Autonomous driving method, work vehicle, and automated driving system

Abstract

To provide an automated travelling method, a working vehicle, and an automated travelling system capable of performing efficiently work regardless of an outer peripheral shape of a farm field when making an automated travel along a previously set target travelling route.SOLUTION: A rice planter 1 being a working vehicle includes a control device 40 and a portable terminal 5. The portable terminal 5 includes a control device 50. The control device 50 functions as a route creation unit 55 which creates, in a farm field, a target travelling route 60 containing a plurality of unit routes 61 each comprising a plurality of straight routes 62 and turning routes 63 connecting the straight routes 62, and previously sets turning start points 66 and turning end points 67 of the turning routes 63 in the unit travelling route 61. The control device 40 functions as a travel control device 45 which allows the rice planter 1 to make automated travel along the target travelling route 60, and further functions as a route changing unit 56 which changes a turning start point 66 of the unit route 61 in response to prescribed operation of the rice planter 1 being travelling on the straight route 62 of the unit route 61.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an automatic driving method, a work vehicle, and an automatic driving system for automatically driving a work vehicle in a field. [Background technology]

[0002] Conventionally, work vehicles such as rice transplanters that work in farm fields are equipped with a positioning unit that uses a positioning system to acquire position information of the work vehicle, identify the outer perimeter shape of the farm field, set a target driving route in advance based on the outer perimeter shape, and automatically drive along the target driving route.

[0003] For example, the work vehicle disclosed in Patent Document 1 is equipped with a work device that performs work on a field, a positioning unit that detects the position of the traveling machine body, a work travel line acquisition unit that acquires the work travel line along which the traveling machine body travels, and an automatic travel control unit that automatically operates the transmission for traveling of the traveling machine body and steers the traveling machine body so that the traveling machine body travels along the work travel line at a first set speed set in advance based on the position of the traveling machine body. In addition, this work vehicle is equipped with a turning line acquisition unit that acquires a turning line connecting the end of the work travel line and the end of the next work travel line, and an automatic turning control unit that automatically operates the transmission and steers the traveling machine body so that the traveling machine body travels along the turning line at a second set speed set in advance based on the position of the traveling machine body. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-117560 A Summary of the Invention [Problem to be solved by the invention]

[0005] The outer shape of the field is specified by a regression line or the like based on the measurement points of the position information on the travel path when the work vehicle travels along the outer periphery of the field. However, the ridges that make up the field are not only formed linearly, but also formed with parts where the edge of the ridge protrudes inward to provide a water intake or parts where the edge protrudes outward due to the presence of a recessed space, making it difficult to accurately specify the outer shape of the field. Therefore, if a target travel route consisting of a straight path and a turning path is set in advance to work the entire field based on the outer shape of the field specified by a regression line or the like, when the vehicle travels automatically along this target travel route, there is a possibility that the vehicle will come into contact with an obstacle such as a water intake or that travel in a recessed space will be excluded. In other words, there is a risk that the work efficiency of an automatically traveling work vehicle will decrease depending on the outer shape of the field consisting of ridges or the like.

[0006] The present invention aims to provide an automatic driving method, work vehicle, and automatic driving system that can perform work efficiently regardless of the outer shape of a field when performing automatic driving along a predetermined target driving route. [Means for solving the problem]

[0007] In order to solve the above problems, the automatic driving method of the present invention is an automatic driving method for automatically driving a work vehicle in a farm field, and is characterized in having a route creation process for creating a target driving route within the farm field having a plurality of unit routes each consisting of a plurality of straight routes and a turning route connecting the straight routes, and presetting a turning start position and a turning end position of the turning route on the unit route, an automatic driving process for automatically driving the work vehicle along the target driving route, and a route changing process for changing the turning start position on the unit route in accordance with a predetermined operation of the work vehicle traveling on the straight route of the unit route.

[0008] In addition, in order to solve the above problems, the work vehicle of the present invention is a work vehicle that automatically travels in a farm field, and is characterized in that it comprises a route creation unit that creates a target travel route within the farm field having a plurality of unit routes consisting of a plurality of straight routes and turning routes connecting the straight routes, and pre-sets a turning start position and a turning end position of the turning route on the unit route, a travel control unit that automatically travels the work vehicle along the target travel route, and a route change unit that changes the turning start position on the unit route in accordance with a predetermined operation of the work vehicle traveling on the straight route of the unit route.

[0009] In addition, in order to solve the above problems, the automatic driving system of the present invention is an automatic driving system that automatically drives a work vehicle in a farm field, and is characterized in that it comprises a route creation unit that creates a target driving route within the farm field having a plurality of unit routes each consisting of a plurality of straight routes and a turning route connecting the straight routes, and pre-sets a turning start position and a turning end position of the turning route on the unit route, a driving control unit that automatically drives the work vehicle along the target driving route, and a route change unit that changes the turning start position on the unit route in accordance with a predetermined operation of the work vehicle traveling on the straight route of the unit route. Effect of the Invention

