Automatic driving method, automatic driving system, and automatic driving program

Abstract

To provide an automatic travel method, an automatic travel system and an automatic travel program, capable of improving work efficiency of work by a work vehicle in an automatic travel.SOLUTION: An automatic travel method executes: making a work vehicle 10 automatically travel along a target route R in a farm field F; causing a scattering operation of scattering chemical liquid to a crop V to be executed; causing a stirring operation of stirring chemical liquid inside a reservoir tank 14A to be executed; and starting the stirring operation when a prescribed condition is satisfied before a start of an automatic travel of the work vehicle 10.SELECTED DRAWING: Figure 12

Description

Technical Field

[0001] The present invention relates to an automatic driving method, an automatic driving system, and an automatic driving program for automatically driving a work vehicle along a target path at a work site.

Background Art

[0002] There is known a work vehicle that automatically travels along a target path while spraying a chemical solution on crops planted in a work site such as a field or a farm (see, for example, Patent Document 1). The work vehicle sprays the chemical solution stored in a storage tank on the crops while automatically traveling in order along a plurality of work paths on which the crops are planted.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, since the chemical solution is composed of a mixture of a chemical agent and a liquid (such as water), it is necessary to stir the chemical solution introduced into the storage tank. When the stirring of the chemical solution is insufficient, problems such as non-uniform concentration of the chemical solution or clogging of the spray nozzles for discharging the chemical solution occur, resulting in a decrease in the working accuracy of the spraying operation. In particular, this problem becomes prominent at the start of the spraying operation.

[0005] An object of the present invention relates to an automatic driving method, an automatic driving system, and an automatic driving program capable of improving the working accuracy of a spraying operation by an automatically driving work vehicle.

Means for Solving the Problems

[0006] The automatic driving method according to the present invention includes automatically driving a work vehicle along a target path at a work site, performing a spraying operation of spraying a spraying material onto a spraying target, performing a stirring operation of stirring the spraying material in a storage tank, and starting the stirring operation when a predetermined condition is satisfied before the work vehicle starts automatic driving.

[0007] The automatic driving system according to the present invention includes a driving processing unit, a spraying processing unit, and a stirring processing unit. The driving processing unit automatically drives a work vehicle along a target path at a work site. The spraying processing unit performs a spraying operation of spraying a spraying material onto a spraying target. The stirring processing unit performs a stirring operation of stirring the spraying material in a storage tank. Further, the stirring processing unit starts the stirring operation when a predetermined condition is satisfied before the work vehicle starts automatic driving.

[0008] The automatic driving program according to the present invention is a program for causing one or more processors to perform automatically driving a work vehicle along a target path at a work site, performing a spraying operation of spraying a spraying material onto a spraying target, performing a stirring operation of stirring the spraying material in a storage tank, and starting the stirring operation when a predetermined condition is satisfied before the work vehicle starts automatic driving.

Effects of the Invention

[0009] According to the present invention, it is possible to provide an automatic driving method, an automatic driving system, and an automatic driving program capable of improving the working accuracy of a spraying operation by an automatically driving work vehicle.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 4C

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11A

Figure 11B

Figure 12

BEST MODE FOR CARRYING OUT THE INVENTION

[0011] The following embodiments are an example of embodying the present invention and do not limit the technical scope of the present invention.

[0012] [AUTOMATIC TRAVELING SYSTEM 1] As shown in FIGS. 1 and 2, the automatic driving system 1 according to an embodiment of the present invention includes a work vehicle 10, an operation terminal 20, a base station 40, and a satellite 50. The work vehicle 10 and the operation terminal 20 can communicate via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN.

[0013] In the present embodiment, an example will be described in which the work vehicle 10 is a vehicle that performs a spraying operation of spraying a chemical solution, water, etc. on a crop V (see FIG. 5) planted in a farm field F. The farm field F is an example of the work area of the present invention, and the farm field F is, for example, an orchard such as a vineyard or an apple orchard. The crop V is, for example, a fruit tree of grapes. The spraying operation is, for example, an operation of spraying a spray such as a chemical solution on the crop V.

[0014] The crops V are arranged in a plurality of rows at a predetermined interval in the farm field F. Specifically, as shown in FIG. 5, the plurality of crops V are planted linearly in a predetermined direction (D1 direction), and constitute a crop row Vr including the plurality of 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 (D2 direction). The region (space) of the interval W2 between adjacent crop rows Vr serves as a work passage for the work vehicle 10 to perform a spraying operation on the crop V while traveling in the D1 direction.

