Spraying method, spraying system, and spraying program

Abstract

To provide a spraying work method, a spraying work system and a spraying work program with which it is possible to improve the work efficiency of spraying work by an automatically traveling work vehicle.SOLUTION: The spraying work method includes: generating a target path R for a work vehicle 10 that performs spraying work upon crop V arranged in multiple rows in a farm field F; causing the work vehicle 10 to automatically travel along the target path R; and switching the spraying direction of a spraying material upon crops V by spraying units 14L, 14R provided to the work vehicle 10 in accordance with the position of a crop V in a work path R1 in which the work vehicle 10 carries out spraying work while automatically traveling or a crop V adjacent to the work path R1.SELECTED DRAWING: Figure 13

Description

[Technical field]

[0001] The present invention relates to a spraying method, a spraying system, and a spraying program for performing spraying on objects to be sprayed arranged in multiple rows using an autonomous work vehicle. [Background technology]

[0002] There is known a work vehicle that automatically travels along a target route while spraying a chemical solution on crops planted in a work area such as a farm or a farmer's field (see, for example, Patent Document 1). The work vehicle automatically travels in sequence along a plurality of work routes on which crops are planted, spraying the chemical solution in the left and right directions within the work routes. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-000021 Summary of the Invention [Problem to be solved by the invention]

[0004] When a conventional work vehicle reaches the end of a row of crops in the direction of the work path, it stops spraying and moves to the next moving path. For this reason, when crops are planted such that the ends of adjacent rows of crops are diagonal to the direction of the work path, the pesticide solution may be sprayed on an area on one side of the work path (e.g., the right side) where no crops are planted, or the pesticide solution may not be sprayed on crops on the other side of the work path (e.g., the left side), resulting in a problem of reduced work efficiency in spraying.

[0005] An object of the present invention is to provide a spraying method, a spraying system, and a spraying program that can improve the work efficiency of spraying work performed by an autonomously traveling work vehicle. [Means for solving the problem]

[0006] The spraying method of the present invention is a method which generates a target route for a work vehicle which will perform spraying work on objects to be sprayed which are arranged in multiple rows on a work site, automatically drives the work vehicle along the target route, and switches the spraying direction of a spraying unit provided on the work vehicle relative to the objects to be sprayed, depending on the position of either the objects to be sprayed on the work route along which the work vehicle performs the spraying work while automatically driving, or the position of the objects to be sprayed adjacent to the work route.

[0007] The spraying operation system according to the present invention includes a route generation processing unit and a control information generation processing unit. The route generation processing unit generates a target route for automatically driving a work vehicle performing spraying operation on spraying objects arranged in multiple rows on a work site. The control information generation processing unit generates control information for controlling a spraying direction of a spraying unit provided on the work vehicle to the spraying objects in accordance with the position of either the spraying objects on a work route along which the work vehicle performs the spraying operation while automatically driving or the spraying objects adjacent to the work route.

[0008] The spraying work program of the present invention is a program for causing one or more processors to execute the following steps: generate a target route for a work vehicle to perform spraying work on spraying objects arranged in multiple rows on a work site; automatically drive the work vehicle along the target route; and switch the spraying direction of the spraying unit provided on the work vehicle toward the spraying objects depending on the position of either the spraying objects on the work route along which the work vehicle performs the spraying work while automatically driving, or the position of the spraying objects adjacent to the work route. Effect of the Invention

[0009] According to the present invention, it is possible to provide a spraying method, a spraying system, and a spraying program that can improve the work efficiency of spraying work performed by an autonomously traveling work vehicle. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram showing the overall configuration of an automated driving system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing a configuration of an automatic driving system according to an embodiment of the present invention. [Diagram 3] FIG. 3 is an external view of the work vehicle according to the embodiment of the present invention, as viewed from the left front side. [Figure 4A] FIG. 4A is a left side external view of the work vehicle according to the embodiment of the present invention as viewed from the left side. [Figure 4B] FIG. 4B is an external view of the right side of the work vehicle according to the embodiment of the present invention as viewed from the right side. [Figure 4C] FIG. 4C is a rear external view of the work vehicle according to the embodiment of the present invention as viewed from the rear side. [Diagram 5] FIG. 5 is a diagram showing an example of a crop row according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of a target route according to an embodiment of the present invention. [Figure 7A] FIG. 7A is a diagram for explaining a method for generating a target route according to an embodiment of the present invention. [Figure 7B] FIG. 7B is a diagram for explaining a method for generating a target route according to an embodiment of the present invention. [Figure 8A] FIG. 8A is a diagram showing a conventional method of spraying work by a work vehicle. [Figure 8B] FIG. 8B is a diagram showing a conventional method of spraying work by a work vehicle. [Figure 8C] FIG. 8C is a diagram showing a conventional method of spraying work by a work vehicle. [Figure 8D] FIG. 8D is a diagram showing a conventional spraying method for a work vehicle. [Figure 8E] FIG. 8E is a diagram showing a conventional method of spraying work by a work vehicle. [Figure 9] FIG. 9 is a diagram showing control information used in a conventional work vehicle. [Figure 10A]FIG. 10A is a diagram showing an example of a method for performing a spraying operation by the work vehicle according to the embodiment of the present invention. [Figure 10B] FIG. 10B is a diagram showing an example of a method of performing a spraying operation by the work vehicle according to the embodiment of the present invention. [Figure 10C] FIG. 10C is a diagram showing an example of a method of performing a spraying operation by the work vehicle according to the embodiment of the present invention. [Figure 10D] FIG. 10D is a diagram showing an example of a method of performing spraying operation by the work vehicle according to the embodiment of the present invention. [Figure 10E] FIG. 10E is a diagram showing an example of a method of performing spraying operation by the work vehicle according to the embodiment of the present invention. [Figure 10F] FIG. 10F is a diagram showing an example of a method for performing a spraying operation by the work vehicle according to the embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of control information used in the work vehicle according to the embodiment of the present invention. [Figure 12] FIG. 12 is a flowchart showing an example of a procedure of an automatic driving process executed by the automatic driving system according to the embodiment of the present invention. [Figure 13] FIG. 13 is a flowchart showing an example of a procedure for a spray control process executed by the automatic driving system according to an embodiment of the present invention. [Figure 14] FIG. 14 is a diagram for explaining an example of a turning method for a work vehicle according to another embodiment of the present invention. [Figure 15] FIG. 15 is a diagram showing an example of a method for performing a spraying operation by a work vehicle according to another embodiment of the present invention. [Figure 16] FIG. 16 is a diagram for explaining an example of a turning method for a work vehicle according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention.

[0012] [Autonomous Driving System 1] As shown in Figures 1 and 2, an automatic driving system 1 according to an embodiment of the present invention includes a work vehicle 10, an operation terminal 20, a server 30, a base station 40, and a satellite 50. The work vehicle 10, the operation terminal 20, and the server 30 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN. In addition, each of the work vehicle 10 and the operation terminal 20 can communicate with the server 30 via a mobile phone network, a packet network, or a wireless LAN.

[0013] The work vehicle 10 is a vehicle that performs spraying work to spray a chemical solution, water, or other spray material on a crop V (see FIG. 5) planted in a field F. The field F is an example of a work site in the present invention, such as a vineyard or an apple orchard. The crop V is an example of an object to be sprayed in the present invention, such as a grape tree.

[0014] Crops V are arranged in multiple rows at a predetermined interval in the field F. Specifically, as shown in FIG. 5, multiple crops V are planted linearly in a predetermined direction (direction D1), constituting a crop row Vr including multiple crops V arranged linearly. FIG. 5 illustrates three crop rows Vr. Each crop row Vr is arranged at a predetermined interval W1 in the row direction (direction D2). The area (space) of the interval W2 between adjacent crop rows Vr becomes a work passage where the work vehicle 10 performs spraying work on the crops V while traveling in the direction D1. The crop row Vr is an example of a row of objects to be sprayed in the present invention.

