Autonomous driving method, automatic driving system, and automatic driving program

Abstract

To provide an automatic traveling method, an automatic traveling system, and an automatic traveling program capable of improving a work efficiency in a work vehicle equipped with a working machine.SOLUTION: A route generation processing unit 214 generates a target route R that includes a plurality of straight routes R1 and allows a work vehicle 10 to automatically travel from a starting position to a terminal position of each of the straight routes R1. A reception processing unit 215 receives a first setting operation for performing setting so that the work vehicle 10 travels backward toward the starting position of the first straight route R1 after reaching the terminal position of the first straight route R1, or a second setting operation for performing setting so that the work vehicle 10 turns to the second straight route R1 ahead after reaching the terminal position of the first straight route R1.SELECTED DRAWING: Figure 6

Description

[Technical field]

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

[0002] Conventionally, there is known a work vehicle that automatically travels along a target route set for a field. For example, Patent Document 1 discloses a technology that generates a target route including a plurality of straight routes arranged in parallel at a fixed interval according to the working width and a plurality of turning routes connecting adjacent straight routes, and causes a work vehicle equipped with a working machine to automatically travel along the target route and perform a predetermined task. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-040496 A Summary of the Invention [Problem to be solved by the invention]

[0004] Here, when a work vehicle is equipped with a large work machine or a work machine on which an assistant worker rides to perform harvesting work, the overall size of the work vehicle (total length, width, etc.) becomes large, making it difficult to make the work vehicle turn. For this reason, in the conventional technology in which a work vehicle is automatically driven along a straight path and a turning path according to a pre-generated target path, a problem occurs in that it becomes difficult to efficiently travel along the target path, particularly in a work vehicle equipped with the work machine, which increases the overall size of the work vehicle, and work efficiency decreases.

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving system, and an automatic driving program that can improve the work efficiency of a work vehicle equipped with a work machine. [Means for solving the problem]

[0006] The automatic driving method of the present invention is a method that generates a target route that includes a plurality of straight-line routes and that causes a work vehicle to automatically drive from a start position to an end position of each straight-line route, and is capable of accepting a first setting operation that sets the work vehicle to reverse toward the start position of a first straight-line route after reaching the end position of the first straight-line route, or a second setting operation that sets the work vehicle to turn forward to a second straight-line route after reaching the end position of the first straight-line route.

[0007] In addition, the automatic driving method of the present invention is a method of generating a target route that includes a plurality of straight-line routes and that causes a work vehicle to automatically drive from a start position to an end position of each straight-line route, and accepting a first setting operation that sets the work vehicle to automatically drive in the reverse direction to the start position of a first straight-line route after reaching the end position of the first straight-line route, or a second setting operation that sets the work vehicle to turn forward to a second straight-line route based on manual operation by a user after reaching the end position of the first straight-line route.

[0008] The automatic driving system according to the present invention includes a generation processing unit and a reception processing unit. The generation processing unit generates a target route including a plurality of straight routes and for automatically driving a work vehicle from a start position to an end position of each straight route. The reception processing unit is capable of receiving a first setting operation for setting the work vehicle to travel backward toward the start position of a first straight route after reaching the end position of the first straight route, or a second setting operation for setting the work vehicle to travel in a turn forward to a second straight route after reaching the end position of the first straight route.

[0009] The automatic driving program of the present invention is a program for causing one or more processors to execute the following: generating a target route that includes a plurality of straight-line routes and that causes a work vehicle to automatically drive from a starting position to an end position of each straight-line route; and accepting a first setting operation that sets the work vehicle to reverse toward the starting position of a first straight-line route after reaching the end position of the first straight-line route, or a second setting operation that sets the work vehicle to turn forward to a second straight-line route after reaching the end position of the first straight-line route. Effect of the Invention

[0010] According to the present invention, it is possible to provide an automatic driving method, an automatic driving system, and an automatic driving program that are capable of improving the work efficiency of a work vehicle equipped with a work machine. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of a work vehicle according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Diagram 3] FIG. 3 is a diagram showing an example of a target route for the work vehicle according to the embodiment of the present invention. [Figure 4A] FIG. 4A is a diagram showing an example of a turning method for the work vehicle according to the embodiment of the present invention. [Figure 4B] FIG. 4B is a diagram showing an example of a turning method for the work vehicle according to the embodiment of the present invention. [Figure 4C] FIG. 4C is a diagram showing an example of a turning method for the work vehicle according to the embodiment of the present invention. [Diagram 5] FIG. 5 is a diagram showing an example of an operation screen (menu screen) displayed on the operation terminal according to the embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of an operation screen (turning method setting screen) displayed on the operation terminal according to the embodiment of the present invention. [Figure 7]FIG. 7 is a flowchart showing an example of a procedure of an automatic driving process executed in a work vehicle according to an embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing another example of the operation screen (turning method setting screen) displayed on the operation terminal according to the embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing another example of the target route of the work vehicle according to the embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of an operation screen (driving mode selection screen) displayed on the operation terminal according to the embodiment of the present invention. [Figure 11A] FIG. 11A is a diagram showing an example of a method for correcting a target route according to an embodiment of the present invention. [Figure 11B] FIG. 11B is a diagram showing an example of a method for correcting a target route according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention.

[0013] As shown in Fig. 1, an automatic driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 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. The automatic driving system 1 is a system that causes the work vehicle 10 to automatically travel within a field F.

[0014] In this embodiment, the working vehicle 10 is a tractor. In other embodiments, the working vehicle 10 may be a rice transplanter, a combine harvester, a construction machine, a snowplow, or the like. The working vehicle 10 is a so-called robot tractor that is configured to automatically travel (autonomously travel) in a field F (see FIG. 3) according to a preset target route R. The working vehicle 10 is also equipped with a work implement 14 that performs a predetermined task. Specifically, the working vehicle 10 automatically travels along a plurality of straight routes R1 included in the target route R from a work start position S to a work end position G in the field F, and causes the work implement 14 to perform a predetermined task. The working vehicle 10 also turns (manually travels) in the section from one straight route R1 to the next straight route R1 based on manual operation by an operator. That is, the work vehicle 10 travels through the field F to perform work, repeating automatic travel on a straight path R1 and manual travel on a turning path R2 (see FIGS. 4A to 4C). The target path R is a target path along which the work vehicle 10 travels automatically, and is a path that is generated in advance based on a registration operation by the operator. In this embodiment, each straight path R1 corresponds to the target path R.

[0015] FIG. 3 shows an example of a target route R that has been set in advance for the field F. The target route R includes multiple straight routes R1 that are arranged in parallel. Each straight route R1 is a straight-line route that connects a start position that is the work start position (entrance position) for the work vehicle 10, and a terminal position that is the work end position (exit position) for the work vehicle 10. The target route R also includes a work start position S where work in the field F begins, and a work end position G where work ends. The work vehicle 10 acquires data of the target route R generated in the operation terminal 20, and automatically travels along each straight route R1 according to the target route R.

