 3 and 9, the boom sprayer 3C is equipped with a storage tank (an example of a storage section) 3Ca that stores a chemical solution, a first boom 3Cb that extends to the left and right at the lower rear end of the boom sprayer 3C, left and right second booms 3Cc that are connected to both left and right ends of the first boom 3Cb so that they can swing back and forth, a spray pump 3Cd that pressure-feeds the chemical solution in the storage tank 3Ca to multiple spray nozzles 3a provided on each boom 3Cb, 3Cc, and left and right hydraulic boom cylinders (an example of hydraulic operating equipment that functions as operating equipment for work equipment) 3Ce that switch the left and right second booms 3Cc between an deployed state and a stored state.

[0104] The spray pump 3Cd is driven by power extracted from the PTO shaft 41 (see FIG. 5) of the tractor 1. As a result, the work implement control unit 23D controls the operation of the work clutch unit 19, so that the spray pump 3Cd is switched between a drive state in which the chemical solution is pressure-fed to each spray nozzle 3a and a stop state in which pressure-fed chemical solution to each spray nozzle 3a is stopped.

[0105] The left and right boom cylinders 3Ce are connected to a sub-control valve 49 of the tractor 1 via hydraulic piping 53 (see FIG. 9). As a result, the operation of the sub-control valve 49 is controlled by the work implement control unit 23D to control the flow of oil to each boom cylinder 3Ce, thereby switching the left and right second booms 3Cc between a deployed state in which they extend laterally outward from both left and right ends of the first boom 3Cb and a stored state in which they extend forward and upward from both left and right ends of the first boom 3Cb.

[0106] When the switching operation of the left and right second booms 3Cc is started, the tractor 1 is switched from the traveling state to the temporary stop state by the transmission unit control section 23B controlling the operation of the main transmission 32 and the brake unit 18. When the switching operation of the left and right second booms 3Cc is completed, the tractor 1 is switched from the temporary stop state to the traveling state by the transmission unit control section 23B controlling the operation of the main transmission 32 and the brake unit 18.

[0107] As a result, when the work vehicle V is performing spraying work with the boom sprayer 3C connected to the rear of the tractor 1, the operation of the main transmission 32 and brake unit 18 is controlled by the transmission unit control section 23B and the tractor 1 is temporarily stopped, while the operation of the work clutch unit 19 and sub-control valve 49 is controlled by the work implement control section 23D, thereby switching between a spraying work state in which the left and right second booms 3Cc are deployed and the spray pump 3Cd is driven, and a non-working state in which the left and right second booms 3Cc are retracted and the spray pump 3Cd is stopped from being driven.

[0108] In the work vehicle V shown in Fig. 4, the roll baler 3D is equipped with a pickup device 3Da that picks up grass and the like in the field A, a hydraulic lifting cylinder (an example of a hydraulically operated device that functions as a working machine operating device) 3Db that drives the pickup device 3Da to move up and down between a lower working position and an upper retracted position, and a forming section (an example of a storage section) 3Dc that stores the grass and the like picked up by the pickup device 3Da and compresses and molds it into a cylindrical roll bale, as shown in Fig. 4 and 10. The forming section 3Dc is equipped with a front case 3Dd, a rear case 3De connected to the front case 3Dd so as to be swingable open and closed, and a hydraulic opening and closing cylinder (an example of a hydraulically operated device that functions as a working machine operating device) 3Df that drives the rear case 3De to open and close.

[0109] The pickup device 3Da and the forming unit 3Dc are driven by power extracted from the PTO shaft 41 (see FIG. 5) of the tractor 1. As a result, the pickup device 3Da is switched between a driving state in which grass, etc. is picked up and a stopped state in which picking up of grass, etc. is stopped by controlling the operation of the work clutch unit 19 by the work machine control unit 23D. The forming unit 3Dc is switched between a driving state in which picked up grass, etc. is compressed and molded into a roll bale and a stopped state in which the compression and molding is stopped by controlling the operation of the work clutch unit 19 by the work machine control unit 23D.