[0015] The work vehicle 10 is also capable of automatic travel (autonomous travel) along a preset target route R. For example, as shown in FIG. 6, the work vehicle 10 automatically travels from a work start position S to a work end position G along a target route R including a work route R1 (work routes R1a to R1f) and a movement route R2. The work route R1 is a linear route along which the work vehicle 10 performs spraying work on the crop V, and the movement route R2 is a route along which the work vehicle 10 moves between the crop rows Vr without performing spraying work. The movement route R2 includes, for example, a turning route and a straight route. In the example shown in FIG. 6, a crop V consisting of crop rows Vr1 to Vr11 is arranged in a field F. In FIG. 6, the position where the crop V is planted (crop position) is represented by "Vp". Furthermore, the work vehicle 10 traveling in the field F in Fig. 6 has a vehicle body 100 having a gate-like shape (see Fig. 4C), and while traveling across one crop row Vr, sprays a chemical solution on the crops V in that crop row Vr and on the crop rows Vr adjacent to that crop row Vr. For example, as shown in Fig. 6, when the work vehicle 10 travels across a crop row Vr5, the left body (left side part 100L) of the work vehicle 10 travels on the work passage between the crop rows Vr4, Vr5, and the right body (right side part 100R) of the work vehicle 10 travels on the work passage between the crop rows Vr5, Vr6, and sprays a chemical solution on the crops V in the crop rows Vr4, Vr5, and Vr6.

[0016] The work vehicle 10 also travels automatically in a predetermined row order. For example, the work vehicle 10 travels across the crop row Vr1, then across the crop row Vr3, and then across the crop row Vr5. In this way, the work vehicle 10 travels automatically according to a preset order of the crop rows Vr. The work vehicle 10 may travel every other row in the order of the crop rows Vr, or every several rows.

[0017] The satellite 50 is a positioning satellite that constitutes a satellite positioning system such as the Global Navigation Satellite System (GNSS), and transmits a GNSS signal (satellite signal). The base station 40 is a reference point (reference station) that constitutes the satellite positioning system. The base station 40 transmits correction information to the work vehicle 10 for calculating the current position of the work vehicle 10.

[0018] The positioning device 16 mounted on the work vehicle 10 executes positioning processing to calculate the current position (latitude, longitude, altitude) and current direction of the work vehicle 10 using the GNSS signal transmitted from the satellite 50. Specifically, the positioning device 16 locates the position of the work vehicle 10 using an RTK (Real Time Kinematic) method or the like that locates the position of the work vehicle 10 based on positioning information (GNSS signals, etc.) received by two receivers (antenna 164 and base station 40) and correction information generated by the base station 40. The positioning method is a well-known technology, so a detailed description will be omitted.

[0019] Hereinafter, each of the components constituting the automated driving system 1 will be described in detail.

[0020] [Work vehicle 10] Fig. 3 is an external view of the work vehicle 10 as viewed from the left front side. Fig. 4A is an external view of the left side of the work vehicle 10 as viewed from the left side, Fig. 4B is an external view of the right side of the work vehicle 10 as viewed from the right side, and Fig. 4C is an external view of the rear of the work vehicle 10 as viewed from the rear side.

[0021] 1 to 4, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a spraying device 14, a communication unit 15, a positioning device 16, an obstacle detection device 17, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the spraying device 14, the positioning device 16, the obstacle detection device 17, etc. The vehicle control device 11 and the positioning device 16 may be capable of wireless communication.

[0022] The communication unit 15 is a communication interface that connects the work vehicle 10 to the communication network N1 either wired or wirelessly, and performs data communication in accordance with a predetermined communication protocol with external devices such as the operation terminal 20 and server 30 via the communication network N1.

[0023] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various information. The storage unit 12 stores a control program such as an automatic driving program for causing the vehicle control device 11 to execute the automatic driving process (see Figs. 12 and 13) described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (e.g., the server 30) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. The storage unit 12 also stores route data including information on a target route R generated in the operation terminal 20 and control information F1 (described later) that controls the spraying direction. For example, the route data is transmitted from the operation terminal 20 to the server 30, transferred from the server 30 to the work vehicle 10, and stored in the storage unit 12.

[0024] The vehicle control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as a temporary storage memory (work area) for various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by executing, with the CPU, various control programs that are stored in advance in the ROM or the storage unit 12.

[0025] The vehicle control device 11 controls the traveling of the work vehicle 10. Specifically, the vehicle control device 11 automatically travels the work vehicle 10 along the target route R based on position information indicating the position of the work vehicle 10 measured by the positioning device 16. For example, when the positioning state becomes a state in which RTK positioning is possible and the operator presses the start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a work start instruction to the work vehicle 10. When the vehicle control device 11 acquires the work start instruction from the operation terminal 20, it starts the automatic traveling of the work vehicle 10 based on the position information indicating the position of the work vehicle 10 measured by the positioning device 16. As a result, the work vehicle 10 starts automatic traveling along the target route R, and starts the spraying work by the spraying device 14 in the work passage.

[0026] Furthermore, the vehicle control device 11 stops the automatic traveling of the work vehicle 10 when it receives a traveling stop instruction from the operation terminal 20. For example, when the operator presses the stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs the traveling stop instruction to the work vehicle 10. When the vehicle control device 11 receives the traveling stop instruction from the operation terminal 20, it stops the automatic traveling of the work vehicle 10. As a result, the work vehicle 10 stops the automatic traveling and the spraying work by the spraying device 14 stops.

[0027] The work vehicle 10 is equipped with a gate-shaped vehicle body 100 that travels across crops V (fruit trees) planted in multiple rows in a farm field F. As shown in Fig. 4C, the vehicle body 100 is formed in a gate shape with a left side part 100L, a right side part 100R, and a connection part 100C that connects the left side part 100L and the right side part 100R, and a space 100S that allows the crops V to pass through is secured inside the left side part 100L, the right side part 100R, and the connection part 100C.

[0028] A crawler 101 is provided at the lower end of each of the left side 100L and right side 100R of the vehicle body 100. An engine (not shown), a battery (not shown), etc. are provided on the left side 100L. A storage tank 14A (see FIG. 4B) of the spraying device 14 and the like are provided on the right side 100R. In this way, by distributing and arranging the components on the left side 100L and right side 100R of the vehicle body 100, the work vehicle 10 is balanced left and right and has a low center of gravity. As a result, the work vehicle 10 can travel stably on slopes of the field F.

[0029] The traveling device 13 is a drive unit that drives the work vehicle 10. The traveling device 13 includes an engine, crawlers 101, and the like.

[0030] The left and right crawlers 101 are driven by power from the engine in a state where independent speed changes are possible by a hydrostatic continuously variable transmission. As a result, the vehicle body 100 is in a forward state moving straight forward in the forward direction when the left and right crawlers 101 are driven at a constant speed in the forward direction, and in a reverse state moving straight backward in the reverse direction when the left and right crawlers 101 are driven at a constant speed in the reverse direction. The vehicle body 100 is in a forward turning state where it turns while moving forward when the left and right crawlers 101 are driven at unequal speeds in the forward direction, and in a reverse turning state where it turns while moving backward when the left and right crawlers 101 are driven at unequal speeds in the reverse direction. The vehicle body 100 is in a pivot turning state when one of the left and right crawlers 101 is stopped and the other crawler 101 is driven, and in a spin turning state when the left and right crawlers 101 are driven at a constant speed in the forward direction and the reverse direction. Furthermore, the vehicle body 100 comes to a stop moving state by stopping the driving of the left and right crawlers 101. The left and right crawlers 101 may be configured as an electrically driven type driven by an electric motor.

[0031] As shown in FIG. 4C, the spraying device 14 includes a storage tank 14A for storing the chemical solution etc., a spraying pump (not shown) for pressurizing the chemical solution etc., an electric spraying motor (not shown) for driving the spraying pump, spraying pipes 14B arranged in parallel, two on each side, in a vertical position on the back of the vehicle body 100, a total of 12 spraying nozzles 14C, three on each spraying pipe 14B, an electronically controlled valve unit (not shown) for changing the amount and spraying pattern of the chemical solution etc., and a plurality of spraying pipes (not shown) connecting these together.