[0016] 4A to 4C show an example of a turning path R2 connecting straight paths R1 in a farm field F. In the example shown in FIG. 4A and FIG. 4B, after the work vehicle 10 reaches the end position of the straight path R1, it turns forward to the next straight path R1 based on manual operation by the operator. In the example shown in FIG. 4A, the work vehicle 10 skips the adjacent straight path R1 and travels on the turning path R2 toward the next straight path R1. In the example shown in FIG. 4B, the work vehicle 10 travels on the turning path R2 toward the adjacent straight path R1. For this reason, the turning path R2 shown in FIG. 4B includes a path that turns in the forward direction and then travels straight in the backward direction (backward travel), and is configured as a so-called fishtail-shaped direction change path.

[0017] In the example shown in FIG. 4C, the work vehicle 10 travels backward from the end position of the straight path R1 to the start position of the straight path R1 after reaching the end position of the straight path R1. For example, when the operator (e.g., the driver) performs a reverse command operation (e.g., putting the shift lever in "reverse (R)") after the work vehicle 10 reaches the end position of the straight path R1 and stops, the work vehicle 10 automatically travels backward from the end position of the straight path R1 to the start position. In this way, the work vehicle 10 travels forward and then travels backward on the same straight path R1. Also, after the work vehicle 10 reaches the start position of the straight path R1, the work vehicle 10 travels backward on the turning path R2 at the rear to the next straight path R1 based on manual operation by the operator. For example, the work vehicle 10 turns backward from the start position of the straight path R1, and then enters the next straight path R1 while turning forward. The turning method of FIG. 4C has the advantage of narrowing the turning range.

[0018] The operator can set a turning method (see Figs. 4A to 4C) for the work vehicle 10 on the operation terminal 20 when generating a target route R for the field F. The operation terminal 20 transfers data of the target route R associated with information on the turning method to the work vehicle 10, and the work vehicle 10 receives the data from the operation terminal 20 and executes automatic driving processing and manual driving processing in accordance with the target route R and the turning method. A specific configuration for realizing the automatic driving processing and the manual driving processing will be described below.

[0019] [Work vehicle 10] 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a work implement 14, a communication unit 15, a positioning device 16, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work implement 14, the positioning device 16, etc. Note that the vehicle control device 11 and the positioning device 16 may be capable of wireless communication.

[0020] The communication unit 15 is a communication interface for connecting the work vehicle 10 to the communication network N1 by wire or wirelessly, and for executing data communication in accordance with a predetermined communication protocol with external devices such as the operation terminal 20 via the communication network N1.

[0021] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute an automatic driving process (see FIG. 7) described later. 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 12. The automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via a communication network N1 and stored in the storage unit 12. The storage unit 12 may also store data of a target route R generated in the operation terminal 20.

[0022] The traveling device 13 is a drive unit that causes the work vehicle 10 to travel. As shown in Fig. 2, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handlebar 137, and the like. The front wheels 132 and the rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. The traveling device 13 is not limited to a wheel type that includes the front wheels 132 and the rear wheels 133, but may be a crawler type that includes crawlers provided on the left and right sides of the work vehicle 10.

[0023] The engine 131 is a drive source such as a diesel engine or a gasoline engine that is driven by fuel supplied to a fuel tank (not shown). The traveling device 13 may be equipped with an electric motor as a drive source together with or instead of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery provided in the work vehicle 10. The battery is charged by the power supplied from the generator. The vehicle control device 11 and electrical components such as the positioning device 16 provided in the work vehicle 10 can be driven by the power supplied from the battery even after the engine 131 is stopped.

[0024] The driving force of the engine 131 is transmitted to front wheels 132 via a transmission 134 and a front axle 135, and to rear wheels 133 via the transmission 134 and a rear axle 136. The driving force of the engine 131 is also transmitted to the work implement 14 via a PTO shaft 141. When the work vehicle 10 performs autonomous driving, the traveling device 13 performs a traveling operation in accordance with commands from the vehicle control device 11.

[0025] The working machine 14 is, for example, a harvester, a cultivator, a seeding machine, a mower, a plow, or a fertilizer applicator, and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the working machines 14. The working machine 14 may also be a working machine that allows an assistant worker to get on the working machine 14 and perform a predetermined manual task on the working machine 14. For example, when the working machine 14 is a harvester, the assistant worker manually harvests the crops that the working machine 14 has dug up from the soil on the working machine 14. In FIG. 2, the working machine 14 is shown diagrammatically, with details of the working machine 14 omitted.

[0026] Furthermore, the work implement 14 may be supported by a lifting mechanism (not shown) in the work vehicle 10 so that it can be raised and lowered. In this case, the vehicle control device 11 controls the lifting mechanism to raise and lower the work implement 14. For example, the vehicle control device 11 lowers the work implement 14 when the work vehicle 10 travels along a work path (straight path R1) in the field F, and raises the work implement 14 when the work vehicle 10 travels along a non-work path (turning path R2, headland area).

[0027] Furthermore, the work implement 14 may be a tow-type work implement that moves by being towed by the work vehicle 10. For example, the work implement 14 may be coupled to the work vehicle 10 via a rotating shaft that is rotatable in the horizontal direction.

[0028] When the vehicle control device 11 acquires a work start instruction, it outputs a work start command to the work implement 14. For example, when the operator performs a work start instruction operation on the operation terminal 20, the vehicle control device 11 acquires the start instruction. When the vehicle control device 11 acquires the start instruction, it starts driving the PTO shaft 141 to start the work of the work implement 14. Also, when the vehicle control device 11 acquires an instruction to stop work, it outputs a work stop command to the work implement 14. For example, when the operator performs a stop instruction operation on the operation terminal 20, the vehicle control device 11 acquires the stop command. When the vehicle control device 11 acquires the stop command, it stops driving the PTO shaft 141 to stop the work of the work implement 14. Note that the operator can also set the work implement 14 not to stop working (to maintain the driving of the PTO shaft 141) when the work vehicle 10 reaches the end position of each straight route R1 (details will be described later). In this case, the vehicle control device 11 is capable of acquiring the start instruction when the end position of each straight route R1 is reached, and is also capable of acquiring the stop instruction when the end position of each straight route R1 is reached.

[0029] The handle 137 is an operating section that is operated by an operator or the vehicle control device 11. For example, in the traveling device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to operation of the handle 137 by the vehicle control device 11, and the traveling direction of the work vehicle 10 is changed. For example, the operator gets on the work vehicle 10 and operates the handle 137 to manually travel the turning path R2. Note that the operator may also operate an operating tool (such as a remote control) beside the work vehicle 10 to manually travel the turning path R2.