[0010] The present invention provides an automatic driving method, work vehicle, and automatic driving system that can perform work efficiently regardless of the outer shape of a field when performing automatic driving along a predetermined target driving route. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a side view of a rice transplanter according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a top view of a rice transplanter according to an embodiment of the present invention. [Diagram 3] FIG. 1 is a block diagram of a rice transplanter according to an embodiment of the present invention. [Figure 4] FIG. 1 is a plan view showing an example of a field in which a rice transplanter according to an embodiment of the present invention operates. [Diagram 5] FIG. 11 is a plan view showing another example of a field in which the rice transplanter according to the embodiment of the present invention works. [Figure 6] FIG. 11 is a plan view showing another example of a field in which the rice transplanter according to the embodiment of the present invention works. [Figure 7] 13 is a flowchart showing an example of an operation of performing a third turning operation during automatic traveling by the rice transplanter according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The work vehicle of the present invention performs work such as planting while traveling in a field to be worked on, by automatic driving or manual operation, and in particular performs automatic traveling along a preset target traveling route 60 (see FIG. 4, etc.). A rice transplanter 1, which is one embodiment of the work vehicle of the present invention, will be described with reference to the drawings. As shown in FIGS. 1 and 2, the rice transplanter 1 comprises a vehicle body section 2 and a planting section 3, and is configured to perform planting work of seedlings by the planting section 3 while traveling by the vehicle body section 2. The rice transplanter 1 is equipped with a control device 40, and is also configured to be able to communicate with a mobile terminal 5 held by the operator.

[0013] The rice transplanter 1 is set to one of two driving modes: a manual driving mode and an automatic driving mode. When the manual driving mode is set, the rice transplanter 1 is driven manually in response to the operation of the driving operation tool by the operator. On the other hand, when the automatic driving mode is set, the rice transplanter 1 is controlled by the control device 40 to automatically drive the rice transplanter 1 along a target driving route 60 (see FIG. 4, etc.) created in advance by the mobile terminal 5.

[0014] As shown in FIG. 1, the vehicle body 2 includes an engine 11 mounted at the front near the center in the left-right direction, a transmission 12 mounted behind the engine 11, a pair of front wheels 13 rotatably mounted at both left-right ends to the front, and a pair of rear wheels 14 rotatably mounted at both left-right ends to the rear.

[0015] The vehicle body 2 has a driver's seat 15 near the center, and around the driver's seat 15, there are driving operation tools such as a steering wheel 16, a gear shift operation pedal 17, and a main gear shift lever 18, as well as a work operation unit 19 and a display device 20 (see Figure 3). The vehicle body 2 has a number of spare seedling trays 22 in the front, and also has a positioning unit 23.

[0016] The engine 11 generates rotational power to drive each part, and is covered from above by a bonnet 24. The transmission 12 is connected to the engine 11, and transmits the power of the engine 11 at a variable speed to a pair of front wheels 13 and a pair of rear wheels 14. The transmission 12 is also connected to a power take-off shaft (PTO shaft) 25 provided at the rear of the vehicle body 2, and transmits the power of the engine 11 to the planting unit 3 via the PTO shaft 25.

[0017] The pair of front wheels 13 and the pair of rear wheels 14 are driven to rotate in response to power transmitted from the engine 11 and the transmission 12, causing the vehicle body 2 to travel forward or backward. In addition, the pair of front wheels 13 are steered in response to the operation of a steering handle 16, thereby steering the vehicle body 2.

[0018] The steering handle 16 is an operating tool for the operator to steer the rice transplanter 1, and is disposed in front of the driver's seat 15. The steering transmitted to the pair of front wheels 13 is adjusted in response to the rotation of the steering handle 16 by the operator. The speed change pedal 17 is an operating tool for the operator to adjust the traveling speed of the rice transplanter 1, and is disposed in the lower front part of the driver's seat 15. The rotational power transmitted to the pair of rear wheels 14 is adjusted in response to the operator's depressing operation of the speed change pedal 17. The main speed change lever 18 is disposed on the left side of the steering handle 16, and transmits the speed change operation by the operator to the transmission 12 to switch the rice transplanter 1 between forward travel, reverse travel, and stop, and also to switch the forward set speed or reverse set speed. For example, the main speed change lever 18 is switched to any one of the "forward" position, the "reverse" position, and the "stop" position to switch between forward travel, reverse travel, and stop.

[0019] The operation operation unit 19 operates the planting work by the planting unit 3, and has, for example, a row stop switch that switches planting of each row on / off. The display device 20 displays various information related to the travel and work of the rice transplanter 1, and is composed of, for example, a liquid crystal display or an organic EL display.

[0020] The multiple spare seedling trays 22 are attached at intervals in the vertical direction to spare seedling tray frames erected on both the left and right sides of the bonnet 24, and seedling mats to be replenished in the planting section 3 are placed on them.

[0021] The positioning unit 23 is configured to acquire position information of the rice transplanter 1 using a satellite positioning system such as GNSS, receives a positioning signal from a positioning satellite via a positioning antenna, and acquires position information of the positioning unit 23, i.e., the position information of the rice transplanter 1, based on the positioning signal.

[0022] The planting section 3 is disposed at the rear of the vehicle body section 2 and is connected to the vehicle body section 2 via a lifting link mechanism 27, which allows the planting section 3 to be raised and lowered relative to the vehicle body section 2. The planting section 3 includes a planting input case section 28, a plurality of (e.g., three) planting units 29, a seedling carrier 30, and a plurality of floats 31, and is configured to sequentially supply seedlings from the seedling carrier 30 to each planting unit 29 to perform planting work. The planting input case section 28 is configured to transmit power transmitted from the transmission 12 via the PTO shaft 25 to the plurality of planting units 29.