[0110] The lifting / lowering cylinder 3Db and the opening / closing cylinder 3Df are connected to the sub-control valve 49 of the tractor 1 via hydraulic piping 53 (see FIG. 10). As a result, the work machine control unit 23D controls the operation of the sub-control valve 49, thereby controlling the flow of oil to the lifting / lowering cylinder 3Db, and thereby drives the pickup device 3Da to move up and down between a lower working position and an upper retracted position. The work machine control unit 23D controls the operation of the sub-control valve 49, thereby controlling the flow of oil to the opening / closing cylinder 3Df, and thereby drives the rear case 3De to move up and down between a lower closed position and an upper open position.

[0111] When the opening operation of the rear case 3De is started, the tractor 1 is switched from a traveling state to a temporary stop state by the transmission unit control section 23B controlling the operation of the main transmission 32 and the brake unit 18. When the roll bale in the forming section 3Dc is released by the opening operation of the rear case 3De, the tractor 1 is switched from a temporary stop state to a traveling state by the transmission unit control section 23B controlling the operation of the main transmission 32 and the brake unit 18.

[0112] As a result, during packing work with the roll baler 3D connected to the rear of the tractor 1, the work vehicle V controls the operation of the sub-control valve 49 by the work machine control unit 23D to drive the pickup device 3Da up and down, thereby switching between a packing work state in which the pickup device 3Da picks up grass and the like and the forming unit 3Dc forms and packs a roll bale, and a non-working state in which the pickup device 3Da does not pick up grass and the forming unit 3Dc stops compressing and forming the roll bale. Also, the speed change unit control unit 23B controls the operation of the main speed change device 32 and the brake unit 18 to control the travel of the tractor 1, and the work machine control unit 23D controls the operation of the sub-control valve 49 to drive the rear case 3De to open and close, thereby switching between the above-mentioned packing work state and a discharging state in which the packed roll bale is discharged.

[0113] As shown in Fig. 9, the boom sprayer 3C is provided with a remaining amount sensor (an example of a detector) 3Cf that detects when the amount of chemical solution stored in the storage tank 3Ca reaches a lower limit. As shown in Fig. 10, the roll baler 3D is provided with a full amount sensor (an example of a detector) 3Dg that detects when the amount of grass or the like stored in the forming section 3Dc reaches an upper limit (full).

[0114] As shown in Figs. 9-10, the work vehicle V has a communication system 70 that enables information about the work machine 3 to be transmitted from the work machine 3 to the tractor 1 in conjunction with the connection of the work machine 3 to the tractor 1. The communication system 70 is constructed by connecting the on-board control unit 23 of the tractor 1 to a control unit provided in the work machine 3 or a detector such as the remaining amount sensor 3Cf or the full sensor 3Dg described above via an information communication cable 71 or a connector 72. As a result, when the boom sprayer 3C is connected to the tractor 1, the on-board control unit 23 can detect whether the chemical solution stored in the storage tank 3Ca has reached the lower limit for replenishment. Also, when the roll baler 3D is connected to the tractor 1, it can detect whether the grass stored in the forming section 3Dc is full.

[0115] Furthermore, with regard to the communication system 70, by making the on-board control unit 23 and operation terminal 27 on the tractor 1 side, the control unit on the work machine 3 side, and the connector 72, etc., ISOBUS-compatible devices, it is possible to enable bidirectional communication between the tractor 1 and the work machine 3 for various information such as command information from the tractor 1 and the status of the work machine 3.

[0116] As described above, in the target route P shown in Fig. 7, multiple parallel routes P1 are set as work routes, and multiple connection routes P2 that connect the multiple parallel routes P1 in the travel order of the work vehicle V are set as non-work routes. Therefore, the end position p4 of each parallel route P1 is set as a work stop position where the work of the work vehicle V stops. In addition, the start position p3 of each parallel route P1 is set as a work start position where the work vehicle V starts work. And the end position p4 of each parallel route P1 functions as a switching point that commands the automatic driving control unit 23F to switch the work vehicle V between a working state and a non-working state.