[0030] In addition to the handlebars 137, the traveling device 13 is equipped with a shift lever, accelerator, brake, etc. (not shown) that are operated by the vehicle control device 11. In the traveling device 13, the gear of the transmission 134 is switched to a forward gear, a reverse gear, etc. in response to operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward, reverse, etc. The vehicle control device 11 also operates the accelerator to control the rotation speed of the engine 131. The vehicle control device 11 also operates the brake to brake the rotation of the front wheels 132 and the rear wheels 133 using an electromagnetic brake.

[0031] The positioning device 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164. For example, as shown in FIG. 2, the positioning device 16 is provided on the upper part of a cabin 18 in which an operator sits. The installation location of the positioning device 16 is not limited to the cabin 18. The positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning device 16 may be disposed in different positions in the work vehicle 10. As described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. The positioning device 16 may be substituted with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0032] The positioning control unit 161 is a computer system including one or more processors and storage memories such as a non-volatile memory and a RAM. The storage unit 162 is a non-volatile memory that stores a program for causing the positioning control unit 161 to execute the positioning process, and data such as positioning information and movement information. For example, the 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 162. The program may be downloaded from a server (not shown) to the positioning device 16 via the communication network N1 and stored in the storage unit 162.

[0033] The communication unit 163 is a communication interface for connecting the positioning device 16 to the communication network N1 by wire or wirelessly and for executing data communication in accordance with a predetermined communication protocol with an external device such as a base station (not shown) via the communication network N1. The positioning antenna 164 is an antenna for receiving radio waves (GNSS signals) transmitted from satellites.

[0034] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signal received by the positioning antenna 164 from a satellite. For example, when the work vehicle 10 automatically travels in the field F, when the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites, the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GPS positioning method (RTK method)) that calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs automatic travel using positioning information by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or may be a position shifted from the positioning position.

[0035] 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.

[0036] However, when the work vehicle 10 is equipped with a large work implement 14 or a work implement 14 on which an assistant worker rides to perform harvesting work, the overall size of the work vehicle (total length, width, etc.) becomes large, making it difficult to make the work vehicle 10 turn. For this reason, in the conventional technology in which the work vehicle 10 is automatically driven along a straight path R1 and a turning path R2 according to a pre-generated target path R, it becomes difficult to efficiently drive along the target path R, particularly in a work vehicle 10 equipped with a work implement 14 that increases the overall size of the work vehicle, and a problem occurs in which the work efficiency decreases. In response to this, the automatic driving system 1 according to this embodiment is capable of improving the work efficiency of the work vehicle 10 equipped with the work implement 14, as described below.

[0037] Specifically, as shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111 and a switching processing unit 112. The vehicle control device 11 functions as the various processing units by executing various processes according to the automatic driving program with the CPU. Some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing a plurality of processors to function as the processing units.

[0038] The driving processing unit 111 controls the driving of the work vehicle 10. Specifically, the driving processing unit 111 automatically drives the work vehicle 10 based on position information indicating the current position of the work vehicle 10 measured by the positioning control unit 161. For example, when the positioning state becomes a state in which RTK positioning is possible and the operator presses a start button on the operation screen (not shown) of the operation terminal 20, the operation terminal 20 outputs a work start instruction to the work vehicle 10. When the driving processing unit 111 of the work vehicle 10 acquires the work start instruction from the operation terminal 20, it starts automatic driving of the work vehicle 10 based on the position information indicating the current position of the work vehicle 10 measured by the positioning control unit 161. As a result, the work vehicle 10 performs work by the work equipment 14 while automatically driving each straight route R1 according to the target route R. Note that the target route R is generated by, for example, the operation terminal 20. The work vehicle 10 acquires data of a target route R from the operation terminal 20, and automatically travels within a field F according to the target route R (see FIG. 3).

[0039] The switching processing unit 112 switches the driving mode of the work vehicle 10. Specifically, the switching processing unit 112 switches between an automatic driving mode in which the work vehicle 10 is automatically driven according to a target route R, and a manual driving mode in which the work vehicle 10 is manually driven based on manual operation by an operator. The switching processing unit 112 may be configured to set the automatic driving mode by turning the automatic driving mode ON, and to set the manual driving mode by turning the automatic driving mode OFF. Here, the target route R includes information on the turning method of the work vehicle 10. For example, the target route R includes information on (1) a first turning method (see Figure 4C) in which the work vehicle 10 automatically travels backward to the starting position of the straight route R1 after reaching the end position of the straight route R1, and then manually turns to the next straight route R1 behind the starting position of the straight route R1 based on manual operation by the operator, or (2) a second turning method (see Figures 4A and 4B) in which the work vehicle 10 manually turns to the next straight route R1 ahead of the starting position of the straight route R1 based on manual operation by the operator, after reaching the end position of the straight route R1.

[0040] When the switching processing unit 112 acquires information on the first turning method (see FIG. 4C) associated with the target route R, it turns off the automatic travel mode when the work vehicle 10 reaches the end position of the straight route R1. As a result, the work vehicle 10 stops temporarily at the end position of the straight route R1. Thereafter, the switching processing unit 112 turns on the automatic travel mode when the operator performs a reverse command operation (for example, an operation of putting the shift lever in "reverse (R)"). As a result, the travel processing unit 111 automatically travels the work vehicle 10 in the reverse direction from the end position of the straight route R1 to the start position. Thereafter, the switching processing unit 112 turns off the automatic travel mode when the work vehicle 10 reaches the start position of the straight route R1. As a result, the work vehicle 10 stops temporarily at the start position of the straight route R1. Thereafter, the travel processing unit 111 accepts a manual operation by the operator and causes the work vehicle 10 to turn and travel backward to the next straight route R1. When the work vehicle 10 reaches the start position of the next straight route R1, the switching processing unit 112 turns the automatic driving mode ON. Then, the work vehicle 10 performs work while automatically driving along the next straight route R1.

[0041] In response to this, when the switching processing unit 112 acquires information on the second turning method (see Figures 4A and 4B) associated with the target route R, it turns the automatic driving mode OFF (turns the manual driving mode ON) when the work vehicle 10 reaches the end position of the straight route R1. This causes the work vehicle 10 to temporarily stop at the end position of the straight route R1. Thereafter, the driving processing unit 111 accepts manual operation by the operator and causes the work vehicle 10 to turn and drive forward to the next straight route R1. When the work vehicle 10 reaches the start position of the next straight route R1, the switching processing unit 112 turns the automatic driving mode ON (turns the manual driving mode OFF). Then, the work vehicle 10 performs work while automatically driving along the next straight route R1.