[0032] Each spray nozzle 14C is attached to the corresponding spray pipe 14B so that its position can be changed in the up-down direction. This allows each spray nozzle 14C to change the interval between adjacent spray nozzles 14C and its height position relative to the spray pipe 14B depending on the object to be sprayed (crop V). Also, each spray nozzle 14C is attached so that its height position and left-right position relative to the vehicle body 100 can be changed depending on the object to be sprayed.

[0033] In the spraying device 14, the number of spray nozzles 14C provided on each spray pipe 14B can be changed in various ways depending on the type of crop V, the length of each spray pipe 14B, and the like.

[0034] As shown in FIG. 4C, among the multiple spray nozzles 14C, the three spray nozzles 14C provided on the leftmost spray pipe 14B spray the chemical solution to the left toward the crop Va located on the left outer side of the vehicle body 100. Among the multiple spray nozzles 14C, the three spray nozzles 14C provided on the left inner spray pipe 14B adjacent to the leftmost spray pipe 14B spray the chemical solution to the right toward the crop Vb located in the space 100S in the center of the left and right of the vehicle body 100. Among the multiple spray nozzles 14C, the three spray nozzles 14C provided on the rightmost spray pipe 14B spray the chemical solution to the right toward the crop Vc located on the right outer side of the vehicle body 100. Of the multiple spray nozzles 14C, the three spray nozzles 14C provided on the right inner spray pipe 14B adjacent to the rightmost spray pipe 14B spray the chemical solution leftward toward the crop Vb located in the space 100S.

[0035] With the above-mentioned configuration, in the spraying device 14, the two spraying pipes 14B and six spraying nozzles 14C provided on the left side 100L of the vehicle body 100 function as the left spraying section 14L. Also, the two spraying pipes 14B and six spraying nozzles 14C provided on the right side 100R of the vehicle body 100 function as the right spraying section 14R. The left and right spraying sections 14L, 14R are arranged at the rear of the vehicle body 100 with a left-right interval between them that allows the crop Vb to pass through (space 100S) while spraying in the left and right directions.

[0036] In the spraying device 14, the spraying patterns produced by the spraying sections 14L, 14R include a four-way spraying pattern in which each of the spraying sections 14L, 14R sprays the chemical solution in both the left and right directions, and a directional limited spraying pattern in which the spraying direction by the spraying sections 14L, 14R is limited. The direction-limited spray patterns include a left side three-way spray pattern in which spraying part 14L sprays the chemical liquid in both the left and right directions and spraying part 14R sprays the chemical liquid only in the left direction; a right side three-way spray pattern in which spraying part 14L sprays the chemical liquid only in the right direction and spraying part 14R sprays the chemical liquid in both the left and right directions; a two-way spray pattern in which spraying part 14L sprays the chemical liquid only in the right direction and spraying part 14R sprays the chemical liquid only in the left direction; a left side one-way spray pattern in which spraying part 14L sprays the chemical liquid only in the left direction and spraying part 14R does not spray the chemical liquid; and a right side one-way spray pattern in which spraying part 14R sprays the chemical liquid only in the right direction and spraying part 14L does not spray the chemical liquid.

[0037] The spraying device 14 executes a switching process for switching the spray direction (spraying pattern) of the chemical liquid based on the control information F1 (see FIG. 11) included in the route data transferred from the server 30. That is, the spraying device 14 has a function as a spray pattern switching processing unit. The method of switching the spray pattern will be described later.

[0038] The vehicle body 100 is equipped with an automatic travel control unit that automatically travels the vehicle body 100 along a target route R in the field F based on positioning information acquired from the positioning device 16, an engine control unit that controls the engine, an HST (Hydro-Static Transmission) control unit that controls the hydrostatic continuously variable transmission, and an implement control unit that controls the implements such as the spraying device 14. Each control unit is constructed by an electronic control unit equipped with a microcontroller, and various information and control programs stored in a non-volatile memory (for example, an EEPROM such as a flash memory) of the microcontroller. The various information stored in the non-volatile memory may include a target route R generated in advance. In this embodiment, each control unit is collectively referred to as a "vehicle control device 11" (see FIG. 2).

[0039] The positioning device 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, and an antenna 164. The antennas 164 are provided in front and behind the ceiling (connection unit 100C) of the vehicle body 100 (see FIG. 3). Also, the ceiling of the vehicle body 100 is provided with indicator lights 102 that display the traveling state of the work vehicle 10 (see FIG. 3). The battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine is stopped.

[0040] The communication unit 163 is a communication interface for connecting the positioning device 16 to the communication network N1 in a wired or wireless manner and for executing data communication with an external device such as the base station 40 via the communication network N1 in accordance with a predetermined communication protocol.

[0041] The antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites. Since the antennas 164 are provided at the front and rear of the work vehicle 10, the current position of the work vehicle 10 can be determined with high accuracy.

[0042] The positioning control unit 161 is a computer system including one or more processors, and storage memories such as non-volatile memory and RAM. The storage unit 162 is a non-volatile memory that stores a control program for causing the positioning control unit 161 to execute positioning processing, and data such as positioning information and movement information. The positioning control unit 161 locates the current position of the work vehicle 10 using a predetermined positioning method (such as the RTK method) based on the GNSS signal received by the antenna 164 from the satellite 50.

[0043] The obstacle detection device 17 includes a lidar sensor 171L provided on the front left side of the vehicle body 100, and a lidar sensor 171R provided on the front right side of the vehicle body 100 (see FIG. 3). Each lidar sensor measures the distance from the lidar sensor to each ranging point (measurement object) within the measurement range, for example, by a Time Of Flight (TOF) method that measures the distance to a ranging point based on the round-trip time it takes for laser light emitted by the lidar sensor to reach the ranging point and return.

[0044] The measurement range of the lidar sensor 171L is set to a predetermined range on the front left side of the vehicle body 100, and the measurement range of the lidar sensor 171R is set to a predetermined range on the front right side of the vehicle body 100. Each lidar sensor transmits measurement information such as the measured distance to each ranging point and the scanning angle (coordinates) for each ranging point to the vehicle control device 11.

[0045] The obstacle detection device 17 also includes left and right ultrasonic sensors 172F (see FIG. 3) provided on the front side of the vehicle body 100, and left and right ultrasonic sensors 172R (see FIGS. 4A and 4B) provided on the rear side of the vehicle body 100. Each ultrasonic sensor measures the distance from the ultrasonic sensor to the measurement object using a TOF method that measures the distance to the ranging point based on the round-trip time it takes for ultrasonic waves emitted by the ultrasonic sensor to reach the ranging point and return.

[0046] The front left ultrasonic sensor 172F has a measurement range set to a predetermined range on the front left side of the vehicle body 100, the front right ultrasonic sensor 172F has a measurement range set to a predetermined range on the front right side of the vehicle body 100, the rear left ultrasonic sensor 172R has a measurement range set to a predetermined range on the rear left side of the vehicle body 100, and the rear right ultrasonic sensor 172R has a measurement range set to a predetermined range on the rear right side of the vehicle body 100. Each ultrasonic sensor transmits measurement information including the measured distance to the measurement object and the direction of the measurement object to the vehicle control device 11.

[0047] The obstacle detection device 17 also includes left and right contact sensors 173F (see FIG. 3) provided on the front side of the vehicle body 100, and left and right contact sensors 173R (see FIGS. 4A and 4B) provided on the rear side of the vehicle body 100. The contact sensor 173F on the front side of the vehicle body 100 detects an obstacle when the obstacle comes into contact with the contact sensor 173F. The spraying device 14 is provided in front of the contact sensor 173R on the rear side of the vehicle body 100 (the rear side of the work vehicle 10), and when an obstacle comes into contact with the spraying device 14, the contact sensor 173R detects the obstacle by moving the spraying device 14 backward (the front side of the work vehicle 10). Each contact sensor transmits a detection signal to the vehicle control device 11 when it detects an obstacle.