[0117] When the work vehicle V reaches a switching point during automatic travel of the work vehicle V, the automatic travel control unit 23F switches the work vehicle V between a working state and a non-working state based on an operation sequence corresponding to the work machine set according to the work machine 3 connected to the tractor 1. Furthermore, when the automatic travel control unit 23F detects that the forming unit 3Dc is full based on detection information from the fullness sensor 3Dg during packing work with the roll baler 3D connected to the rear of the tractor 1, it switches the work vehicle V between a packing work state and a discharging state based on an operation sequence for discharging a roll bale corresponding to the roll baler 3D. Operation sequences corresponding to the work machines, including those for discharging a roll bale, are stored in the on-board memory unit 23G.

[0118] As shown in Figs. 11 to 14, the operation sequence corresponding to the work machine can be displayed on the display device 27A of the operation terminal 27, etc. As shown in Figs. 9 to 10, the operation terminal 27 is provided with an information input unit 27B that functions as a work machine information input unit that enables input of work machine information including the type of the work machine 3. When work machine information is input on the information input unit 27B in a state in which the operation terminal 27 is switched to an operation sequence display mode in which an operation sequence corresponding to the work machine is displayed by a predetermined operation on the operation terminal 27, the display control unit 23E switches the display screen of the display device 27A in the operation terminal 27 to an operation sequence display screen in which the operation sequence corresponding to the work machine is displayed, and reads out the operation sequence corresponding to the work machine information from the in-vehicle storage unit 23G and displays it on the operation sequence display screen.

[0119] 11 to 14, the operation sequence display screen of the display device 27A includes a first display area 27a that displays route information and operation standards of the work vehicle V when switching the state of the work vehicle V, and a second display area 27b that displays the operation sequence. As a result, on the operation sequence display screen, the operation sequence when switching the state of the work vehicle V is displayed in a state associated with the route along which the work vehicle V will travel at that time. The second display area 27b includes an operation order display section 27c that displays the operation items required to switch the state of the work vehicle V in the order of operation, and an operation display section 27d that displays the operation timing and operation period for each operation item in blocks to make them easy to understand.

[0120] In FIG. 11, a first operation sequence when the work vehicle V is switched between a tilling operation state and a non-working state when the work implement 3 is a rotary tiller 3A is displayed in a state associated with the route along which the work vehicle V travels at that time. In FIG. 12, a second operation sequence when the work vehicle V is switched between a tilling operation state and a non-working state when the work implement 3 is a tiller 3B is displayed in a state associated with the route along which the work vehicle V travels at that time. In FIG. 13, a third operation sequence when the work vehicle V is switched between a spraying operation state and a non-working state when the work implement 3 is a boom sprayer 3C is displayed in a state associated with the route along which the work vehicle V travels at that time. In FIG. 14, a fourth operation sequence when the work vehicle V is switched between a packing operation state and a non-working state when the work implement 3 is a roll baler 3D is displayed in a state associated with the route along which the work vehicle V travels at that time. In addition, a fifth operation sequence for switching the work vehicle V between a packing operation state and a discharging state when the work machine 3 is a roll baler 3D is displayed in correspondence with the route that the work vehicle V will travel at that time.