[0042] In this way, the vehicle control device 11 automatically travels along the straight path R1 based on the target path R and the turning method, and at the time when the automatic travel of the straight path R1 is completed, the vehicle control device 11 temporarily stops the work vehicle 10 to perform either forward turning or reverse turning along the straight path R1. The vehicle control device 11 also automatically travels along the straight path R1 based on the target path R and the turning method, and at the time when the automatic travel of the straight path R1 is completed, the vehicle control device 11 temporarily stops the work vehicle 10 to perform either manual traveling (turning) or automatic traveling (reverse traveling along the straight path R1). In another embodiment, when the work vehicle 10 travels backward along the straight path R1 (see FIG. 4C), the vehicle control device 11 may manually travel based on a manual operation by an operator.

[0043] [Operation terminal 20] 1, the operation terminal 20 is an information processing device including an operation 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.

[0044] 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 with external devices such as one or more work vehicles 10 via the communication network N1.

[0045] 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. An 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 automatic travel instructions to the work vehicle 10. Furthermore, the operator can grasp the travel state of the work vehicle 10 that automatically travels in the field F according to the target route R from the travel trajectory displayed on the operation terminal 20 at a location away from the work vehicle 10.

[0046] 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 an automatic driving program for causing the operation control unit 21 to execute an automatic driving process (see FIG. 7) 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) provided in the operation terminal 20 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. The storage unit 22 may also store work information transmitted from the work vehicle 10.

[0047] Further, a dedicated application for automatically driving the work vehicle 10 is installed in the memory unit 22. The operation control unit 21 starts up the dedicated application to perform processing for setting various information related to the work vehicle 10, processing for generating a target route R for the work vehicle 10, and issuing automatic driving instructions to the work vehicle 10.

[0048] The operation control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. 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 processes 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 operation control unit 21 controls the operation terminal 20 by executing various control programs stored in advance in the ROM or the storage unit 22 by the CPU.

[0049] As shown in Fig. 1, the operation control unit 21 includes various processing units such as a vehicle setting processing unit 211, a field setting processing unit 212, a task setting processing unit 213, a route generation processing unit 214, a reception processing unit 215, and an output processing unit 216. The operation control unit 21 functions as the various processing units by executing various processes according to the automatic driving program with the CPU. Also, some or all of the processing units may be configured with electronic circuits. Also, the automatic driving program may be a program for causing a plurality of processors to function as the processing units.

[0050] The vehicle setting processing unit 211 sets information relating to the work vehicle 10 (hereinafter referred to as work vehicle information). The vehicle setting processing unit 211 sets information such as the model of the work vehicle 10, the position where the positioning antenna 164 is attached to the work vehicle 10, the type of work implement 14, the size and shape of the work implement 14, and the position of the work implement 14 relative to the work vehicle 10, by the operator performing an operation to register the information on the operation terminal 20.

[0051] For example, the operator registers the work vehicle information by selecting "Work Machine Registration" on the menu screen D1 shown in Fig. 5. The operator registers each piece of information related to the work machine 14 on an operation screen (not shown).

[0052] The field setting processing unit 212 sets information (hereinafter referred to as field information) about the field F. The field setting processing unit 212 sets information such as the position and shape of the field F, the work start position S where work is started, the work end position G where work is ended, the work direction, etc., by performing an operation to register the information on the operation terminal 20.

[0053] The working direction refers to the direction in which the work vehicle 10 travels while working with the work implement 14 in the area of ​​the field F excluding the headland, non-cultivated land, etc.

[0054] Information on the position and shape of the field F can be automatically acquired, for example, by an operator getting on board the work vehicle 10 and driving it around the perimeter of the field F, and recording the transition of the position information of the positioning 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 travel (travel area).

[0055] The work setting processing unit 213 sets information on how to specifically perform work (hereinafter referred to as work information). The work setting processing unit 213 is configured to be able to set, as work information, whether or not there will be cooperative work between the work vehicle 10 (unmanned tractor) and the manned work vehicle 10, the number of skips which is the number of work routes (straight routes R1) that the work vehicle 10 skips when turning on the headland, the width of the headland, and the width of the non-cultivated land.

[0056] The route generation processing unit 214 generates a target route R, which is a route along which the work vehicle 10 will automatically travel, based on the setting information. The target route R in this embodiment includes a plurality of work routes (straight routes R1) along which the work implement 14 will perform work (see FIG. 3). That is, the route generation processing unit 214 generates a target route R that includes a plurality of straight routes R1 and along which the work vehicle 10 will automatically travel from the start position to the end position of each straight route R1. The route generation processing unit 214 can generate and store the target route R for the work vehicle 10 based on the setting information set by the vehicle setting processing unit 211, the field setting processing unit 212, and the work setting processing unit 213. The route generation processing unit 214 is an example of a generation processing unit of the present invention.

[0057] Specifically, the path generation processing unit 214 generates a target path R (see FIG. 3) based on the work start position S and the work end position G registered in the field setting. The target path R is not limited to the path shown in FIG.

[0058] Furthermore, the route generation processing unit 214 registers information on a turning method for the work vehicle 10 in association with the target route R. Specifically, when the reception processing unit 215 receives a setting operation from the operator, the route generation processing unit 214 registers the turning method.

[0059] For example, the operator selects "Route Generation" on the menu screen D1 shown in Fig. 5 and performs an operation to set the turning method. Fig. 6 shows an example of an operation screen D2 (turning method setting screen) for registering information on the turning method of the work vehicle 10. The operation screen D2 includes a number of selection buttons for selecting a driving mode for automatic driving. Here, a driving mode (selection button K1) that allows automatic driving only in a straight line is selected.

[0060] When the reception processing unit 215 receives a selection operation of the selection button K1, it displays a setting field K2 on the operation screen D2 for setting whether or not to permit "the work vehicle 10 to automatically travel in the reverse direction to the starting point of the straight route R1 after reaching the terminal position of the straight route R1 (reverse automatic travel)." Note that, as shown in Fig. 6, the reception processing unit 215 may display the setting field K2 with a state in which the reverse automatic travel is permitted as the initial state (default). In this case, the operator unchecks the setting field K2 when the reverse automatic travel is not permitted.

[0061] Furthermore, when the reception processing unit 215 receives a selection operation of the selection button K1, it displays a setting field K3 on the operation screen D2 for setting whether or not to permit "stopping the drive of the PTO shaft 141 when the work vehicle 10 reaches the terminal position of the straight path R1". When the drive of the PTO shaft 141 stops, the work (drive) of the work machine 14 stops. Note that, as shown in FIG. 6, the reception processing unit 215 may display the setting field K3 in an initial state (default) in which the stop of the PTO shaft 141 is permitted. In this case, the operator unchecks the setting field K3 when, for example, he / she wants to allow the auxiliary worker to continue the work without stopping the drive of the PTO shaft 141 even if the work vehicle 10 stops the automatic travel. This allows the auxiliary worker to continue the work (for example, harvesting work) while the work vehicle 10 is automatically traveling in the reverse direction after temporarily stopping at the terminal position of the straight path R1. In addition, the auxiliary worker can also serve as the driver of the work vehicle 10.