[0015] In addition, the work vehicle 10 is capable of automatically traveling (autonomous driving) along a preset target route R. For example, as shown in FIG. 6, the work vehicle 10 automatically travels along a target route R including a work route R1 (work routes R1a to R1f) and a movement route R2 from a work start position S to a work end position G. The work start position S is an example of the automatic driving start position of the present invention. The work route R1 is a linear route along which the work vehicle 10 performs a spraying operation 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 the spraying operation. The movement route R2 includes, for example, a turning route and a straight-ahead route. In the example shown in FIG. 6, in the field F, a crop V composed of crop rows Vr1 to Vr11 is arranged. In FIG. 6, the position where the crop V is planted (crop position) is represented by "Vp". Further, the work vehicle 10 traveling in the field F of FIG. 6 has a gantry-shaped vehicle body 100 (see FIG. 4C), and while traveling across one crop row Vr, sprays a chemical solution on the crop V in the crop row Vr and the crop row Vr adjacent to the crop row Vr. For example, as shown in FIG. 6, when the work vehicle 10 travels across the crop row Vr5, the left vehicle body (left side portion 100L) of the work vehicle 10 travels in the work passage between the crop rows Vr4 and Vr5, and the right vehicle body (right side portion 100R) of the work vehicle 10 travels in the work passage between the crop rows Vr5 and Vr6, and sprays the chemical solution on the crops V in the crop rows Vr4, Vr5, and Vr6.

[0016] In addition, the work vehicle 10 performs automatic driving in a predetermined row order. For example, the work vehicle 10 travels across the crop row Vr1, then travels across the crop row Vr3, and then travels across the crop row Vr5. In this way, the work vehicle 10 performs automatic driving according to the preset order of the crop rows Vr. Note that the work vehicle 10 may travel row by row in the arranged order of the crop rows Vr, or may travel every other multiple rows.

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

[0018] The positioning device 16 mounted on the work vehicle 10 executes a positioning process for calculating the current position (latitude and longitude) and the current azimuth of the work vehicle 10 by using the GNSS signals transmitted from the satellite 50. Specifically, the positioning device 16 positions the work vehicle 10 by using an RTK (Real Time Kinematic) method or the like that positions the work vehicle 10 based on the positioning information (such as GNSS signals) received by two receivers (antenna 164 and base station 40) and the correction information generated by the base station 40. Since the positioning method is a well-known technique, a detailed description thereof is omitted.

[0019] Hereinafter, the details of each component constituting the automatic driving system 1 will be described.

[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 back of the work vehicle 10 as viewed from the back side.

[0021] As shown in FIGS. 1 to 4, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a traveling device 13, a spraying device 14, a communication unit 15, a positioning device 16, an obstacle detection device 17, and the like. The vehicle control device 11 is electrically connected to the storage unit 12, the traveling device 13, the spraying device 14, the positioning device 16, the obstacle detection device 17, and the like. Note that 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 for connecting the work vehicle 10 to the communication network N1 by wire or wirelessly and performing data communication according to a predetermined communication protocol with external devices such as the operation terminal 20 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 types of information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute the automatic driving process (see FIG. 12) 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. Note that the automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. Further, the storage unit 12 stores route data including information on the target route R generated in the operation terminal 20. For example, the route data is transferred from the operation terminal 20 to the work vehicle 10 and stored in the storage unit 12.

[0024] The vehicle control device 11 includes 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 pre-stored. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (working area) for various processes executed by the CPU. Then, the vehicle control device 11 controls the work vehicle 10 by executing various control programs pre-stored in the ROM or the storage unit 12 with the CPU.

[0025] The vehicle control device 11 controls the running of the work vehicle 10. Specifically, as shown in FIG. 2, the vehicle control device 11 includes various processing units such as a running processing unit 111, a spraying processing unit 112, a stirring processing unit 113, and a notification processing unit 114. The vehicle control device 11 functions as the various processing units by executing various processes according to the control program with the CPU. Also, some or all of the processing units may be configured by electronic circuits. The control program may be a program for causing a plurality of processors to function as the processing units.