[0023] The multiple planting units 29 are arranged at intervals in the left-right direction, and each planting unit 29 includes a planting transmission case section 32 and a rotating case section 33. The front section of the planting transmission case section 32 is connected to the planting input case section 28, and power is transmitted via the planting input case section 28. The rotating case sections 33 are provided on both the left and right sides of the planting transmission case section 32, and are rotatably attached to the rear section of the planting transmission case section 32. Two planting claws 34 are attached to the outside of each rotating case section 33 in the left-right direction (the side opposite to the planting transmission case section 32 side).

[0024] The two planting claws 34 are rotatably attached to the rotating case part 33 at both ends of the rotating case part 33 spaced apart from the rotation axis of the rotating case part 33 relative to the planting transmission case part 32. When the rotating case part 33 rotates relative to the planting transmission case part 32, the two planting claws 34 rotate around the rotation axis of the rotating case part 33. At this time, each planting claw 34 rotates while passing through a scraping position where the seedlings are scraped off the seedling mat of the seedling carrier 30 and a planting position where the seedlings are planted in the field.

[0025] The seedling carrier 30 is disposed above and in front of the multiple planting units 29 and is configured to allow a seedling mat to be placed thereon.

[0026] The float 31 is provided at the bottom of the planting section 3 so as to be able to swing, and when the bottom surface of the float 31 comes into contact with the surface of the field, the planting posture of the planting section 3 becomes stable relative to the surface of the field.

[0027] Next, the mobile terminal 5 will be described. The mobile terminal 5 is one of the components of the rice transplanter 1 and is a terminal capable of remotely operating the rice transplanter 1, and is configured, for example, as a tablet terminal equipped with a touch panel or a notebook-type personal computer. Note that an operation device similar to the mobile terminal 5 may be provided around the driver's seat 15. In the present invention, the rice transplanter 1 and the mobile terminal 5 configure an automatic driving system.

[0028] 3, the mobile terminal 5 includes a control device 50 configured with a computer such as a CPU, and the control device 50 is connected to a storage unit 51 such as a ROM, a RAM, a hard disk drive, a flash memory, and a communication unit 52 that communicates with external devices. The mobile terminal 5 also includes a display unit 53 configured with a liquid crystal display, an organic EL display, or the like for displaying and outputting various information to the worker, and an input unit 54 configured with a plurality of operation keys, or the like for receiving input operations of various information from the worker. The display unit 53 and the input unit 54 may be configured separately, or may be configured integrally with a touch panel, or the like.

[0029] The memory unit 51 stores programs and data for controlling the various components and functions of the mobile terminal 5, and the control device 50 controls the various components and functions of the mobile terminal 5 by executing calculations based on the programs and data stored in the memory unit 51.

[0030] The storage unit 51 stores field information of the field that is the target of the work of the rice transplanter 1. The field information includes, for example, the size and position information (coordinates, etc.) of the outer peripheral shape A of the field, and the size and position information (coordinates, etc.) of the work area B and headland area C that constitute the field.

[0031] As shown in FIG. 4, the outer peripheral shape A of the field is created based on the travel trajectory (each positioning point) when the rice transplanter 1 travels along the outer periphery of the field, and for example, each side constituting the outer peripheral shape A of the field is created by straightening each positioning point. The working area B is an area where the rice transplanter 1 performs planting work while automatically traveling along the straight path 62 of the target traveling path 60, and the headland area C is an area for turning from one straight path 62 of the target traveling path 60 to another straight path 62. The headland area C is an area of ​​a headland width that includes at least two revolutions at the working width interval of the rice transplanter 1 from the outer peripheral shape A of the field, and the working area B is an area inside the headland area C. The working width and turning radius of the rice transplanter 1 may be set in advance, or may be arbitrarily changeable in response to the operation of the mobile terminal 5 by the operator.

[0032] The communication unit 52 is communicably connected to the communication unit 42 of the rice transplanter 1 via a wireless communication antenna. The control device 50 controls the communication unit 52 to perform wireless communication with the rice transplanter 1 and transmits and receives various information to and from the rice transplanter 1.

[0033] The control device 50 of the mobile terminal 5 executes a program stored in the storage unit 51 to operate as a route creation unit 55 and a route change unit 56. The route creation unit 55 and the route change unit 56 realize a route creation step and a route change step of the automatic driving method according to the present invention.

[0034] The path creation unit 55 creates a target travel path 60 for automatic travel in the field to be worked on, stores it in the memory unit 51, and transmits it to the rice transplanter 1 via the communication unit 52. The path creation unit 55 creates a target travel path 60 having a plurality of unit paths 61 each consisting of a plurality of straight paths 62 and a turning path 63 connecting the straight paths 62, as shown in FIG. 4, based on the outer peripheral shape A of the field, for example, based on the field information stored in the memory unit 51. In FIG. 4, the target travel path 60 for planting work while automatically traveling in the work area B is shown by a solid line, the outer peripheral path 64 for planting work while circling the headland area C along the outer peripheral shape A of the field is shown by a dashed line, and the entry path 65 for entering the field from the outside is shown by a dashed line.