[0062] In this way, the reception processing unit 215 can receive a setting operation (a third setting operation of the present invention) for setting the operation of the work implement 14 to be stopped after the work vehicle 10 reaches the terminal position of the straight path R1. The reception processing unit 215 is an example of the reception processing unit of the present invention.

[0063] The route generation processing unit 214 registers information about the turning method set in the setting fields K2 and K3 in association with the target route R. For example, when the operator permits the reverse automatic traveling (setting field K2) (first setting operation of the present invention), the route generation processing unit 214 registers information about "a first turning method (see FIG. 4C ) in which the work vehicle 10 automatically travels in the reverse direction to the starting point of the straight route R1 after reaching the terminal position of the straight route R1, and manually turns to the next straight route R1 behind the starting point based on manual operation by the operator after reaching the starting point of the straight route R1" in association with the target route R.

[0064] In addition, when the operator does not allow the automatic reverse driving (setting field K2) (the second setting operation of the present invention), the route generation processing unit 214 registers information on "a second turning method (see Figures 4A and 4B) in which the work vehicle 10 manually turns to the next straight route R1 based on manual operation by the operator in front after reaching the end position of the straight route R1" in association with the target route R.

[0065] The output processing unit 216 outputs data of the target route R, which has been generated by the route generation processing unit 214 and which includes information on the turning method, to the work vehicle 10.

[0066] Furthermore, the output processing unit 216 outputs a work start instruction and a work end instruction to the work vehicle 10 based on the operation of the operator. For example, when the output processing unit 216 receives an instruction operation to start work (work start instruction operation) from the operator, it outputs the work start instruction to the work vehicle 10. When the vehicle control device 11 of the work vehicle 10 acquires the work start instruction from the operation terminal 20, it starts the automatic traveling and work of the work vehicle 10. Also, for example, when the output processing unit 216 receives an instruction operation to stop the work of the automatically traveling work vehicle 10 (work stop instruction operation) from the operator, it outputs the work stop instruction to the work vehicle 10. When the vehicle control device 11 of the work vehicle 10 acquires the work stop instruction from the operation terminal 20, it stops the automatic traveling and work of the work vehicle 10.

[0067] When the work vehicle 10 receives the data of the target route R transferred from the operation terminal 20, it stores it in the memory unit 12. The work vehicle 10 is configured to be able to travel automatically when the current position is located within the field F, and is configured not to be able to travel automatically when the current position is located outside the field F. The work vehicle 10 is also configured to be able to travel automatically when, for example, the current position coincides with the work start position S.

[0068] 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 screen to give an instruction to start work, the vehicle control device 11 starts work using the work equipment 14. That is, the operation control unit 21 permits the automatic travel of the work vehicle 10 on the condition that the current position coincides with the work start position S. Note that the conditions for permitting the automatic travel of the work vehicle 10 are not limited to the above conditions.

[0069] Specifically, the vehicle control device 11 causes the work vehicle 10 to automatically travel along a straight path R1 from a work start position S to a work end position G based on information about the target route R, and also causes the work implement 14 to perform work. Furthermore, when the work vehicle 10 finishes work, the vehicle control device 11 may cause the work vehicle 10 to automatically travel from the work end position G to the entrance of the field F. When the work vehicle 10 is automatically traveling, the operation control unit 21 can receive the status of the work vehicle 10 (position, traveling speed, etc.) from the work vehicle 10 and display it on the operation display unit 23.

[0070] Furthermore, when the reverse automatic traveling (setting field K2) is permitted (when the first setting operation is accepted), the vehicle control device 11 automatically travels the work vehicle 10 in the reverse direction from the terminal position to the starting position of the straight route R1 (see FIG. 4C). For example, when the reverse automatic traveling (setting field K2) is permitted and the vehicle control device 11 accepts a predetermined operation (reverse instruction operation) by the operator after the work vehicle 10 reaches the terminal position of the straight route R1, the vehicle control device 11 starts the reverse automatic traveling of the work vehicle 10.

[0071] Furthermore, the vehicle control device 11 cancels the automatic driving mode when the work vehicle 10 automatically drives in the reverse direction along the straight route R1 in the automatic driving mode and reaches the start position of the straight route R1.

[0072] Furthermore, after the work vehicle 10 reaches the starting position of the straight path R1, the vehicle control device 11 causes the work vehicle 10 to turn backward to the next straight path R1. For example, the vehicle control device 11 causes the work vehicle 10 to turn (manually travel) from the starting position of the straight path R1 to the starting position of the next straight path R1 based on manual operation by the operator.

[0073] On the other hand, when the reverse automatic driving (setting field K2) is not permitted (when the second setting operation is accepted), the vehicle control device 11 causes the work vehicle 10 to turn (manually drive) to the next straight route R1 based on manual operation by the user after the work vehicle 10 reaches the terminal position of the straight route R1. Note that the vehicle control device 11 cancels the automatic driving mode when the work vehicle 10 automatically drives forward on the straight route R1 in the automatic driving mode and reaches the terminal position of the straight route R1.

[0074] The operation terminal 20 may be able to access a website (agricultural support site) of an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit 21. The server includes the above-mentioned processing units and executes each process.

[0075] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the automatic driving system 1 will be described with reference to Fig. 7. For example, the automatic driving process is started by the vehicle control device 11 and the operation control unit 21 when the operator starts an operation to set a target route R for the work vehicle 10.

[0076] 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 achieved. Furthermore, although an example is described here in which the vehicle control device 11 and the operation control unit 21 execute each step in the automatic driving process, another embodiment can also be an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner.

[0077] In step S1, the operation control unit 21 of the operation terminal 20 registers various setting information. Specifically, the operation control unit 21 sets and registers information about the work vehicle 10 (work vehicle information), information about the field (field information), and information about the work (work information) based on the setting operation of the operator. In addition, the operation control unit 21 sets and registers information such as the work start position S and work end position G, and the traveling direction.

[0078] Next, in step S2, the operation control unit 21 generates a target route R based on each of the setting information. For example, the operation control unit 21 generates a target route R connecting a work start position S and a work end position G in a farm field F based on a work start position S and a work end position G specified by an operator. Here, the operation control unit 21 generates a target route R (see FIG. 3) consisting of a plurality of straight routes R1. In addition, the operator registers information such as a turning method of the work vehicle 10 in an operation screen D2 shown in FIG. 6. The operation control unit 21 registers the information set in the setting fields K2 and K3 of the operation screen D2 in association with the target route R. In addition, the operation control unit 21 stores data of the target route R in the storage unit 22.