[0026] The running processing unit 111 automatically runs the work vehicle 10 along the target path R based on the positioning information including the position and orientation of the work vehicle 10 measured by the positioning device 16. For example, when the positioning state becomes a state where RTK positioning is possible and the operator presses the start button (automatic running start instruction) on the operation screen of the operation terminal 20, the operation terminal 20 outputs an automatic running start instruction (work start instruction) to the work vehicle 10. When the running processing unit 111 acquires the automatic running start instruction from the operation terminal 20, it starts the automatic running of the work vehicle 10 based on the positioning information of the work vehicle 10 measured by the positioning device 16. Thereby, the work vehicle 10 starts automatic running along the target path R and starts the spraying work by the spraying device 14 in the work passage.

[0027] As another embodiment, the running processing unit 111 may start the automatic running of the work vehicle 10 when the operator presses the start button (automatic running start instruction) on an operation remote control (not shown) mounted on the work vehicle 10.

[0028] In addition, when the traveling processing unit 111 acquires a traveling stop instruction from the operation terminal 20, it stops the automatic traveling of the work vehicle 10. For example, when an operator presses a 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 traveling processing unit 111 acquires 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 stops the spraying operation by the spraying device 14. Note that the traveling processing unit 111 may stop the automatic traveling of the work vehicle 10 when it acquires a traveling stop instruction from the operation remote control. The traveling processing unit 111 is an example of the traveling processing unit of the present invention.

[0029] Here, the work vehicle 10 includes a gantry-shaped vehicle body 100 that travels across crops V (fruit trees) planted in multiple rows in the field F. As shown in FIG. 4C, the vehicle body 100 is formed in a gantry shape by a left side portion 100L, a right side portion 100R, and a connecting portion 100C that connects the left side portion 100L and the right side portion 100R. A space 100S that allows the passage of the crop V is secured inside the left side portion 100L, the right side portion 100R, and the connecting portion 100C.

[0030] Tracks 101 are provided at the lower ends of the left side portion 100L and the right side portion 100R of the vehicle body 100, respectively. The left side portion 100L is provided with an engine 103 (see FIG. 4A), a battery (not shown), and the like. The right side portion 100R is provided with a storage tank 14A (see FIG. 4B) of the spraying device 14 and the like. In this way, by distributing and arranging the components on the left side portion 100L and the right side portion 100R of the vehicle body 100, the work vehicle 10 achieves a balance of left and right balance and a lower center of gravity. As a result, the work vehicle 10 can travel stably on slopes and the like in the field F.

[0031] The traveling device 13 is a driving unit that causes the work vehicle 10 to travel. The traveling device 13 includes an engine 103, tracks 101, and the like.

[0032] The left and right crawlers 101 are driven by the power from the engine 103 in a state where independent speed change by a hydrostatic continuously variable transmission is possible. As a result, the vehicle body 100 enters a forward state in which it moves straight forward in the forward direction when the left and right crawlers 101 are driven at a constant speed in the forward direction, and enters a reverse state in which it moves straight backward in the reverse direction when the left and right crawlers 101 are driven at a constant speed in the reverse direction. Further, the vehicle body 100 enters a forward turning state in which it turns while moving forward when the left and right crawlers 101 are driven at different speeds in the forward direction, and enters a reverse turning state in which it turns while moving backward when the left and right crawlers 101 are driven at different speeds in the reverse direction. Further, the vehicle body 100 enters a pivot turning (on-the-spot turning) state when one of the left and right crawlers 101 is stopped from being driven and the other crawler 101 is driven, and enters a spin turning (ultra-on-the-spot turning) state when the left and right crawlers 101 are driven at a constant speed in the forward and reverse directions. Further, the vehicle body 100 enters a traveling stop state when the left and right crawlers 101 are stopped from being driven. Incidentally, the left and right crawlers 101 may be configured as an electric type driven by an electric motor.

[0033] As shown in FIG. 4C, the spraying device 14 includes a storage tank 14A for storing a chemical liquid or the like, spraying pipes 14B provided in two rows side by side in a vertical posture on the back of the vehicle body 100, and a total of 12 spraying nozzles 14C provided in three for each spraying pipe 14B.

[0034] Each spraying nozzle 14C is attached to the corresponding spraying pipe 14B so as to be position-changeable in the vertical direction. Thereby, each spraying nozzle 14C can change the interval between adjacent spraying nozzles 14C and the height position with respect to the spraying pipe 14B according to the spraying object (crop V). Further, each spraying nozzle 14C is attached to the vehicle body 100 so that the height position and the left and right positions with respect to the vehicle body 100 can be changed according to the spraying object.

[0035] In the spraying device 14, the number of spraying nozzles 14C provided in each spraying pipe 14B can be variously changed according to the type of the crop V, the length of each spraying pipe 14B, and the like.