[0048] The vehicle control device 11 executes an avoidance process for avoiding an obstacle when there is a possibility that the work vehicle 10 will collide with the obstacle, based on measurement information relating to the obstacle obtained from the obstacle detection device 17.

[0049] With the above configuration, the work vehicle 10 can be automatically driven along the target route R with high accuracy, and the spraying device 14 can properly spray a chemical solution or the like.

[0050] The above-mentioned configuration of the work vehicle 10 is one example of the configuration of the work vehicle of the present invention, and the present invention is not limited to the above-mentioned configuration. The above-mentioned work vehicle 10 is a vehicle that can perform a spraying operation of spraying a spraying material on the first crop row Vr and the second crop rows Vr on the left and right sides of the first crop row Vr while traveling across the first crop row Vr. As another embodiment, the work vehicle 10 may have a normal shape in which the vehicle body 100 does not have a gate-shaped shape, but the entire vehicle body 100 travels between the crop rows Vr (work passage). In this case, the work vehicle 10 automatically travels through each work passage in order without straddling the crop rows Vr. In addition, the spraying device 14 has one spraying unit, and performs a spraying operation by switching between a spraying pattern in which the chemical solution is sprayed in both the left and right directions, a spraying pattern in which the chemical solution is sprayed only in the left direction, and a spraying pattern in which the chemical solution is sprayed only in the right direction.

[0051] [Operation terminal 20] 2, the operation terminal 20 is an information processing device including a control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone.

[0052] The communication unit 24 is a communication interface that connects the operation terminal 20 to the communication network N1 via a wired or wireless connection, and performs data communication in accordance with a predetermined communication protocol between the operation terminal 20 and one or more external devices such as a work vehicle 10 and a server 30 via the communication network N1.

[0053] The operation display unit 23 is a user interface equipped with a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations. The operator can operate the operation unit to register various information (such as work vehicle information, field information, and work information described below) on the operation screen displayed on the display unit. The operator can also operate the operation unit to give instructions to the work vehicle 10 to start work and stop traveling. Furthermore, the operator can grasp the traveling state, work situation, and surrounding situation of the work vehicle 10 that automatically travels in the field F according to the target route R from the traveling trajectory and the surrounding image of the vehicle body 100 displayed on the operation terminal 20 at a location away from the work vehicle 10.

[0054] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various information. The storage unit 22 stores control programs such as an automatic driving program for causing the control unit 21 to execute an automatic driving process (see Figs. 12 and 13) described below. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The automatic driving program may be downloaded from a server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22.

[0055] The control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The control unit 21 controls the operation terminal 20 by executing, by the CPU, various control programs stored in advance in the ROM or the storage unit 22.

[0056] As shown in Fig. 2, the control unit 21 includes various processing units such as a setting processing unit 211, a route generation processing unit 212, a control information generation processing unit 213, and an output processing unit 214. The control unit 21 functions as the various processing units by executing various processes according to the control program with the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing a plurality of processors to function as the processing units.

[0057] The setting processing unit 211 sets and registers information about the work vehicle 10 (hereinafter referred to as work vehicle information), information about the field F (hereinafter referred to as field information), and information about work (here, spraying work) (hereinafter referred to as work information).

[0058] In the process of setting the work vehicle information, the setting processing unit 211 sets information such as the model of the work vehicle 10, the position where the antenna 164 is attached on the work vehicle 10, the type of work implement (here, the spraying device 14), the size and shape of the work implement, the position of the work implement relative to the work vehicle 10, the vehicle speed and engine RPM of the work vehicle 10 while working, and the vehicle speed and engine RPM of the work vehicle 10 while turning, by the operator performing an operation to register the information on the operation terminal 20. In this embodiment, information related to the spraying device 14 is set as the information on the work implement.

[0059] In the field information setting process, the setting processing unit 211 sets information such as the position and shape of the field F, the work start position S where work begins and the work end position G where work ends (see FIG. 6), the work direction, etc., by the operator performing an operation to register the information on the operation terminal 20. Note that the work direction means the direction in which the work vehicle 10 travels while performing spraying work with the spraying device 14 in the work area, which is the area of ​​the field F excluding non-work areas such as headland.

[0060] Information on the position and shape of the field F can be automatically acquired, for example, by an operator manually driving the work vehicle 10 around the perimeter of the field F and recording the transition of the position information of the antenna 164 at that time. The position and shape of the field F can also be acquired based on a polygon obtained by the operator operating the operation terminal 20 while a map is displayed on the map and specifying multiple points on the map. The area specified by the acquired position and shape of the field F is the area in which the work vehicle 10 can be driven (travel area).

[0061] In the process of setting the work information, the setting processing unit 211 is configured to be able to set, as work information, the skip number, which is the number of work routes that the work vehicle 10 skips when turning on the headland, the width of the headland, etc.

[0062] The route generation processing unit 212 generates a target route R, which is a route along which the work vehicle 10 will automatically travel, based on each of the setting information. The target route R is, for example, a route from a work start position S to a work end position G (see FIG. 6). The target route R shown in FIG. 6 includes a linear work route R1 for spraying a chemical solution on the crops V in an area where the crops V are planted, and a movement route R2 for moving between the crop rows Vr without performing spraying work.

[0063] An example of a method for generating the target route R will be described with reference to FIG. 7A and FIG. 7B. FIG. 7A shows a schematic diagram of a crop row Vr. First, the operator manually drives the work vehicle 10 along the outer periphery of the crop row Vr (see FIG. 7A). The work vehicle 10 detects an end point E1 on one side (lower side of FIG. 7A) and an end point E2 on the other side (upper side of FIG. 7A) of each crop row Vr while driving, and acquires position information (coordinates) of each end point E1, E2. The end points E1, E2 may be the positions of the crops V that have already been planted, or may be the positions of targets indicating the positions of the crops V to be planted in the future. When the path generation processing unit 212 acquires the position information (coordinates) of each end point E1, E2 from the work vehicle 10, the path generation processing unit 212 sets a line L1 (see FIG. 7B) connecting the corresponding end points E1, E2 to the work route of the crop row Vr, and generates a target route R including a plurality of work routes and movement routes (turning routes). The method for generating the target route R is not limited to the above-mentioned method. The route generation processing unit 212 may store the generated target route R in the storage unit 22. The route generation processing unit 212 is an example of the route generation processing unit of the present invention.

[0064] The control information generation processing unit 213 generates control information F1 that controls the spraying direction (spraying pattern) of the chemical solution on the crops V by the spraying units 14L, 14R provided on the work vehicle 10 in accordance with the position of either the crops V on the work path R1 along which the work vehicle 10 performs spraying operations while automatically traveling, or the crops V adjacent to the work path R1.

[0065] An example of a spraying work method corresponding to conventional control information F0 (see FIG. 9) will now be described with reference to FIG. 8A to FIG. 8E. FIG. 8A to FIG. 8E show schematic diagrams of crop rows Vra to Vrh of crops V planted in a field F and end points P0 of each crop row. Here, the crops V in the field F are planted such that a line L2 connecting end points P0 of the crop rows Vrc to Vrh is oblique to the direction in which the crops V are lined up in the crop rows Vr (the work path direction) according to the shape of the field F.

[0066] When a conventional work vehicle 10 performs spraying work in such a field F, the work vehicle 10 performs the following operations. First, as shown in FIG. 8A, the work vehicle 10 performs spraying work using a four-way spraying pattern in which each of the spraying units 14L and 14R sprays the chemical solution in both the left and right directions while moving straight along the work passage across the crop row Vrd. Here, as shown in FIG. 8B, when the work vehicle 10 passes a position corresponding to the end point P0 of the crop row Vre, the spraying unit 14R continues to spray the chemical solution in the right-side area A1 where the crop V does not exist. Then, as shown in FIG. 8C, when the work vehicle 10 reaches the end point P0 of the crop row Vrd, the spraying by the spraying units 14L and 14R is stopped and the work vehicle 10 starts turning at the turning start position P1. In this case, the chemical solution is not sprayed on the crops V in the area A2 from the position corresponding to the end point P0 of the crop row Vrd to the end point P0 of the crop row Vrc. When the work vehicle 10 starts turning, it travels along turning path r1, straight path r2, and turning path r3, and then travels straight along straight path r4 from the turning end position P2 to move to the end point P0 of the crop row Vrg, which is the next work path (see FIG. 8D).