[0035] For example, the path creation unit 55 sets a plurality of straight paths 62 arranged in the field at intervals of the working width of the rice transplanter 1, and sets a turning path 63 that turns from one straight path 62 to another straight path 62 (for example, an adjacent straight path 62). As shown in Fig. 4, the path creation unit 55 sets in advance a turning start position 66 where turning starts and a turning end position 67 where turning ends on the turning path 63 of each unit path 61, and the turning start position 66 is set on the straight path 62 of one unit path 61, and the turning end position 67 is set on the straight path 62 of the next unit path 61.

[0036] The path creation unit 55 may set the straight path 62 so as to travel in a straight line over the shortest distance from one side to the other side of two opposing sides that constitute the outer peripheral shape A of the field. The path creation unit 55 may set in advance a turning start position 66 for each unit path 61 at a position spaced a predetermined headland width from the side of the field on the terminal side of the straight path 62 (terminal side), and may set in advance a turning end position 67 at a position spaced a predetermined headland width from the side of the field on the starting side of the next straight path 62 (starting side).

[0037] Incidentally, in the rice transplanter 1, in order to prevent intrusion into the working area B where planting work has already been performed and to perform turning travel safely, a headland area C having a headland width including at least two revolutions in the working width interval of the rice transplanter 1 is provided in the field. In this case, after completing planting work in the working area B, the rice transplanter 1 performs planting work while traveling around the headland area C at least two times, as shown in the outer circumferential route 64 in Fig. 4. However, depending on the operator's intention or the condition of the field, there are cases where the number of revolutions around the headland area C is reduced, for example, to only one revolution.

[0038] In this embodiment, in order for the rice transplanter 1 to perform automatic forward travel beyond the turning start position 66 and perform planting work in the headland area C, the path creation unit 55 preliminarily sets a forward / reverse switching position 68 at a position (position close to the terminal side) on the straight path 62 that is further forward (toward the ridge) than the turning start position 66, as shown in FIG. 5, that is, sets the forward / reverse switching position 68 in the headland area C. The rice transplanter 1 reverses from the forward / reverse switching position 68 to the turning start position 66 and then turns, and the reverse distance between the turning start position 66 and the forward / reverse switching position 68 may be set in advance, or may be arbitrarily changeable in response to the operation of the mobile terminal 5 by the operator. In FIG. 5, the reverse path 69 for automatic reverse travel from the forward / reverse switching position 68 is shown at a position shifted from the straight path 62 for automatic forward travel, but may be set at a position that overlaps along the straight path 62.

[0039] The path change unit 56 is configured to change a turning start position 66 preset in each unit path 61 of the target traveling path 60 in response to a predetermined operation of the rice transplanter 1 traveling on a straight path 62 of the unit path 61, and update the target traveling path 60 stored in the storage unit 51. In addition, in response to the change in the turning start position 66, the path change unit 56 also changes the turning path 63 starting from the turning start position 66.

[0040] Each side constituting the outer periphery shape A of the field is created by straightening the travel trajectory (each positioning point) when a work vehicle such as the rice transplanter 1 travels along the periphery of the field, but the field's banks along each side may not be formed in a straight line, and may, for example, protrude inward or outward from the side of the outer periphery shape A of the field. Therefore, even if a target travel path 60 is created in accordance with the outer periphery shape A of the field, the turning start position 66 set at a predetermined distance from each side of the outer periphery shape A may not be set at an appropriate position with respect to the banks of the field.

[0041] Therefore, when the rice transplanter 1 is automatically traveling forward along the straight path 62 of each unit path 61, the shape of the bank ahead is identified, and the path changing unit 56 changes the turning start position 66 so that planting work and turning travel are performed in accordance with the shape of the bank.

[0042] For example, when the rice transplanter 1 stops automatic forward travel at a position farther from the terminal side edge than the preset turning start position 66 in the unit path 61 and performs automatic turning travel in response to a turning start operation (for example, a forward operation), the path change unit 56 changes the turning start position 66 to the position where this turning travel started. In this case, the path change unit 56 changes the turning end position 67 to a position farther from the terminal side edge by the change distance from the turning start position 66 before the change to the turning start position 66 after the change.

[0043] Alternatively, when the rice transplanter 1 stops the automatic forward travel at a position farther from the terminal side edge than the forward / reverse switching position 68 preset in the unit path 61 and performs automatic backward travel on the reverse path 69 along the straight path 62 in response to the reverse operation, as shown in FIG. 6, the path change unit 56 changes the forward / reverse switching position 68' to the position where the reverse operation was performed. In FIG. 6, the ridges protruding inward from the outer peripheral shape A of the field are shown by hatching, and the straight path 62, turning path 63, turning start position 66, turning end position 67, and forward / reverse switching position 68 before the change are shown by dotted lines. In this case, the path change unit 56 changes the turning start position 66' to a position farther from the terminal side edge by the change distance from the forward / reverse switching position 68 before the change to the forward / reverse switching position 68' after the change. Alternatively, the path changing unit 56 changes the turning start position 66' to a position that is farther away from the end side edge by the reverse distance than the changed forward / reverse switching position 68'. Alternatively, the path changing unit 56 may change the turning start position 66' to a position where an operation to stop automatic reverse traveling is performed, or a position where an operation to start turning (for example, a forward operation) is performed after automatic reverse traveling is stopped. By changing the forward / reverse switching position 68', the straight path 62' to the forward / reverse switching position 68' and the reverse path 69' for performing automatic reverse traveling from the forward / reverse switching position 68' to the turning start position 66' are also changed, so that the unit path 61' and the target traveling path 60' are also changed.