[0121] In the first operation sequence shown in FIG. 11, the boundary between the working area A2b and the non-working area A2a in the field A is set to the operation reference Os. The end position p4 of the parallel path P1 is set to the first operation reference position a, and the start position p3 of the parallel path P1 is set to the second operation reference position b. As the first operation in the first operation sequence, a work machine stop operation for stopping the drive of the rotary tiller 3A is set. As the second operation, a work machine lifting operation for lifting the rotary tiller 3A to a non-working position is set. As the third operation, a work machine lowering operation for lowering the rotary tiller 3A to a working position is set. As the fourth operation, a work machine driving operation for driving the rotary tiller 3A is set. The first operation sequence is set up so that a work machine stopping operation and a work machine raising operation are performed when the rotary tiller 3A reaches the first operation reference position a, and then a work machine lowering operation is performed at a predetermined timing a predetermined time or distance back from the second operation reference position b so that the rotary tiller 3A is located at the working position when the rotary tiller 3A reaches the second operation reference position b, and a work machine driving operation is performed at a predetermined timing so that the rotary tiller 3A is driven until it descends to the working position.

[0122] In the second operation sequence shown in FIG. 12, the boundary between the working area A2b and the non-working area A2a in the field A is set to the operation standard Os. In addition, the end position p4 of the parallel path P1 is set to the first operation standard position a, and the start position p3 of the parallel path P1 is set to the second operation standard position b. And, as the first operation in the second operation sequence, a traveling temporary stop operation for temporarily stopping the traveling of the tractor 1 is set. As the second operation, a working implement raising operation for raising the inter-cultivating cultivator 3B to a non-working position is set. As the third operation, a traveling restart operation for restarting the traveling of the tractor 1 is set. As the fourth operation, the traveling temporary stop operation described above is set. As the fifth operation, a working implement lowering operation for lowering the inter-cultivating cultivator 3B to a working position is set. As the sixth operation, the traveling restart operation described above is set. The second operation sequence is set so that a traveling temporary stop operation is performed at a predetermined timing so that the tractor 1 stops temporarily when the tilling cultivator 3B reaches the first operation reference position a, a work implement raising operation is performed while the traveling body 1 is temporarily stopped, a traveling resume operation is performed after the work implement 3 is raised, and then a traveling temporary stop operation is performed at a predetermined timing a predetermined time or distance back from the second operation reference position b so that the tractor 1 stops temporarily when the tilling cultivator 3B reaches the second operation reference position b, a work implement lowering operation is performed while the traveling body 1 is temporarily stopped, and a traveling resume operation is performed after the work implement 3 is lowered.

[0123] In the third operation sequence shown in FIG. 13, the boundary between the working area A2b and the non-working area A2a in the field A is set as the operation standard Os. The end position p4 of the parallel path P1 is set as the first operation standard position a, and a position separated by a predetermined distance L1 from the first operation standard position a on the downstream side in the traveling direction is set as the second operation standard position b. Furthermore, a position separated by a predetermined distance L1 from the start end position p3 of the parallel path P1 on the upstream side in the traveling direction is set as the third operation standard position c, and the start end position p3 of the parallel path P1 is set as the fourth operation standard position d. And, the above-mentioned traveling temporary stop operation is set as the first operation in the third operation sequence. The spray stop operation that stops spraying by the boom sprayer 3C is set as the second operation. The boom storage operation that switches the left and right second booms 3Cc from the deployed state to the stored state is set as the third operation. The above-mentioned traveling temporary stop operation is set as the fourth operation. As the sixth operation, a boom unfolding operation is set to switch the left and right second booms 3Cc from a stored state to a deployed state. As the seventh operation, a spray start operation is set to start spraying by the boom sprayer 3C. As the eighth operation, the above-mentioned traveling restart operation is set. As the third operation sequence, a traveling temporary stop operation is performed at a predetermined timing so that the tractor 1 is temporarily stopped when the boom sprayer 3C reaches the second operation reference position b, and while the tractor 1 is temporarily stopped, a spray stop operation is first performed, then a boom storage operation is performed, and after that, a traveling restart operation is performed to resume the traveling of the traveling body 1, and then a traveling temporary stop operation is performed at a predetermined timing back by a predetermined time or a predetermined distance from the third operation reference position c so that the tractor 1 is temporarily stopped when the boom sprayer 3C reaches the third operation reference position c, and while the tractor 1 is temporarily stopped, a boom unfolding operation is first performed, then a spray start operation is performed, and then a traveling restart operation is performed.