[0067] Here, as shown in Fig. 8D, in the crop row Vrf, the chemical solution is not sprayed on the crops V in the area A3 from the end point P0 of the crop row Vrf to the position corresponding to the end point P0 of the crop row Vrg. Then, as shown in Fig. 8E, when the work vehicle 10 reaches the end point P0 of the crop row Vrg, the spraying operation is resumed using a four-way spraying pattern in which each of the spraying units 14L and 14R sprays the chemical solution in both the left and right directions. In this case, the spraying unit 14L continues to spray the chemical solution on the left area A4 where no crops V exist until the work vehicle 10 reaches the position corresponding to the end point P0 of the crop row Vrh.

[0068] FIG. 9 shows the control information F0 corresponding to the above-mentioned spraying work. In a conventional work vehicle 10, in a field F shown in FIG. 8, the spraying device 14 performs spraying work based on the control information F0. This causes problems such as unnecessary spraying of the chemical solution in areas A1 and A4 where no crops V exist, or failure to spray the chemical solution in areas A2 and A3 where crops V exist. Thus, in the conventional technology, there is a problem of overspraying or underspraying, which reduces the work efficiency of the spraying work. In contrast, according to the spraying work method of this embodiment, it is possible to improve the work efficiency of the spraying work, as shown below.

[0069] Specifically, the control information generation processor 213 generates control information F1 that switches the spray pattern based on the positional relationship of the end points of each crop row Vr. The spray patterns include the above-mentioned four-way spray pattern, a left three-way spray pattern, a right three-way spray pattern, a two-way spray pattern, a left one-way spray pattern, and a right one-way spray pattern.

[0070] An example of a spraying operation method corresponding to the control information F1 (see FIG. 11) according to this embodiment will be described with reference to FIGS. 10A to 10F. The shape of the field F and the arrangement of the crops V and crop rows Vra to Vrh are the same as those shown in FIG.

[0071] First, the work vehicle 10, as in the conventional configuration, performs spraying work using a four-way spraying pattern in which each of the spraying units 14L and 14R sprays the chemical solution in both the left and right directions while moving straight through the work passage across the crop row Vrd (see FIG. 8A). Here, as shown in FIG. 10A, when the work vehicle 10 reaches a position P11 corresponding to the end point P0 of the crop row Vre, the spraying device 14 switches the four-way spraying pattern to a left three-way spraying pattern in which the spraying unit 14L sprays the chemical solution in both the left and right directions and the spraying unit 14R sprays the chemical solution only to the left.

[0072] In this embodiment, "the work vehicle 10 reaches position P" means that the positions of the spraying units 14L, 14R of the work vehicle 10 reach position P. Since the current position of the work vehicle 10 indicates the center position of the work vehicle 10, the positions of the spraying units 14L, 14R can be calculated based on the distance from the center position to the spraying units 14L, 14R.

[0073] Then, as shown in FIG. 10B, when the work vehicle 10 reaches the end point P0 of the crop row Vrd, the spraying device 14 switches the left three-way spraying pattern to a left one-way spraying pattern in which the spraying unit 14L sprays only to the left and the spraying unit 14R does not spray the chemical solution. Then, as shown in FIG. 10C, the work vehicle 10 moves straight up to position P12 corresponding to the end point P0 of the crop row Vrc while performing spraying work using the left one-way spraying pattern, and when it reaches position P12, both the spraying units 14L and 14R stop spraying. Then, when the work vehicle 10 passes position P12 and reaches the turning start position P1, it starts turning. When the work vehicle 10 starts turning, it moves along the turning path r1, the straight path r2, and the turning path r3, and moves straight along the straight path r4 from the turning end position P2 to the end point P0 of the crop row Vrg, which is the next work passage.

[0074] Here, since the work vehicle 10 of this embodiment travels straight from the end point P0 of the crop row Vrd to position P12, the turning start position P1, turning end position P2, and movement route r1-r3 are different from the conventional turning start position P1, turning end position P2, and movement route r1-r3 (dotted line route in FIG. 10C). That is, the route generation processing unit 212 generates the target route R based on position P12.

[0075] As shown in FIG. 10D, when the work vehicle 10 traveling along the straight path r4 reaches a position P13 corresponding to the end point P0 of the crop row Vrf, the spraying device 14 resumes spraying work with a right-side 1-way spraying pattern in which the spraying unit 14R sprays only to the right and the spraying unit 14L does not spray the chemical solution. Then, as shown in FIG. 10E, when the work vehicle 10 reaches the end point P0 of the crop row Vrg, the spraying device 14 switches the right-side 1-way spraying pattern to a right-side 3-way spraying pattern in which the spraying unit 14L sprays the chemical solution only to the right and the spraying unit 14R sprays the chemical solution in both the left and right directions. Then, as shown in FIG. 10F, when the work vehicle 10 reaches a position P14 corresponding to the crop row Vrh, the spraying device 14 switches the right-side 3-way spraying pattern to a 4-way spraying pattern to perform spraying work. As described above, the work vehicle 10 performs spraying work while switching the spraying pattern depending on the position of the crop V adjacent to the work path R1.

[0076] Fig. 11 shows control information F1 corresponding to the above-mentioned spraying work. The control information F1 shown in Fig. 11 shows information for controlling the spraying pattern when the work vehicle 10 performs spraying work on the work path R1 of the crop rows Vrd, Vrg. The control information generation processing unit 213 generates control information F1 for all crop rows Vr in the field F.

[0077] The work vehicle 10 performs spraying work based on control information F1 while automatically traveling along a target route R in a field F shown in FIG. 10. According to this embodiment, it is possible to prevent the chemical solution from being sprayed unnecessarily in areas A1, A4 (see FIGS. 8B and 8E) where no crops V are present. It is also possible to prevent areas A2, A3 (see FIGS. 8C and 8D) where crops V are present from being left unsprayed. Therefore, according to the spraying work method of this embodiment, it is possible to improve the work efficiency of the spraying work.

[0078] Here, the control timing for turning the spraying parts 14L, 14R ON and OFF in the control information F1 is set according to the position of the work vehicle 10 and the positions of the spraying parts 14L, 14R.

[0079] Specifically, the control information generation processing unit 213 calculates the distance between the center position of the work vehicle 10 to be located and the work start position, and calculates the control timing of the spraying units 14L, 14R from the set traveling speed. In addition, since the spraying units 14L, 14R require ON / OFF of the spray blower motor (not shown) and opening / closing of the spray nozzle 14C, the control information generation processing unit 213 calculates the control timing of the spraying units 14L, 14R taking into consideration the operation times of these. As a result, the control timing is set in the control information F1 so that, for example, the chemical solution is sprayed on the crops V or the spraying of the chemical solution is stopped at the timing when the spraying units 14L, 14R reach the target position. The control information generation processing unit 213 is an example of the control information generation processing unit of the present invention.

[0080] The output processing unit 214 outputs route data including information on the target route R generated by the route generation processing unit 212 and the control information F1 (see FIG. 11) generated by the control information generation processing unit 213 to the server 30. The output processing unit 214 may output the route data to the work vehicle 10.

[0081] In addition to the above-mentioned processing, the control unit 21 executes processing for displaying various information on the operation display unit 23. For example, the control unit 21 causes the operation display unit 23 to display a registration screen for registering work vehicle information, field information, work information, etc., an operation screen for generating the target route R and control information F1, an operation screen for causing the work vehicle 10 to start automatic traveling, a display screen for displaying the traveling state of the work vehicle 10, etc.