[0079] Specifically, the operation control unit 21 can accept a first setting operation that sets the work vehicle 10 to travel backward toward the starting position of the straight path R1 after reaching the end position of the straight path R1, or a second setting operation that sets the work vehicle 10 to travel in a turn forward to the next straight path R1 after reaching the end position of the straight path R1.

[0080] For example, when the operator allows the automatic reverse driving (setting field K2) (when the first setting operation is accepted), the operation control unit 21 registers information on "a first turning method (see Figure 4C) in which the work vehicle 10 automatically drives in the reverse direction to the starting position of the straight path R1 after reaching the end position of the straight path R1, and then manually turns to the next straight path R1 behind the starting position based on manual operation by the operator after reaching the starting position of the straight path R1" in association with the target path R.

[0081] Also, for example, when the operator does not allow the automatic reverse driving (setting field K2) (when the second setting operation is accepted), the operation control unit 21 registers information on "a second turning method (see Figures 4A and 4B) in which the work vehicle 10 manually turns to the next straight route R1 based on manual operation by the operator in front after reaching the end position of the straight route R1" in association with the target route R.

[0082] Next, in step S3, 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 screen of the operation terminal 20, the operation terminal 20 outputs data of the target route R including the turning method information and a work start instruction to the work vehicle 10. When the vehicle control device 11 acquires the data and the work start instruction from the operation terminal 20 (S3: Yes), the process proceeds to step S4. The vehicle control device 11 waits until it acquires the data and the work start instruction from the operation terminal 20 (S3: No).

[0083] Next, in step S4, the vehicle control device 11 executes automatic driving processing according to the target route R corresponding to the data. Here, the vehicle control device 11 starts straight-line driving when the current position of the work vehicle 10 coincides with the work start position S (the start position of the straight-line route R1). The vehicle control device 11 also drives the PTO shaft 141 to cause the work implement 14 to start working. As a result, the work vehicle 10 starts automatic driving and working on the straight-line route R1.

[0084] Next, in step S5, the vehicle control device 11 determines whether the work vehicle 10 has reached the end position of the straight route R1. If the work vehicle 10 has reached the end position (S5: Yes), the process proceeds to step S6. The work vehicle 10 continues to work while traveling straight until it reaches the end position (S5: No).

[0085] In step S6, the vehicle control device 11 turns off the automatic travel mode and temporarily stops. If the operator has performed a setting operation (setting field K3 in FIG. 6) permitting "stopping the driving of the PTO shaft 141 when the work vehicle 10 reaches the end position of the straight route R1" during route generation (if the third setting operation is accepted), the vehicle control device 11 turns off the automatic travel mode and stops the driving of the PTO shaft 141. By stopping the driving of the PTO shaft 141, the work equipment 14 can be stopped, so that fuel can be saved. If the operator unchecks the setting field K3, the driving of the PTO shaft 141 can be continued even when the automatic travel mode is turned off, so that the auxiliary worker can continue working.

[0086] Next, in step S7, the vehicle control device 11 acquires information on the turning method. Specifically, the vehicle control device 11 acquires the turning method associated with the target route R.

[0087] Next, in step S8, the vehicle control device 11 determines whether the acquired turning method is the first turning method that permits the reverse automatic traveling, that is, "the first turning method (see FIG. 4C) in which the work vehicle 10 automatically travels in the reverse direction to the start position of the straight path R1 after reaching the end position of the straight path R1, and manually turns to the next straight path R1 behind the start position of the straight path R1 based on manual operation by the operator after reaching the start position of the straight path R1." If the acquired turning method is the first turning method (S8: Yes), the process proceeds to step S9.

[0088] On the other hand, if the acquired turning method is not the first turning method (S8: No), that is, if the acquired turning method is "a second turning method (see Figures 4A and 4B) in which the work vehicle 10 manually turns to the next straight path R1 ahead based on manual operation by the operator after reaching the end position of the straight path R1", processing proceeds to step S81.

[0089] In step S9, the vehicle control device 11 determines whether or not a reverse command has been acquired. For example, when the operator performs an operation to put the shift lever into "reverse (R)" (reverse command operation), the vehicle control device 11 acquires the reverse command. When the vehicle control device 11 acquires the reverse command (S9: Yes), the process proceeds to step S10. The vehicle control device 11 waits with the work vehicle 10 stopped until the reverse command is acquired (S9: No).

[0090] In step S10, the vehicle control device 11 turns on the automatic travel mode and automatically travels the straight route R1 in the reverse direction. Specifically, the vehicle control device 11 automatically travels the straight route R1, on which the work vehicle 10 has already traveled and performed, in the reverse direction from the end position to the start position (see FIG. 4C). As described above, by making the operation of the shift lever (reverse command operation) a condition for reverse travel, the safety of the auxiliary worker working behind the work vehicle 10 can be ensured.

[0091] Next, in step S11, the vehicle control device 11 determines whether the work vehicle 10 has reached the start position of the straight route R1. If the work vehicle 10 has reached the start position (S11: Yes), the process proceeds to step S12. The work vehicle 10 automatically travels in the reverse direction until it reaches the start position (S11: No).

[0092] In step S12, the vehicle control device 11 turns off the automatic driving mode and temporarily stops the vehicle.

[0093] Next, in step S13, the vehicle control device 11 starts turning (manual driving) to move to the next straight route R1 based on manual operation by the operator (see FIG. 4C). As a result, the work vehicle 10 starts turning from the start position of the straight route R1 to the start position of the next straight route R1, rearward of the start position of the straight route R1, based on manual operation by the operator. As a result, the work vehicle 10 does not need to turn 180 degrees, and the turning range can be narrowed, so that it can turn efficiently without damaging the field F. After step S13, the process proceeds to step S14.

[0094] On the other hand, if the turning method acquired in step S7 is not the first turning method (the turning method is the second turning method (see Figures 4A and 4B)), in step S81, the vehicle control device 11 starts turning (manual driving) to move to the next straight path R1 based on manual operation by the operator (see Figures 4A and 4B). As a result, the work vehicle 10 starts turning based on manual operation by the operator from the terminal position of the straight path R1 toward the starting position of the next straight path R1, forward of the terminal position of the straight path R1. After step S81, the process proceeds to step S14.

[0095] Next, in step S14, the vehicle control device 11 determines whether or not the manual turning (manual traveling) has ended. For example, when the work vehicle 10 reaches the starting point of the next straight route R1, the vehicle control device 11 determines that the turning has ended. When the turning of the work vehicle 10 has ended (S14: Yes), the process proceeds to step S15. The vehicle control device 11 continues the manual turning until the turning of the work vehicle 10 has ended (S14: No).