[0124] In the fourth operation sequence shown in FIG. 14, the boundary between the working area A2b and the non-working area A2a in the field A is set as the operation reference Os. The end position p4 of the parallel path P1 is set as the first operation reference position a, and the start position p3 of the parallel path P1 is set as the second operation reference position b. As the first operation in the fourth operation sequence, a pickup lifting operation for lifting the pickup device 30Da to the non-working position is set. As the second operation, a pickup lowering operation for lowering the pickup device 30Da to the working position is set. As the fourth operation sequence, the pickup device 30Da is set to perform a work machine lifting operation at the timing when the pickup device 30Da reaches the first operation reference position a, and to perform a work machine lowering operation at a predetermined timing that is a predetermined time or a predetermined distance back from the second operation reference position b so that the pickup device 30Da is located at the working position at the timing when the pickup device 30Da reaches the second operation reference position b.

[0125] In the fifth operation sequence shown in FIG. 14, the on / off operation of the full sensor 3Dg is set as the operation standard Os. The first operation in the fifth operation sequence is the above-mentioned traveling pause operation. The second operation is a rear case lifting operation for lifting the rear case 3De to the open position. The third operation is a rear case lowering operation for lowering the rear case 3De to the closed position. The fourth operation is the above-mentioned traveling resume operation. The fifth operation sequence is set so that the traveling pause operation is performed at the timing when the full sensor 3Dg detects that the forming section 3Dc is full, and then the rear case lifting operation is performed, and then the rear case lowering operation is performed at the timing when the full sensor 3Dg no longer detects that the forming section 3Dc is full, and then the traveling resume operation is performed.

[0126] In other words, in the first and second operation sequences, only operations by vehicle body side operating equipment such as the work clutch unit 19, lifting drive unit 20, main transmission 32, and brake unit 18 provided on the traveling body 1 are included in the operation sequence, but in the third to fifth operation sequences, in addition to operations by the vehicle body side operating equipment, the operation sequence corresponding to the work equipment can include operations of the work equipment 3 by hydraulic operating equipment on the work equipment side such as the boom cylinder 3Ce, lifting cylinder 3Db, and opening / closing cylinder 3Df, whose operation is controlled by a sub-control valve 49 provided on the traveling body 1.

[0127] As shown in Figs. 9 and 10, the automatic driving control unit 23F includes an optional setting unit 23Fa that enables optional setting of an operation sequence corresponding to the work machine, which is set according to the work machine 3 in order to switch the state of the work vehicle V. The optional setting unit 23Fa is activated when a predetermined operation for activating the optional setting unit 23Fa is performed on the operation terminal 27 in a state in which the display screen of the display device 27A in the operation terminal 27 is switched to the operation sequence display screen. Then, upon activation, the optional setting unit 23Fa performs an optional setting item confirmation process that confirms with the user whether or not to execute optional setting of the operation sequence.

[0128] Hereinafter, the control operation of the optional setting section 23Fa in the optional setting item confirmation process will be described with reference to the flowchart of FIG.