[0082] The control unit 21 also accepts various operations from the operator. Specifically, the control unit 21 accepts from the operator a work start instruction to cause the work vehicle 10 to start work, a travel stop instruction to cause the work vehicle 10 to stop traveling during automatic traveling, etc. When the control unit 21 accepts each of the instructions, it outputs each of the instructions to the work vehicle 10.

[0083] When the vehicle control device 11 of the work vehicle 10 receives a work start instruction from the operation terminal 20, it starts the automatic traveling and spraying work of the work vehicle 10. In addition, when the vehicle control device 11 receives a traveling stop instruction from the operation terminal 20, it stops the automatic traveling and spraying work of the work vehicle 10.

[0084] The operation terminal 20 may be able to access a website (agricultural support site) of an agricultural support service provided by the server 30 via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server 30 by executing a browser program by the control unit 21.

[0085] [Server 30] 2, the server 30 is a server device including a control unit 31, a storage unit 32, an operation display unit 33, and a communication unit 34. The server 30 is not limited to a single computer, and may be a computer system in which multiple computers work together. Moreover, various processes executed by the server 30 may be executed in a distributed manner by one or multiple processors.

[0086] The communication unit 34 is a communication interface that connects the server 30 to the communication network N1 via a wired or wireless connection, and performs data communication in accordance with a predetermined communication protocol between the server 30 and external devices such as one or more work vehicles 10 and one or more operation terminals 20 via the communication network N1.

[0087] The operation display unit 33 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations.

[0088] The storage unit 32 is a non-volatile storage unit such as an HDD or SSD that stores various information. The storage unit 32 stores control programs such as an automatic driving program for causing the control unit 31 to execute an automatic driving process (see Figs. 12 and 13) described below. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 32. The automatic driving program may be downloaded from another server (not shown) to the server 30 via the communication network N1 and stored in the storage unit 32.

[0089] The storage unit 32 also stores route data including the target route R and control information F1 output from the operation terminal 20.

[0090] Note that the storage unit 32 may store route data corresponding to each work vehicle 10. For example, the storage unit 32 may store route data corresponding to the work vehicle 10A and route data corresponding to the work vehicle 10B.

[0091] The control unit 31 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The control unit 31 controls the server 30 by executing, by the CPU, various control programs stored in advance in the ROM or the storage unit 32.

[0092] As shown in Fig. 2, the control unit 31 includes various processing units such as an acquisition processing unit 311 and a transfer processing unit 312. The control unit 31 functions as the various processing units by executing various processes according to the control program with the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing a plurality of processors to function as the processing units.

[0093] The acquisition processing unit 311 acquires various types of information from the work vehicle 10 and the operation terminal 20. For example, the acquisition processing unit 311 acquires user information, field information, work schedule information, route data, etc. from the operation terminal 20. The acquisition processing unit 311 also acquires information such as work results from the work vehicle 10. For example, the acquisition processing unit 311 stores the route data acquired from the operation terminal 20 in the memory unit 32.

[0094] The transfer processing unit 312 transfers route data including the target route R (see FIG. 6) and control information F1 (see FIG. 11) to the work vehicle 10. Note that the target route R shown in FIG. 6 illustrates an example of a route in a field F where crops V are planted so that a line connecting the endpoints of each crop row Vr is perpendicular to the direction in which the crops V are lined up (the work route direction), but in this embodiment, a target route R corresponding to the field F shown in FIG. 10 is generated.

[0095] The work vehicle 10 stores in the memory unit 12 the route data including the target route R and control information F1 transferred from the server 30. The work vehicle 10 performs automatic traveling along the target route R while measuring the current position of the work vehicle 10 using the positioning device 16.

[0096] Here, the work vehicle 10 is configured to be able to travel automatically when its current position is located within the field F, and is configured not to be able to travel automatically when its current position is located outside the field F (such as on a public road). Also, the work vehicle 10 is configured to be able to travel automatically when, for example, its current position coincides with the work start position S.

[0097] When the current position of the work vehicle 10 coincides with the work start position S and the operator presses the start button on the operation terminal 20 to give an instruction to start work, the work vehicle 10 starts automatic driving by the vehicle control device 11 and starts spraying work by the spraying device 14. In other words, the work vehicle 10 is permitted to drive automatically on the condition that the current position coincides with the work start position S. Note that the conditions for permitting automatic driving of the work vehicle 10 are not limited to the above conditions.

[0098] The vehicle control device 11 automatically drives the work vehicle 10 from the work start position S to the work end position G based on the target route R obtained from the server 30. Furthermore, when the work vehicle 10 finishes work, the vehicle control device 11 may automatically drive the work vehicle 10 from the work end position G to the entrance of the field F. When the work vehicle 10 is automatically driving, the operation terminal 20 can receive the status of the work vehicle 10 (position, driving speed, work status, etc.) from the work vehicle 10 and display it on the operation display unit 23.

[0099] The work vehicle 10 performs spraying work based on the control information F1 while performing automatic travel. Specifically, the work vehicle 10 switches the spraying direction of the spraying units 14L, 14R to the crops V according to the position of the crops V adjacent to the work path R1.

[0100] For example, when the work vehicle 10 reaches position P11 corresponding to end point P0 of the crop row Vre, which is located before end point P0 of the crop row Vrd on the work path R1, it stops spraying in the direction of the crop row Vre and continues spraying in other directions (see Figures 10A and 11, "left side three-way spraying pattern"). Also, when the work vehicle 10 reaches end point P0 of the crop row Vrd, it stops spraying in the direction of the crop row Vrd (see Figures 10B and 11, "left side one-way spraying pattern").

[0101] Furthermore, when the work vehicle 10 reaches position P12 corresponding to the end point P0 of the crop row Vrc, it stops spraying in all directions and moves to the next work path R1 (see Figs. 10C and 11). Furthermore, when the work vehicle 10 reaches position P13 corresponding to the end point P0 of the crop row Vrf, which is located before the end point P0 of the crop row Vrg on the work path R1, it starts spraying in the direction of the crop row Vrf (see Figs. 10D and 11, "right side one-way spraying pattern"). Furthermore, when the work vehicle 10 reaches end point P0 of the crop row Vrg, it starts spraying in the direction of the crop row Vrg (see Figs. 10E and 11, "right side three-way spraying pattern"). Furthermore, when the work vehicle 10 reaches position P14 corresponding to end point P0 of the crop row Vrh, it starts spraying in the direction of the crop row Vrh (see Figs. 10F and 11, "four-way spraying pattern").

[0102] The work vehicle 10 performs spraying work while traveling automatically as described above. That is, the work vehicle 10 can perform spraying work on the first crop row Vr (first row of spraying objects of the present invention) while traveling across the first crop row Vr, a second crop row Vr (second row of spraying objects of the present invention) adjacent to the right of the first crop row Vr (first direction of the present invention), and a third crop row Vr (third row of spraying objects of the present invention) adjacent to the left of the first crop row Vr (second direction of the present invention). In this case, when the work vehicle 10 reaches a position corresponding to the second end point P0 of the second crop row Vr, which is located earlier than the first end point P0 of the first crop row Vr (for example, position P11 shown in Figure 10A), it stops spraying the second crop row Vr, and then when it reaches the first end point P0, it stops spraying the first crop row Vr, and then when the work vehicle 10 reaches a position corresponding to the third end point P0 of the third crop row Vr, which is located in the travel direction of the first end point P0 (for example, position P12 shown in Figure 10C), it stops spraying the third crop row Vr.

[0103] As another embodiment, the control unit 31 of the server 30 may generate the target route R and the control information F1. That is, the control unit 31 may have the functions of the route generation processing unit 212 and the control information generation processing unit 213 of the operation terminal 20. Also, as another embodiment, the control unit 21 of the operation terminal 20 may generate the target route R, and the control unit 31 of the server 30 may generate the control information F1.

[0104] In another embodiment, when the operation terminal 20 is configured to output the route data to the work vehicle 10, the vehicle control device 11 of the work vehicle 10 performs automatic driving and spraying work based on the route data obtained from the operation terminal 20.

[0105] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the vehicle control device 11 of the work vehicle 10, the control unit 21 of the operation terminal 20, and the control unit 31 of the server 30 will be described with reference to FIGS.