[0096] In step S15, the vehicle control device 11 turns on the automatic travel mode to automatically travel the next straight route R1. Specifically, when the work vehicle 10 reaches the starting position of the next straight route R1, the vehicle control device 11 turns on the automatic travel mode and resumes driving of the PTO shaft 141, thereby causing the work vehicle 10 to start automatic travel in the forward direction from the starting position to the terminal position on the straight route R1 and causing the work machine 14 to start work (see FIGS. 4A to 4C).

[0097] Next, in step S16, the vehicle control device 11 determines whether or not the work vehicle 10 has reached the work end position G (see FIG. 3). If the work vehicle 10 has reached the work end position G (S16: Yes), the process ends. On the other hand, if the work vehicle 10 has not reached the work end position G (S16: No), the process returns to step S5, and the above-mentioned process is repeated.

[0098] In this manner, the vehicle control device 11 repeats automatic driving and work according to the set target route R (straight route R1) and turning driving (manual driving) according to the set turning method from when the work vehicle 10 starts automatic driving at the work start position S until it reaches the work end position G. In this manner, the automatic driving system 1 executes the automatic driving process.

[0099] As described above, the automatic driving system 1 according to this embodiment generates a target route R that includes a plurality of straight routes R1 and causes the work vehicle 10 to automatically travel from the start position to the end position of each straight route R1. The automatic driving system 1 can also accept a first setting operation that sets the work vehicle 10 to travel backward toward the start position of the first straight route R1 after reaching the end position of the first straight route R1, or a second setting operation that sets the work vehicle 10 to travel forward and turn to the second straight route R1 after reaching the end position of the first straight route R1.

[0100] The automatic driving system 1 can also accept a first setting operation that sets the work vehicle 10 to automatically travel in the reverse direction to the starting position of the first straight path R1 after reaching the end position of the first straight path R1, or a second setting operation that sets the work vehicle 10 to turn forward to the second straight path R1 based on manual operation by the operator after reaching the end position of the first straight path R1.

[0101] According to the above configuration, the work vehicle 10 can be automatically driven only along the straight path R1. In addition, when the work vehicle 10 reaches the end position of the straight path R1, the automatic driving mode can be turned off and the work vehicle 10 can be temporarily stopped. In addition, the operator can set a turning method of the work vehicle 10 after the work vehicle 10 reaches the end position of the straight path R1. For example, the operator can set, on the operation screen D2 shown in FIG. 6, (1) a first turning method in which the work vehicle 10 automatically drives backward to the start position of the straight path R1 after reaching the end position of the straight path R1, and after reaching the start position of the straight path R1, manually turns to the next straight path R1 based on manual operation by the operator behind the start position, or (2) a second turning method in which the work vehicle 10 manually turns to the next straight path R1 based on manual operation by the operator ahead after reaching the end position of the straight path R1 (see FIG. 4A and FIG. 4B).

[0102] This allows the operator to set an optimal turning method for the work vehicle 10 based on work implement information such as the type and size of the work implement 14, and field information such as the shape of the field F and the width of the headland area. This allows the work vehicle 10 to travel efficiently along the target route R, improving work efficiency.

[0103] [Other embodiments] The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

[0104] As another embodiment of the operation screen D2 shown in Fig. 6, the reception processing unit 215 may, when receiving a selection operation of the selection button K1 as shown in Fig. 8, display a setting field K4 on the operation screen D2 for setting whether or not to permit "the work vehicle 10 to manually turn to the next straight route R1 based on manual operation by the operator ahead after reaching the terminal position of the straight route R1 (manual turning)". Note that, as shown in Fig. 8, the reception processing unit 215 may display the setting field K4 with a state in which the manual turning is not permitted as an initial state (default). In this case, the operator checks the setting field K4 when permitting the manual turning.

[0105] When the operator permits the manual turning (setting field K4) (second setting operation of the present invention), the route generation processing unit 214 registers information on "a second turning method (see Figs. 4A and 4B) in which the work vehicle 10 manually turns to the next straight route R1 based on manual operation by the operator in front after reaching the terminal position of the straight route R1" in association with the target route R. Also, when the operator does not permit the manual turning (setting field K4) (first setting operation of the present invention), the route generation processing unit 214 registers information on "a first turning method (see Fig. 4C) in which the work vehicle 10 automatically travels in the backward direction to the start position of the straight route R1 after reaching the terminal position of the straight route R1, and manually turns to the next straight route R1 based on manual operation by the operator behind the start position of the straight route R1 after reaching the start position of the straight route R1" in association with the target route R.

[0106] In this way, the reception processing unit 215 can receive a first setting operation that sets the work vehicle 10 to travel backward toward the starting position of the first straight path R1 after reaching the terminal position of the first straight path R1, or a second setting operation that sets the work vehicle 10 to travel forward and turn to the second straight path R1 after reaching the terminal position of the first straight path R1.

[0107] Here, when the working machine 14 is a towing type working machine that is connected to the work vehicle 10 via a horizontally rotatable rotation shaft and is towed by the work vehicle 10, a phenomenon (so-called jackknife phenomenon) occurs in which the working machine 14 bends around the rotation shaft when the work vehicle 10 moves backward, and it may be difficult for the work vehicle 10 and the working machine 14 to move backward in a straight line. Therefore, as another embodiment, when the working machine 14 is a towing type working machine, the operation control unit 21 may be configured to not permit the setting of the reverse automatic traveling (acceptance of the first setting operation) and to permit the setting of the manual turning (acceptance of the second setting operation). This makes it possible to realize stable turning. Also, as another embodiment, when the working machine 14 is a towing type working machine, the operation control unit 21 may be configured to permit the setting of reverse traveling based on manual operation by the operator. This allows the operator to move the work vehicle 10 backward while checking safety and stability.

[0108] In the above embodiment, the operator generates a target route R consisting of multiple straight routes R1 for the field F, and the work vehicle 10 automatically travels along the straight routes R1 in accordance with the target route R. However, in another embodiment, the target route R may include multiple straight routes R1 and multiple turning routes R2 connecting each of the multiple straight routes R1, which are set in advance. For example, when generating the target route R for the field F, the operator generates a target route R including a straight route R1 and a turning route R2. FIG. 9 is an example of the target route R. The operation control unit 21 stores the target route R (see FIG. 9) set for the field F.