[0129] As shown in Figures 11 to 14, the optional setting unit 23Fa performs a confirmation information display process (step #1) in which an operation sequence corresponding to the work machine is displayed on the operation sequence display screen of the display device 27A, and comments (not shown) for confirming with the user whether or not to perform optional setting of the operation sequence and the setting method if optional setting is performed, an execute button 27e and an execute stop button 27f for replying to the comment, and a first selection button 27g and a second selection button 27h for selecting the setting method if optional setting is performed. The arbitrary setting unit 23Fa performs a first determination process of determining whether the execution button 27e or the execution stop button 27f has been operated (step #2). If the execute button 27e is operated in the first judgment process (Yes), the optional setting unit 23Fa performs a second judgment process to determine whether the first selection button 27g or the second selection button 27h has been operated (step #3). If the execution stop button 27f is operated in the first determination process (No), the optional setting unit 23Fa ends the optional setting item confirmation process. When the first selection button 27g is operated in the second judgment process, the optional setting unit 23Fa executes the first setting method as the optional setting method, and when the second selection button 27h is operated, it executes the second setting method as the optional setting method. The first setting method is a method in which the user operates the information input section 27B of the operation terminal 27 to input information regarding the arbitrary setting of the operation sequence to the arbitrary setting section 23Fa, and the arbitrary setting section 23Fa arbitrarily sets the operation sequence based on the input information. The second setting method is a method in which, when a user manually drives the work vehicle V and performs a manual operation to switch the state of the work vehicle V, the arbitrary setting unit 23Fa arbitrarily sets an operation sequence corresponding to the work machine by recording the operation procedure and operation timing at that time.

[0130] Thereby, in order to switch the display screen of the display device 27A in the operation terminal 27 to the operation sequence display screen, the user inputs work machine information using the information input section 27B of the operation terminal 27, and then performs a predetermined operation on the operation terminal 27 to activate the optional setting section 23Fa, and by operating the execution stop button 27f displayed upon this activation, the user can set the operation sequence corresponding to the work machine read out from the on-board memory section 23G as the operation sequence to be executed.

[0131] In addition, when the user operates the execute button 27e and the first selection button 27g after starting the optional setting unit 23Fa, the user can operate the information input unit 27B of the operation terminal 27 to input information regarding the optional setting of the operation sequence to the optional setting unit 23Fa, thereby arbitrarily setting the operation sequence corresponding to the work machine read out from the on-board memory unit 23G.

[0132] In this case, the optional setting process described below can be performed on the operation sequence corresponding to the work machine. (1) An operation increase / decrease setting process for arbitrarily adding or deleting the operation of the traveling body 1 or the operation of the work machine 3 included in the operation sequence corresponding to the work machine by adding or deleting operation items in the operation order display section 27c. (2) An operation order setting process for arbitrarily setting the order of the operations of the traveling body 1 and the operation of the work machine 3 performed in the operation sequence corresponding to the work machine by changing the order of the operation items in the operation order display section 27c. (3) An operation timing / operation period setting process for arbitrarily setting the operation timing, operation period, etc. of the operation of the traveling body 1 and the operation of the work machine 3 based on the distance or time based on each operation reference position a to d by adding or deleting the number of blocks arranged based on each operation reference position a to d and operation reference Os displayed on the operation display unit 27d. (4) Customization processing such as making modifications to the operation procedures and operation timings of the operation sequence corresponding to the work machine arbitrarily set by the second setting method, or manually re-entering the entire operation sequence.

[0133] In addition, the first setting method includes an optional setting invalidation process that invalidates the optional setting operation for an operation item that is set to be unable to be arbitrarily set depending on the work machine 3 (such as the traveling pause operation in the second operation sequence shown in Figure 12).

[0134] On the other hand, if the user operates the execute button 27e and the second selection button 27h after starting the optional setting unit 23Fa, the user can manually drive the work vehicle V and perform a manual operation to switch the state of the work vehicle V, thereby arbitrarily setting an operation sequence corresponding to the work machine. In this case, since it is not necessary to manually input the operation procedure and operation timing for switching the state of the work vehicle V into the operation terminal 27, the effort required when arbitrarily setting an operation sequence corresponding to the work machine can be significantly reduced.

[0135] In other words, by providing the optional setting unit 23Fa, even when the work vehicle V is automatically driven using the automatic driving unit 4 for the work vehicle, the work vehicle V can be switched between a working state and a non-working state, and between a packing work state and a discharging state, based on an operation sequence corresponding to the work machine that the user has arbitrarily set taking into account the field condition, workability, etc.