[0044] In addition, the path change unit 56 changes the turning path 63' so that the turning start position 66' is the starting point in accordance with the change of the turning start position 66', but may change the turning end position 67' to a position away from the terminal side by the change distance from the turning start position 66 before the change to the turning start position 66' after the change. When the rice transplanter 1 stops the automatic forward travel at a position closer to the terminal side than the preset forward / reverse switching position 68 and performs automatic reverse travel in response to a reverse operation, the path change unit 56 may change the forward / reverse switching position 68, but does not change the turning start position 66 or the turning end position 67 to a position closer to the terminal side than the preset turning start position 66 or the turning end position 67 (for example, a position in the direction toward the ridge).

[0045] Next, we will explain the control device 40 provided in the rice transplanter 1. As shown in Fig. 3, the control device 40 is composed of a computer such as a CPU, and is connected to a storage unit 41 such as a ROM, a RAM, a hard disk drive, a flash memory, etc., and a communication unit 42 that communicates with external devices.

[0046] The storage unit 41 stores programs and data for controlling the various components and functions of the rice transplanter 1, and the control device 40 controls the various components and functions by executing arithmetic processing based on the programs and data stored in the storage unit 41. The control device 40 acquires position information of the rice transplanter 1 from the positioning unit 23, for example.

[0047] The communication unit 42 is capable of wireless communication with external devices such as a mobile terminal 5 held by a worker via a wireless communication antenna. The control device 40 controls the communication unit 42 to perform wireless communication with the mobile terminal 5 and transmits and receives various information to and from the mobile terminal 5.

[0048] Moreover, the control device 40 operates as a driving control unit 45 by executing a program stored in the storage unit 41. The driving control unit 45 realizes the automatic driving step of the automatic driving method according to the present invention.

[0049] The travel control unit 45 controls the travel of the rice transplanter 1. For example, when the manual travel mode is set, the travel control unit 45 controls the vehicle speed and steering of the rice transplanter 1 in response to the operation of the driving operation tools such as the steering handle 16, the speed change operation pedal 17, and the main speed change lever 18.

[0050] Furthermore, when the automatic travel mode is set, the travel control unit 45 acquires a target travel route 60 set for the field from the mobile terminal 5, acquires position information of the rice transplanter 1 from the positioning unit 23, and controls the steering of the rice transplanter 1 so that the rice transplanter 1 automatically travels along the target travel route 60 based on the position information and the target travel route 60. Furthermore, the travel control unit 45 may control the engine 11 and the transmission 12 so as to achieve a preset automatic travel speed, or may control the engine 11 and the transmission 12 according to the operation state of the shift pedal 17 and the main shift lever 18.

[0051] For example, when the main speed change lever 18 is operated to the "forward" position, the travel control unit 45 controls the rice transplanter 1 to automatically travel forward at a forward travel speed based on the forward speed set by the main speed change lever 18 and the depression amount of the speed change operation pedal 17. When the main speed change lever 18 is operated to the "reverse" position, the travel control unit 45 controls the rice transplanter 1 to automatically travel backward at a reverse travel speed based on the reverse speed set by the main speed change lever 18 and the depression amount of the speed change operation pedal 17. When the main speed change lever 18 is operated to the "stop" position, the travel control unit 45 controls the rice transplanter 1 to stop regardless of the depression amount of the speed change operation pedal 17.

[0052] In addition, the travel control unit 45 controls the rice transplanter 1 to automatically turn and travel with a set turning radius when a predetermined turning start operation is performed while the rice transplanter 1 is traveling automatically forward, for example, when the automatic forward travel is stopped and then turning steering and forward operation are performed. Alternatively, the travel control unit 45 controls the rice transplanter 1 to automatically turn and travel with a set turning radius when a predetermined turning start operation is performed after the rice transplanter 1 stops automatic forward travel and then performs automatic reverse travel, for example, when the automatic reverse travel is stopped and then forward operation is performed.

[0053] For example, when performing automatic travel along a target travel path 60 having a plurality of unit paths 61 each consisting of a plurality of straight paths 62 and a turning path 63 connecting the straight paths 62, the travel control unit 45 first controls the travel of the rice transplanter 1 so that the rice transplanter 1 performs automatic forward travel while performing planting work along the straight paths 62. When the control device 50 of the mobile terminal 5 detects that the rice transplanter 1 performing automatic forward travel has reached a turning start position 66, the control device 50 notifies the operator that the turning start position 66 has been reached by displaying on the display unit 53, etc., and prompts the operator to stop the rice transplanter 1 or start turning.

[0054] Here, when turning at a preset turning start position 66 as a normal first turning operation, the travel control unit 45 controls the travel of the rice transplanter 1 so that the automatic forward travel is stopped in response to a stop operation, and with planting work stopped, the rice transplanter 1 performs automatic turning travel along a turning path 63 in response to a predetermined turning start operation, and moves to another straight path 62.