[0109] In this case, when the operator makes the work vehicle 10 start work, the operator selects the travel mode of the work vehicle 10 on the operation screen D3 shown in FIG. 10. Here, when the operator selects a travel mode (for example, "robot straight mode") in which only the straight route R1 is automatically traveled, the operation control unit 21 extracts only the straight route R1 from the target route R (straight route R1 and turning route R2) shown in FIG. 9 and sets it as the target route R. The work vehicle 10 automatically travels each of the multiple straight routes R1 using information on the multiple straight routes R1 among the preset target routes R. In this way, the automatic travel system 1 may cause the work vehicle 10 to perform automatic travel using a part of the preset target routes R (here, the straight route R1). This makes it possible to effectively utilize the target route R already registered for the field F, thereby improving the work efficiency of the operator's registration operation.

[0110] 11A and 11B, the vehicle control device 11 may modify the target route R by moving the entire generated straight route R1 (Ra-Rd) so that it overlaps with the current position P1 of the work vehicle 10. In this case, as shown in FIG. 11A, the vehicle control device 11 moves the entire straight route Ra-Rd in a direction (leftward in FIG. 11A) in which the amount of movement of the straight route Ra-Rd is smallest, and moves the target route R so that it overlaps with the current position P1. In this case, the work vehicle 10 automatically travels along the straight routes Ra-Rc in accordance with the modified target route R.

[0111] In this way, the automatic driving system 1 may correct the target route R by moving a plurality of preset straight routes R1 based on the current position of the work vehicle 10. With this configuration, when the position of the work vehicle 10 deviates from the initial target route R, there is no need to regenerate a new target route R, and therefore work efficiency can be improved. The process of correcting the target route R can be executed after the automatic driving of the work vehicle 10 has started. The automatic driving system 1 may also execute a process of correcting the target route R by an operator operating an operation unit (not shown) mounted on the work vehicle 10.

[0112] In the above embodiment, the operator sets the turning method when generating the target route R. In another embodiment, the operator may set the turning method when the work vehicle 10 automatically travels along the straight route R1 and reaches the end position. For example, when the operation terminal 20 detects that the work vehicle 10 has reached the end position of the straight route R1, the operation screen D2 shown in FIG. 6 is displayed and the operation terminal 20 receives an operation of selecting whether or not to permit automatic reverse travel (setting operation of the setting field K2) from the operator. The vehicle control device 11 acquires setting information from the operation terminal 20 and starts turning. According to this configuration, for example, since it is possible to select whether or not to permit automatic reverse travel for each straight route R1, the work vehicle 10 can be manually turned in front on the first straight route R1, and can be manually turned in the rear on the second straight route R1 after traveling backward on the second straight route R1. [Explanation of symbols]

[0113] 1:Autonomous driving system 10: Work vehicle 11: Vehicle control device 13: Running gear 14: Work equipment 20: Operation terminal 21: Operation control section 111: Driving processing unit 112: Switching processing unit 141: PTO shaft 211: Vehicle setting processing unit 212: Field setting processing unit 213: Work setting processing section 214: Route generation processing unit (generation processing unit) 215: Reception department 216: Output processing section D1: Menu screen D2: Operation screen D3: Operation screen F: Field K1: Selection button K2: Settings section K3: Settings section K4: Settings section R: Target route R1: Straight route (first straight route, second straight route) R2: Turning path

Claims

1. generating a target route including a plurality of straight routes and for automatically driving a work vehicle from a start position to a terminal position of each straight route; a first setting operation for setting the work vehicle to travel backward toward a start position of a first straight path after reaching an end position of the first straight path, or a second setting operation for setting the work vehicle to travel in a turn forward direction to a second straight path after reaching an end position of the first straight path; An automated driving method that performs the above.

2. When the first setting operation is accepted, the work vehicle is automatically driven in a reverse direction from a terminal position to a starting position of the first straight path. The automatic driving method according to claim 1.

3. After the work vehicle reaches a start position of the first straight path, the work vehicle is turned backward to a second straight path. The automatic driving method according to claim 2.

4. when the first setting operation is accepted, and when a predetermined operation is performed by a user after the work vehicle has reached an end position of the first straight path, starting automatic traveling of the work vehicle in the reverse direction; The automatic driving method according to claim 2 or 3.

5. canceling the automatic travel mode when the work vehicle automatically travels in a backward direction along the first straight path in the automatic travel mode and reaches a start position of the first straight path; The automatic driving method according to any one of claims 2 to 4.

6. When the second setting operation is accepted, after the work vehicle reaches an end position of the first straight path, the work vehicle turns to the second straight path based on a manual operation by a user. The automatic driving method according to any one of claims 1 to 5.

7. canceling the automatic travel mode when the work vehicle automatically travels in a forward direction along the first straight path in the automatic travel mode and reaches an end position of the first straight path; The automatic driving method according to any one of claims 1 to 6.

8. the work vehicle is provided with a work machine that performs a predetermined work on each of the plurality of straight paths, A third setting operation is capable of being received to set the operation of the work implement to be stopped after the work vehicle has reached an end position of the first straight path. The automatic driving method according to any one of claims 1 to 7.

9. the work vehicle is provided with a work machine that performs a predetermined work on each of the plurality of straight paths, When the work machine is a tow-type work machine that is towed by the work vehicle, the acceptance of the first setting operation is rejected and the acceptance of the second setting operation is permitted. The automatic driving method according to any one of claims 1 to 8.

10. the target route includes a plurality of straight routes and a plurality of turning routes connecting the plurality of straight routes, which are set in advance; The work vehicle automatically travels along each of the plurality of straight routes by using information on the plurality of straight routes among the target route. The automatic driving method according to any one of claims 1 to 9.

11. correcting the target route by moving the plurality of preset straight routes based on a current position of the work vehicle; The automatic driving method according to any one of claims 1 to 10.

12. generating a target route including a plurality of straight routes and for automatically driving a work vehicle from a start position to a terminal position of each straight route; a first setting operation for setting the work vehicle to automatically travel in a backward direction to a start position of a first straight path after reaching an end position of the first straight path, or a second setting operation for setting the work vehicle to turn and travel to a second straight path based on a manual operation by a user in front after reaching an end position of the first straight path; An automated driving method that performs the above.

13. a generation processing unit that generates a target route including a plurality of straight routes and for automatically driving a work vehicle from a start position to an end position of each straight route; a reception processing unit capable of receiving a first setting operation for setting the work vehicle to travel backward toward a start position of a first straight path after reaching an end position of the first straight path, or a second setting operation for setting the work vehicle to travel in a turn forward direction to a second straight path after reaching an end position of the first straight path; An automated driving system equipped with

14. generating a target route including a plurality of straight routes and for automatically driving a work vehicle from a start position to a terminal position of each straight route; a first setting operation for setting the work vehicle to travel backward toward a start position of a first straight path after reaching an end position of the first straight path, or a second setting operation for setting the work vehicle to travel in a turn forward direction to a second straight path after reaching an end position of the first straight path; An automated driving program for executing the above on one or more processors.

Images