[0136] In particular, in a work vehicle V equipped with a boom sprayer 3C shown in Figure 3 or a roll baler 3D shown in Figure 4, in addition to the operation of the work equipment 3 by vehicle-side operating equipment such as the work clutch unit 19 and the lifting drive unit 20, the work vehicle V can be switched between a working state and a non-working state, and between a packaging state and a discharging state, based on an operating sequence corresponding to the work equipment that is arbitrarily set by the user, in a state including the operation of the work equipment 3 by hydraulic operating equipment on the work equipment side such as the boom cylinder 3Ce, the lifting cylinder 3Db, and the opening / closing cylinder 3Df, whose operation is controlled by a sub-control valve 49 provided on the traveling body 1.

[0137] As shown in Figure 3, the boom sprayer 3C is equipped with a remaining amount sensor 3Cf, and the roll baler 3D shown in Figure 4 is equipped with a full sensor 3Dg. Therefore, in a work vehicle V equipped with a boom sprayer 3C or a roll baler 3D, it is possible to arbitrarily set an operating sequence corresponding to the work machine based on the distance or time based on the on / off operation (detection point) of the remaining amount sensor 3Cf or full sensor 3Dg.

[0138] FIG. 15 shows an example of the case where the fifth operation sequence shown in FIG. 14 is arbitrarily set based on the distance or time based on the on / off operation of the full sensor 3Dg. In the fifth operation sequence after the arbitrary setting shown in FIG. 15, the on / off operation of the full sensor 3Dg is set to the operation standard Os. Also, the vehicle body position (on operation position) at the time when a predetermined time has elapsed from the on operation of the full sensor 3Dg is set to the operation standard position c. And, as the first operation in the fifth operation sequence after the arbitrary setting, the traveling temporary stop operation described above is set. As the second operation, the rear case raising operation for raising the rear case 3De to the open position is set. As the third operation, the traveling restart operation described above is set. As the fourth operation, the rear case lowering operation for lowering the rear case 3De to the closed position is set. Incidentally, the predetermined time from the on operation of the full sensor 3Dg described above is set to the time required for the traveling vehicle body 1 to temporarily stop and the rear case 3De to reach the open position. The fifth operation sequence after the optional setting is set so that when the full sensor 3Dg detects that the forming section 3Dc is full, a temporary stop operation is performed, followed by a rear case lifting operation, and then when the rear case lifting operation is completed, a temporary stop operation is performed when a predetermined distance L2 has been traveled, and then when the full sensor 3Dg no longer detects that the forming section 3Dc is full while the tractor 1 is temporarily stopped, a rear case lowering operation is performed.

[0139] In other words, in the fifth operating sequence after the optional setting shown in Figure 15, the traveling body 1 is caused to travel with the rear case 3De positioned in the upper open position, thereby facilitating the release of the roll bale from the forming section 3Dc.

[0140] [Another embodiment] Another embodiment of the present invention will now be described. The configurations of the respective alternative embodiments described below are not limited to being applied alone, but may also be applied in combination with the configurations of other alternative embodiments.

[0141] (1) The configuration of the work vehicle V can be modified in various ways. For example, the work vehicle V may be configured as a semi-crawler vehicle having left and right crawlers instead of the left and right rear wheels 11. For example, the work vehicle V may be configured as a full crawler vehicle having left and right crawlers in place of the left and right front wheels 10 and the left and right rear wheels 11. For example, the work vehicle V may be configured to be electrically powered and equipped with an electric motor instead of the engine 14. For example, the work vehicle V may be configured as a hybrid vehicle equipped with an engine 14 and an electric motor.