[0055] On the other hand, when the rice transplanter 1 passes the turning start position 66 and performs planting work in the headland area C by automatically traveling forward, the control device 50 of the mobile terminal 5 detects that the rice transplanter 1 performing automatic forward traveling has reached the forward / reverse switching position 68, and notifies the operator that the rice transplanter 1 has reached the forward / reverse switching position 68 by displaying on the display unit 53, etc., and prompts the operator to operate the rice transplanter 1 in reverse. As a second turning operation, when turning is performed after switching the forward / reverse of the rice transplanter 1 at the preset forward / reverse switching position 68, the traveling control unit 45 controls the traveling of the rice transplanter 1 to stop the automatic forward traveling in response to a stop operation, and to perform automatic reverse traveling on the reverse path 69 along the straight path 62 in response to a reverse operation, with the planting work stopped.

[0056] Furthermore, when the control device 50 of the mobile terminal 5 detects that the rice transplanter 1 performing automatic reverse traveling has reached the turning start position 66, it notifies the operator of the arrival at the turning start position 66, etc., by displaying on the display unit 53, and prompts the operator to stop or start turning the rice transplanter 1. Here, the traveling control unit 45 controls the traveling of the rice transplanter 1 so that the automatic reverse traveling is stopped in response to the stopping operation, and in a state where planting work is stopped, the rice transplanter 1 performs automatic turning traveling along the turning path 63 in response to a predetermined turning start operation, and moves to another straight path 62.

[0057] In addition, as a third turning operation, when turning is performed after switching forward and backward travel of the rice transplanter 1 at a position farther away from the terminal side edge than the preset forward / reverse switching position 68, the travel control unit 45 controls the travel of the rice transplanter 1 so that automatic forward travel is stopped in response to a stop operation, and with planting work stopped, automatic reverse travel is performed on a reverse path 69 along the straight path 62 in response to a reverse operation.

[0058] Here, when the path change unit 56 of the mobile terminal 5 changes the turning start position 66 based on the changed forward / reverse switching position 68', when the control device 50 of the mobile terminal 5 detects that the rice transplanter 1 performing automatic reverse traveling has reached the changed turning start position 66', the control device 50 notifies the operator of the arrival at the turning start position 66' by displaying on the display unit 53, etc., and prompts the operator to stop the rice transplanter 1 or start turning. In this case, the traveling control unit 45 controls the traveling of the rice transplanter 1 so that the rice transplanter 1 stops the automatic reverse traveling in response to the stopping operation, and in a state where the planting work is stopped, the rice transplanter 1 performs automatic turning traveling along the changed turning path 63' in response to a predetermined turning start operation, and moves to another straight path 62'.

[0059] Alternatively, when the path change unit 56 of the mobile terminal 5 changes the turning start position 66' to the position where the turning start operation was performed, the travel control unit 45 controls the travel of the rice transplanter 1 so that, regardless of the set turning start position 66, the automatic reverse travel is stopped in response to the stop operation, and in a state where planting work is stopped, the rice transplanter 1 performs automatic turning travel along the changed turning path 63' in response to a predetermined turning start operation, and moves to another straight path 62'.

[0060] Next, an example of an operation in which the turning start position 66 is changed based on the forward / reverse switching position 68 changed by performing the third turning operation in the rice transplanter 1 will be described with reference to the flowchart of FIG.

[0061] First, the rice transplanter 1 starts automatic travel according to the target travel route 60 acquired from the mobile terminal 5, and performs automatic forward travel along the straight path 62 of each unit path 61 in the target travel route 60 (step S1). If not only the turning start position 66 and the turning route 63 but also the forward / reverse switching position 68 are set in advance on the straight path 62, a third turning operation for turning to the next straight path 62 becomes possible.

[0062] In the third turning operation, during automatic forward travel by the rice transplanter 1 on the straight path 62, after passing a preset turning start position 66, the rice transplanter 1 is stopped before reaching a preset forward / reverse switch position 68 (step S2), and when a reverse operation is performed (step S3), the path change unit 56 of the mobile terminal 5 changes the forward / reverse switch position 68' to the position where the rice transplanter 1 stopped this time, thereby changing the straight path 62' and the unit path 61' (step S4), and the travel control unit 45 performs automatic reverse travel of the rice transplanter 1 on a reverse path 69' along the straight path 62' (step S5).

[0063] In addition, the path change unit 56 of the mobile terminal 5 changes the turning start position 66' based on the changed forward / reverse switching position 68' to change the turning path 63' (step S6), and in the automatic reverse traveling on the reverse path 69', the traveling control unit 45 prompts the rice transplanter 1 to perform a stop operation and a turning start operation at the changed turning start position 66'. The turning start position 66' may be changed at the same time as the forward / reverse switching position 68' is changed. When the rice transplanter 1 reaches the changed turning start position 66' and a stop operation and a turning start operation are performed (step S7), the traveling control unit 45 performs automatic turning traveling of the rice transplanter 1 according to the changed turning path 63' (step S8).

[0064] As described above, according to the present embodiment, the rice transplanter 1, which is a work vehicle, is equipped with the control device 40 and the mobile terminal 5. The mobile terminal 5 is equipped with the control device 50, which creates a target travel path 60 having a plurality of unit paths 61, each of which is made up of a plurality of straight paths 62 and a turning path 63 connecting the straight paths 62, in the field, and functions as a path creation unit 55 that pre-sets a turning start position 66 and a turning end position 67 of the turning path 63 in the unit path 61. The control device 40 functions as a travel control unit 45 that automatically travels the rice transplanter 1 along the target travel path 60. In addition, the control device 40 functions as a path change unit 56 that changes the turning start position 66 in the unit path 61 in response to a predetermined operation of the rice transplanter 1 traveling along the straight path 62 of the unit path 61.