[0106] The present invention can be understood as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. One or more steps included in the automatic driving process described here may be omitted as appropriate. The steps in the automatic driving process may be executed in a different order as long as the same action and effect is produced. Furthermore, although an example is described here in which the vehicle control device 11, the control unit 21, and the control unit 31 execute each step in the automatic driving process, an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner is also conceivable as another embodiment. The automatic driving method includes the spraying operation method of the present invention.

[0107] In step S1, the control unit 21 of the operation terminal 20 registers various setting information. Specifically, the control unit 21 sets and registers information about the work vehicle 10 (work vehicle information), information about the field F (field information), and information about the work (work information) based on the setting operation of the operator.

[0108] Next, in step S2, the control unit 21 generates a target route R based on each of the setting information. For example, the control unit 21 generates the target route R based on the position where the crop V is placed in the field F (see FIGS. 7A and 7B). The control unit 21 also generates control information F1 (see FIG. 11) based on each of the setting information and the target route R. The control unit 21 outputs route data including the generated target route R and control information F1 to the server 30.

[0109] Next, in step S3, when the control unit 31 of the server 30 acquires the route data output from the operation terminal 20, it stores the route data in the memory unit 32 in association with the identification information of the operation terminal 20 and the work vehicle 10.

[0110] In step S4, the control unit 31 transfers the route data corresponding to the work vehicle 10 to the work vehicle 10.

[0111] Next, in step S5, the vehicle control device 11 of the work vehicle 10 determines whether or not a work start instruction has been acquired from the operation terminal 20. For example, when the operator presses the start button on the operation terminal 20, the operation terminal 20 outputs a work start instruction to the work vehicle 10. When the vehicle control device 11 acquires a work start instruction from the operation terminal 20 (S5: Yes), the process proceeds to step S6. The vehicle control device 11 waits until it acquires a work start instruction from the operation terminal 20 (S5: No).

[0112] Next, in step S6, the vehicle control device 11 acquires a work start instruction from the operation terminal 20 and also acquires the route data transferred from the server 30, and starts automatic traveling along the target route R according to the route data. The vehicle control device 11 stores the route data acquired from the server 30 in the storage unit 12.

[0113] Next, in step S7, the vehicle control device 11 causes the spraying device 14 to execute a spraying control process. An example of the spraying control process is shown in Fig. 13. Note that the spraying control process shown in Fig. 13 shows a process corresponding to the control information F1 of the spraying process shown in Figs. 10A to 10F, and shows a part of the spraying process for all the crops V.

[0114] Specifically, when the work vehicle 10 reaches the end point P0 of the crop row Vrd (S21: Yes), in step S22, the spraying device 14 turns on each spraying nozzle 14C of the spraying sections 14L, 14R in both the left and right directions to perform spraying in a four-way spraying pattern (see Figure 8A).

[0115] Next, when the work vehicle 10 reaches position P11 corresponding to the end point P0 of the crop row Vre (S23: Yes), in step S24, the spraying device 14 turns off the right-hand spraying nozzle 14C of the spraying unit 14R and switches the four-way spraying pattern to a left-hand three-way spraying pattern (see Figure 10A).

[0116] Next, when the work vehicle 10 reaches the end point P0 of the crop row Vrd (S25: Yes), in step S26, the spraying device 14 turns off the left spraying nozzle 14C of the spraying unit 14R and the right spraying nozzle 14C of the spraying unit 14L (the central spraying nozzle is turned off), and switches the left three-way spraying pattern to a left one-way spraying pattern (see Figure 10B).

[0117] Next, when the work vehicle 10 reaches position P12 corresponding to the end point P0 of the crop row Vrc (S27: Yes), in step S28, the spraying device 14 turns off the left spraying nozzle 14C of the spraying unit 14L to stop spraying in all directions (see FIG. 10C). After that, the work vehicle 10 turns from the turning start position P1 to the turning end position P2 and moves to the next crop row Vrg (see FIG. 10C).

[0118] Next, when the work vehicle 10 reaches a position P13 corresponding to the end point P0 of the crop row Vrf on the straight path r4 toward the end point P0 of the crop row Vrg (S29: Yes), in step S30, the spraying device 14 turns on the right-side spraying nozzle 14C of the spraying unit 14R and resumes spraying operations using the right-side unidirectional spraying pattern (see Figure 10D).

[0119] Next, when the work vehicle 10 reaches the end point P0 of the crop row Vrg (S31: Yes), in step S32, the spraying device 14 turns on the left spraying nozzle 14C of the spraying unit 14R and the right spraying nozzle 14C of the spraying unit 14L (the central spraying nozzle is turned on), and switches the right side 1-way spraying pattern to the right side 3-way spraying pattern (see Figure 10E).

[0120] Next, when the work vehicle 10 reaches position P14 corresponding to the end point P0 of the crop row Vrh (S33: Yes), in step S34, the spraying device 14 turns on the left spraying nozzle 14C of the spraying unit 14L and switches the right-side three-way spraying pattern to a four-way spraying pattern (see Figure 10F).

[0121] As described above, the spraying device 14 executes the spraying control process based on the control information F1 in accordance with instructions from the vehicle control device 11.

[0122] Returning to FIG. 12, in step S8, the vehicle control device 11 determines whether the work vehicle 10 has finished work. The vehicle control device 11 determines that work has ended when the position of the work vehicle 10 matches the work end position G. If the work vehicle 10 has finished work (S8: Yes), the automatic driving process ends. The vehicle control device 11 continues automatic driving by repeating the spraying control process of step S7 until the work vehicle 10 finishes work.

[0123] The processing of steps S1 to S3 and the processing of steps S4 to S8 may be executed independently. For example, the automated driving system 1 executes the processing of steps S1 to S3 at the initial setting stage when the work vehicle 10 is introduced. The automated driving system 1 also executes the processing of steps S4 to S8 when the operator works with the work vehicle 10.

[0124] As described above, the automatic driving system 1 of this embodiment generates a target route R for automatically driving the work vehicle 10 performing spraying work on spraying targets (e.g., crops V) arranged in multiple rows in a work area (e.g., a field F), and generates control information F1 for controlling the spraying direction of the spraying units 14L, 14R provided on the work vehicle 10 to spray the spraying material (e.g., a chemical solution) on the spraying targets in accordance with the position of either the spraying target on the work path along which the work vehicle 10 performs the spraying work while automatically driving or the spraying target adjacent to the work path. In addition, the automatic driving method (spraying operation method) of this embodiment executes the following steps: one or more processors generate a target route R for the work vehicle 10 to perform spraying operation on spray targets (e.g., crops V) arranged in multiple rows in a work area (e.g., a field F) (route generation process); automatically drive the work vehicle 10 along the target route R (driving process); and switch the spraying direction of the spraying material (e.g., chemical solution) by the spraying units 14L, 14R provided on the work vehicle 10 on the spray targets in accordance with the position of the spray targets adjacent to the work route along which the work vehicle 10 performs the spraying operation while automatically driving (switching process).

[0125] According to the above configuration, for example, when crops are planted so that the ends of adjacent crop rows are diagonal to the working path direction (see FIG. 10A, etc.), it is possible to prevent the areas A1, A4 (see FIG. 8B and FIG. 8E) where no crops V are present from being sprayed wastefully. Also, it is possible to prevent the areas A2, A3 (see FIG. 8C and FIG. 8D) where the crops V are present from being left unsprayed. Therefore, according to the spraying method of this embodiment, it is possible to improve the work efficiency of the spraying work. Also, since the work vehicle 10 can perform the spraying work according to the control information F1 included in the path data and does not need to perform the spraying work based on the detection result of the obstacle detection device 17, for example, the processing load of the spraying process can be reduced. Also, even in a field F that is not rectangular, the work vehicle 10 can perform optimal spraying work without straying from the field F.