[0142] (2) The display control unit 23E and the optional setting unit 23Fa may be configured to utilize a communication system 70 equipped with an ISOBUS-compatible device to acquire information about the work machine 3 connected to the tractor 1 and automatically read out an operation sequence for the work machine corresponding to the acquired information from the on-board memory unit 23G. [Explanation of symbols]

[0143] 1 Running vehicle 3. Work equipment 3Ca storage tank (storage section) 3Ce Boom cylinder (operating device for work equipment, hydraulic operating device) 3Cf remaining amount sensor (detector) 3Db Lifting Cylinder (operating device for work equipment, hydraulic operating device) 3Dc molding section (storage section) 3Df Opening and closing cylinders (operating devices for work machines, hydraulic operating devices) 3Dg full sensor (detector) 18 Brake unit (driving device) 19 Working clutch unit (operating device for working machines) 20 Lifting drive unit (operating device for work equipment) 23F Automatic driving control unit 23Fa arbitrary setting section 23G storage section 27B Information input section 32 Main transmission (driving device) 33 Forward / forward switching device (driving operating device), 49 Sub-control valve (operating device for work equipment, operating device for hydraulic control) 70 Communication Systems P Target Route V Work vehicle a Operating reference position b Operating reference position c Operation reference position (detection time) d Operating reference position

Claims

1. an automatic driving control unit that automatically drives a work vehicle having a traveling body and a work implement connected to the traveling body along a target route; A plurality of electronically controllable operating devices including a traveling operating device for operating the traveling vehicle body and a working machine operating device for operating the working machine; An arbitrary setting unit that enables an arbitrary setting of an operation sequence corresponding to the work machine, the operation sequence being set according to the work machine, The automatic travel control unit controls the operation of the operating equipment based on the operation sequence corresponding to the work machine arbitrarily set by the arbitrary setting unit to operate the traveling vehicle body and the work machine, The working machine is provided with a detector that outputs to the arbitrary setting unit that a storage amount in a storage unit of the working machine has reached a limit value, The arbitrary setting unit enables arbitrary setting of an operation sequence corresponding to the work machine based on either or both of a distance and a time based on a detection time point of the detector, An automated driving unit for work vehicles.

2. The automatic driving unit for a work vehicle as described in claim 1, wherein the arbitrary setting unit arbitrarily sets an operation sequence corresponding to the work machine by recording an operation procedure and an operation timing when a manual operation is performed to switch the state of the work vehicle.

3. The automatic driving unit for a work vehicle according to claim 2 , wherein the optional setting unit enables customization of the operation procedure and the operation timing.

4. The target path includes a motion reference position for setting a motion sequence corresponding to the work machine, The automatic driving unit for a work vehicle described in any one of claims 1 to 3, wherein the arbitrary setting unit makes it possible to arbitrarily set an operation sequence corresponding to the work machine based on either or both of a distance and a time based on the operation reference position.

5. A storage unit that stores an operation sequence corresponding to the work machine that is arbitrarily set for each of the work machines that can be attached to and detached from the traveling vehicle body; A work machine information input unit that enables input of work machine information including the type of the work machine, The automatic driving unit for a work vehicle described in any one of claims 1 to 4, wherein the arbitrary setting unit reads out from the memory unit and sets an operation sequence corresponding to the work machine information based on the work machine information input via the work machine information input unit.

6. A storage unit that stores an operation sequence corresponding to the work machine that is arbitrarily set for each of the work machines that can be attached to and detached from the traveling vehicle body; a communication system that transmits information about the work machine from the work machine to the traveling vehicle body in conjunction with the connection of the work machine to the traveling vehicle body, An autonomous driving unit for a work vehicle as described in any one of claims 1 to 4, wherein the arbitrary setting unit reads out from the memory unit and sets an operation sequence corresponding to the work machine based on information regarding the work machine obtained via the communication system.

7. The automatic driving unit for a work vehicle described in any one of claims 1 to 6, wherein the operating equipment for the work machine includes an operating equipment for hydraulic control provided on the traveling vehicle body, and a hydraulic operating equipment provided on the work machine and the operation of which is controlled by the operating equipment for hydraulic control.

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