[0065] In other words, the automatic travel method of the present invention for automatically traveling a work vehicle such as a rice transplanter 1 in a field includes a route creation step of creating a target travel route 60 having a plurality of unit routes 61 in the field, each of which is made up of a plurality of straight routes 62 and a turning route 63 connecting the straight routes 62, and setting a turning start position 66 and a turning end position 67 of the turning route 63 in the unit route 61 in advance, an automatic travel step of automatically traveling the work vehicle along the target travel route 60, and a route change step of changing the turning start position 66 in the unit route 61 in accordance with a predetermined operation of the work vehicle traveling on the straight route 62 of the unit route 61. In this automatic travel method, by including a ridge identification step of identifying a ridge in the field, a worker can change the turning start position 66 in the unit route 61 by operating the work vehicle in accordance with the identified ridge.

[0066] As a result, the rice transplanter 1 can set the turning start position 66 of the target travel path 60 according to the actual peripheral shape of the field, even if the actual peripheral shape of the field is not linear and has parts where the ridges protrude inward or outward. Therefore, automatic travel can be continued according to the actual peripheral shape of the field, such as avoiding the ridges, thereby improving work efficiency.

[0067] For example, when working in a field in the first year, if the turning start position 66, etc., is set according to the actual outer peripheral shape of the field as described above and a target travel path 60 is created, then from the second year onwards, the rice transplanter 1 can automatically travel according to the target travel path 60 created in the first year.

[0068] In addition, according to this embodiment, the path changing unit 56 changes the turning end position 67 in the unit path 61 based on the changed distance between the turning start position 66 before the change and the turning start position 66 after the change in the unit path 61.

[0069] As a result, the rice transplanter 1 can set the turning end position 67 of the target travel path 60 according to the actual peripheral shape of the field, even if the actual peripheral shape of the field is not linear and has parts where the ridges protrude inward or outward. Therefore, automatic travel can be continued according to the actual peripheral shape of the field, such as avoiding the ridges, thereby improving work efficiency.

[0070] Furthermore, according to this embodiment, the path creation unit 55 pre-sets a forward / reverse switch position 68 on the straight path 62, and pre-sets a turning start position 66 on the straight path 62 at a position rearward of the forward / reverse switch position 68, and the path change unit 56 changes the forward / reverse switch position 68 in the unit path 61 in accordance with a specified operation of the rice transplanter 1 traveling on the straight path 62 of the unit path 61.

[0071] As a result, the rice transplanter 1 approaches the periphery of the field by automatic forward travel accompanied by planting work, then performs automatic reverse travel and then automatic turning travel, thereby reducing the unworked area in the headland area C. Therefore, it is possible to reduce periphery travel accompanied by planting work, thereby improving work efficiency.

[0072] In addition, according to this embodiment, the path changing unit 56 sets the reverse distance from when the rice transplanter 1 reaches the forward / reverse switching position 68 on the unit path 61 until it reaches the turning start position 66 on the unit path 61 in accordance with a specified operation of the rice transplanter 1.

[0073] This allows the rice transplanter 1 to set the turning start position 66 where the automatic turning travel will be performed after approaching the outer periphery of the field by automatic forward travel accompanying planting work and then performing automatic reverse travel, according to a predetermined operation by the operator. Therefore, since an appropriate turning start position 66 is set according to the judgment of the operator, the automatic turning travel can be performed appropriately, and the work efficiency can be improved.

[0074] Alternatively, according to this embodiment, the path changing unit 56 changes the turning start position 66 in the unit path 61 based on the change distance between the forward / reverse switching position 68 before the change and the forward / reverse switching position 68 after the change in the unit path 61.

[0075] As a result, the rice transplanter 1 can automatically set the turning start position 66 for automatic turning travel based on the degree of change of the forward / reverse switch position 68 without the need for operator operation, thereby enabling automatic turning travel to be performed appropriately and improving work efficiency.

[0076] Furthermore, according to this embodiment, when the path changing unit 56 changes the forward / reverse switching position 68 in the unit path 61, it changes the turning start position 66 in the unit path 61 to a position that is a predetermined backward distance from the changed forward / reverse switching position 68.

[0077] As a result, the rice transplanter 1 can automatically set the turning start position 66 for automatic turning travel based on a predetermined reverse distance set in advance without the need for operator operation, thereby enabling automatic turning travel to be performed appropriately and improving work efficiency.

[0078] Furthermore, according to this embodiment, when the rice transplanter 1 reaches the changed turning start position 66 during automatic reverse driving, the driving control unit 45 notifies the user of the arrival of the turning start position 66 or stops the automatic driving.

[0079] As a result, even if the turning start position 66 is changed, the rice transplanter 1 can grasp the appropriate turning start position 66 for automatic reverse driving and transition to automatic turning driving, thereby preventing actions that the operator does not foresee.

[0080] Furthermore, according to this embodiment, when the forward / reverse switching position 68 in the unit path 61 is changed toward the ridge, the path changing section 56 does not change the turning start position 66 and the turning end position 67 .