[0126] The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

[0127] For example, in the field F shown in Fig. 14, if the work vehicle 10 travels up to position P12 corresponding to the end point P0 of the crop row Vrc while performing spraying operation using a left unidirectional spraying pattern, the work vehicle 10 cannot start turning from position P12. Therefore, when the work vehicle 10 reaches position P12, it stops spraying operation, reverses to a predetermined position (turn start position P1) on the work path R1, and turns from turn start position P1 towards the next work path.

[0128] Also, for example, as in the field F shown in Fig. 15, it is possible that there are areas B1, B2 in the middle of the crop row Vr where no crop V exists. In this case, the work vehicle 10 stops spraying by the spraying units 14L, 14R in the areas B1, B2 where no crop V exists, and resumes spraying by the spraying units 14L, 14R in the areas where the crop V exists.

[0129] For example, in crop row Vr5, the work vehicle 10 performs spraying using a right-side one-way spraying pattern when it reaches area B1, and performs spraying using a four-way spraying pattern when it passes area B1. Also, in crop row Vr9, for example, the work vehicle 10 stops spraying when it reaches area B2, and performs spraying using a four-way spraying pattern when it passes area B2.

[0130] The position information of areas B1, B2 is preset and registered in control information F1. When obstacle detection device 17 detects areas B1, B2 during automatic traveling, work vehicle 10 may switch the spraying pattern based on the detection result. For example, obstacle detection device 17 can detect that no crop V is present in the middle of crop row Vr based on the detection result of lidar sensors 171L, 171R.

[0131] Incidentally, when the work vehicle 10 moves from one crop row Vr to the next crop row Vr, the work vehicle 10 performs position correction control so as to reduce the position deviation and orientation deviation in the headland area. Here, in a field F in which the crops V are planted so that the ends of adjacent crop rows are oblique to the work path direction, as shown in Figs. 8A to 8E, the turning distance traveled by the work vehicle 10 along the turning path r3 on the side entering the crop row Vrg may be shorter than the turning distance traveled by the work vehicle 10 along the turning path r1 on the side leaving the crop row Vrd. In this case, the work vehicle 10 moves to the turning path r3 while the position deviation and orientation deviation on the straight path r2 immediately before the turning path r3 remain, and it becomes difficult to perform sufficient position correction control while traveling along the turning path r3. This causes a problem in that the position deviation and orientation deviation with respect to the crop row Vrg become large when the work vehicle 10 finishes traveling along the turning path r3.

[0132] Therefore, as another embodiment, for example, as shown in Fig. 16, in a field F where the line L2 connecting the end points P0 of the crop rows Vrc to Vrh is oblique to the direction in which the crops V are arranged in the crop rows Vr (the direction of the work path) according to the shape of the field F, the path generation processing unit 212 may set the turning start position of the turning path r3 to a position where the perimeter (turning distance) of the turning path r3 is a predetermined length or more. For example, the path generation processing unit 212 generates a straight path r2 immediately before the turning path r3 so as to be parallel to the line L2, and sets the turning start position of the turning path r3 to a position on the straight path r2 where the perimeter of the turning path r3 is a predetermined length or more. This makes it possible to make the perimeter (turning distance) of the turning path r3 longer than in the conventional configuration (see Figs. 8A to 8E). Moreover, by generating the straight path r2 so as to be parallel to the line L2, the turning radius d1 on the turning start side and the turning radius d2 on the turning end side can be made the same, and the length of the straight path r4 toward the next approaching work path R1 can be made longer. This makes it possible to reduce position deviation and orientation deviation when the work vehicle 10 moves along the work path R1.

[0133] In each of the above-described embodiments, the operation terminal 20 alone corresponds to the spraying operation system according to the present invention, but the spraying operation system according to the present invention may be constituted by the operation terminal 20 and the work vehicle 10. [Explanation of symbols]

[0134] 1:Autonomous driving system 10: Work vehicle 11: Vehicle control device 14: Spraying device 14L: (Left side) spray section 14R: (right side) spray section 20: Operation terminal 30: Server 40:Base station 50:Satellite 211: Setting processing section 212: Route generation processing unit 213: Control information generation processing unit 214: Output processing section 311: Acquisition processing unit 312: Transfer processing unit F: Field (work area) F1: Control information P0: End point R: Target route R1: Work path V: Crops (target of spraying) Vr: Crop row (row of spraying objects)

Claims

1. Generating a target route for a work vehicle performing spraying work on objects to be sprayed arranged in multiple rows in a work area; automatically driving the work vehicle along the target route; While the work vehicle is automatically traveling, the direction in which the spraying material is sprayed by a spraying unit provided on the work vehicle relative to the spraying object is switched in accordance with control information that controls the spraying direction of the spraying unit, which is generated in advance based on the positional relationship between an end point of the spraying object on a work path along which the work vehicle performs the spraying work while automatically traveling and an end point of the spraying object adjacent to the work path; A spraying method to perform the work.

2. When the work vehicle reaches a second end point of a second spraying object that is located before the first end point of the first spraying object, among a first spraying object adjacent to the first direction in one of the left and right directions of the work path and a second spraying object adjacent to the first direction in the other left and right direction, spraying by the spraying unit in the second direction is stopped and spraying by the spraying unit in the first direction is continued.

2. The method of claim 1 .

3. When the work vehicle passes the second end point and reaches the first end point, spraying by the spraying unit in the first direction is stopped. The method for spraying according to claim 2.

4. After stopping the spraying by the spraying unit in the first direction and the second direction, the work vehicle is moved to a next part of the work path. The method for spraying according to claim 3.

5. The objects to be sprayed are planted so that a line connecting the end points of each work path is oblique to the work direction in the work path, After stopping the spraying by the spraying unit in the first direction and the second direction, the work vehicle is reversed to a predetermined position on the work path and then turned from the predetermined position toward the next part of the work path. The method for spraying according to claim 4.

6. The work vehicle is capable of performing the spraying operation on the first row of spray objects, a second row of spray objects adjacent to the first row of spray objects in a first direction on one side of the left and right directions of the first row of spray objects, and a third row of spray objects adjacent to the first row of spray objects in a second direction on the other side of the left and right directions of the first row of spray objects, while traveling across the first row of spray objects, When the work vehicle reaches a position corresponding to the second end point of the second row of spraying objects, which is located before the first end point of the first row of spraying objects, spraying by the spraying unit on the second row of spraying objects is stopped, and when the work vehicle then reaches the first end point, spraying by the spraying unit on the first row of spraying objects is stopped, and when the work vehicle then reaches a position corresponding to the third end point of the third row of spraying objects, which is located in the travel direction of the first end point, spraying by the spraying unit on the third row of spraying objects is stopped.

2. The method of claim 1 .

7. When there is an area in the middle of the working path where the object to be sprayed does not exist, spraying by the spraying unit in the area is stopped, and spraying by the spraying unit is resumed in the area where the object to be sprayed exists. The method for spraying according to any one of claims 1 to 6.

8. and further transmitting the target route and the control information for controlling the spraying direction of the spraying unit to the work vehicle. The method for spraying according to any one of claims 1 to 7.

9. a route generation processing unit that generates a target route for automatically driving a work vehicle that performs spraying work on spraying objects arranged in multiple rows in a work area; a control information generation processing unit that generates in advance control information for controlling the direction of spraying of a spraying unit provided on the work vehicle relative to the spraying object while the work vehicle is automatically traveling, based on the positional relationship between an end point of the spraying object on a work path along which the work vehicle performs the spraying work while automatically traveling and an end point of the spraying object adjacent to the work path; A spraying system comprising:

10. Generating a target route for a work vehicle performing spraying work on objects to be sprayed arranged in multiple rows in a work area; automatically driving the work vehicle along the target route; While the work vehicle is automatically traveling, the direction in which the spraying material is sprayed by a spraying unit provided on the work vehicle relative to the spraying object is switched in accordance with control information that controls the spraying direction of the spraying unit, which is generated in advance based on the positional relationship between an end point of the spraying object on a work path along which the work vehicle performs the spraying work while automatically traveling and an end point of the spraying object adjacent to the work path; A spraying operation program for causing one or more processors to execute the above.

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