[0081] As a result, even if the end position of the automatic forward travel is shifted toward the outer periphery of the field, the rice transplanter 1 does not shift the turning path 63 of the automatic turning travel toward the outer periphery of the field, thereby preventing collision with the ridges that form the outer periphery of the field and reducing damage to the machine body.

[0082] In addition, the rice transplanter 1 of another embodiment may be configured with a ridge identification unit for detecting and identifying obstacles such as ridges ahead. The ridge identification unit is configured with a distance measuring sensor such as an infrared sensor, a laser sensor, or an ultrasonic sensor, or a camera such as a CCD. The path change unit 56 of the mobile terminal 5 changes the turning start position 66 and the forward / reverse switching position 68 based on the distance between the ridge identified by the ridge identification unit and the body of the rice transplanter 1 so that the turning start position 66 and the forward / reverse switching position 68 are positioned at a predetermined distance from the ridge.

[0083] In the above embodiment, an example has been described in which the work vehicle is configured as the rice transplanter 1, but the present invention is not limited to this example. For example, the work vehicle of the present invention may be configured as another agricultural work machine such as a combine harvester or a tractor, or may be configured as a work vehicle other than an agricultural work machine.

[0084] Furthermore, the present invention can be modified as appropriate within the scope that does not contradict the gist or concept of the invention that can be read from the claims and the entire specification, and the automated driving method, work vehicle, and automated driving method that involve such modifications are also included in the technical concept of the present invention. [Explanation of symbols]

[0085] 1 Rice transplanter (work vehicle) 5. Mobile devices 16 Steering handle 17 Gear shift pedal 18 Main gear shift lever 40 Control device 41 Storage section 45 Driving control unit 50 Control device 51 Storage section 55 Route Creation Department 56 Route change section 60 Target driving route 61 Unit Path 62 Straight Route 63 Turning Path 66 Turn start position 67 End of turn position 68 Forward / forward switching position

Claims

1. An automatic driving method for automatically driving a work vehicle in a field, comprising: a route creation process for creating a target travel route having a plurality of unit routes in the field, the unit routes being made up of a plurality of straight routes and turning routes connecting the straight routes, and for presetting a turning start position and a turning end position of the turning route in the unit routes; an automatic driving step of automatically driving the work vehicle along the target driving route; and a route changing process for changing the turning path by changing the turning start position in the unit path in accordance with a predetermined operation of the work vehicle traveling on the straight path of the unit path, and updating the target driving path.

2. The automatic navigation method according to claim 1, further comprising a ridge identification step of identifying a ridge in the field.

3. The automatic driving method described in claim 1 or 2, characterized in that the route change process changes the turning end position in the unit route based on a changed distance between the turning start position before the change in the unit route and the turning start position after the change.

4. The path creation step includes setting a forward / reverse switching position on the straight path in advance, and setting the turning start position on the straight path in advance at a position rearward of the forward / reverse switching position, The automatic driving method according to any one of claims 1 to 3, characterized in that the route change process changes the forward / reverse switch position in the unit route in accordance with a predetermined operation of the work vehicle traveling on the straight route of the unit route.

5. The automatic driving method according to claim 4, characterized in that the route change process sets a reverse distance from when the work vehicle reaches the forward / reverse switching position on the unit route until when the work vehicle reaches the turning start position on the unit route in accordance with a specified operation of the work vehicle.

6. The automatic driving method according to claim 4, characterized in that the route change process changes the turning start position in the unit route based on a change distance between the forward / reverse switching position before the change and the forward / reverse switching position after the change in the unit route.

7. The automatic driving method according to claim 4, characterized in that, when the forward / reverse switching position is changed in the unit path, the path changing step changes the turning start position in the unit path to a position that is a predetermined backward distance from the changed forward / reverse switching position.

8. The automatic driving method according to claim 6 or 7, characterized in that, when the work vehicle reaches the changed turning start position, the automatic driving process notifies the work vehicle that the work vehicle has reached the turning start position or stops automatic driving.

9. The automatic driving method described in any one of claims 4 to 8, characterized in that the route change process does not change the turning start position and the turning end position when the forward / reverse switching position is changed in the unit route in a direction toward the ridge.

10. A work vehicle that automatically travels in a field, a route creation unit that creates a target travel route having a plurality of unit routes in the field, each unit route being made up of a plurality of straight routes and a turning route connecting the straight routes, and that presets a turning start position and a turning end position of the turning route in the unit routes; a travel control unit that automatically travels the work vehicle along the target travel route; a route change unit that changes the turning start position in the unit route in response to a predetermined operation of the work vehicle traveling on the straight route of the unit route, thereby changing the turning route and updating the target traveling route; A work vehicle comprising:

11. An automatic driving system that automatically drives a work vehicle in a field, a route creation unit that creates a target travel route having a plurality of unit routes in the field, each unit route being made up of a plurality of straight routes and a turning route connecting the straight routes, and that presets a turning start position and a turning end position of the turning route in the unit routes; a travel control unit that automatically travels the work vehicle along the target travel route; a route change unit that changes the turning start position in the unit route in response to a predetermined operation of the work vehicle traveling on the straight route of the unit route, thereby changing the turning route and updating the target traveling route; An automatic driving system comprising:

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