[0036] As shown in FIG. 4C, among the plurality of spraying nozzles 14C, the three spraying nozzles 14C provided on the leftmost spraying pipe 14B spray the chemical liquid leftward toward the crop Va located outside the left side of the vehicle body 100. Among the plurality of spraying nozzles 14C, the three spraying nozzles 14C provided on the left inner spraying pipe 14B adjacent to the leftmost spraying pipe 14B spray the chemical liquid rightward toward the crop Vb located in the left-right center space 100S of the vehicle body 100. Among the plurality of spraying nozzles 14C, the three spraying nozzles 14C provided on the rightmost spraying pipe 14B spray the chemical liquid rightward toward the crop Vc located outside the right side of the vehicle body 100. Among the plurality of spraying nozzles 14C, the three spraying nozzles 14C provided on the right inner spraying pipe 14B adjacent to the rightmost spraying pipe 14B spray the chemical liquid leftward toward the crop Vb located in the space 100S.

[0037] With the above configuration, in the spraying device 14, the two spraying pipes 14B and the six spraying nozzles 14C provided on the left side portion 100L of the vehicle body 100 function as the left spraying portion 14L. Also, the two spraying pipes 14B and the six spraying nozzles 14C provided on the right side portion 100R of the vehicle body 100 function as the right spraying portion 14R. And the left and right spraying portions 14L, 14R are arranged at a left-right interval that allows the passage (space 100S) of the crop Vb between the left and right spraying portions 14L, 14R in a state where spraying in the left-right direction is possible at the back of the vehicle body 100.

[0038] In the spraying device 14, the spraying patterns by the spraying units 14L and 14R include a four-direction spraying pattern in which each of the spraying units 14L and 14R sprays the chemical liquid in both left and right directions, and a direction-limited spraying pattern in which the spraying directions by the spraying units 14L and 14R are limited. The direction-limited spraying pattern includes a left three-direction spraying pattern in which the spraying unit 14L sprays the chemical liquid in both left and right directions and the spraying unit 14R sprays the chemical liquid only in the left direction, a right three-direction spraying pattern in which the spraying unit 14L sprays the chemical liquid only in the right direction and the spraying unit 14R sprays the chemical liquid in both left and right directions, a two-direction spraying pattern in which the spraying unit 14L sprays the chemical liquid only in the right direction and the spraying unit 14R sprays the chemical liquid only in the left direction, a left one-direction spraying pattern in which the spraying unit 14L sprays only in the left direction and the spraying unit 14R does not spray the chemical liquid, and a right one-direction spraying pattern in which the spraying unit 14R sprays only in the right direction and the spraying unit 14L does not spray the chemical liquid.

[0039] The spraying device 14 executes a switching process for switching the spraying direction (spraying pattern) of the chemical liquid based on the control information included in the path data transferred from the operation terminal 20. That is, the spraying device 14 has a function as a switching processing unit for the spraying pattern.

[0040] FIG. 7 shows the overall configuration of the storage tank 14A constituting the spraying device 14, and FIG. 8 shows a cross-sectional view showing the internal configuration of the storage tank 14A.

[0041] A lid 14a is provided on the upper part of the storage tank 14A. By removing the lid 14a, the chemical solution is supplied (poured) into the storage tank 14A. The storage tank 14A is equipped with a spraying pump 14b for pumping the chemical solution, an electric spraying motor 14c for driving the spraying pump 14b, an electronically controlled valve unit 14d for changing the spraying amount and spraying pattern of the chemical solution, and a plurality of spraying pipes (not shown) for connecting these. Further, the storage tank 14A is provided with a flow rate adjustment part 14e for adjusting the rotation speed of the spraying motor 14c to adjust the flow rate of the chemical solution pumped from the spraying pump 14b, and a flow rate sensor 14f for detecting the flow rate of the chemical solution pumped from the spraying pump 14b. Also, as shown in FIG. 8, inside the storage tank 14A, there are provided a stirring part 14g for stirring the chemical solution in the storage tank 14A, a remaining amount sensor 14h for detecting the remaining amount of the chemical solution in the storage tank 14A, and the like. Although details will be described later, the stirring part 14g performs a stirring operation (rotation drive) according to an instruction from the vehicle control device 11 when a predetermined condition is satisfied before the work vehicle 10 starts automatic driving.

[0042] The vehicle body 100 is equipped with an automatic driving control part for automatically driving the vehicle body 100 along the target path R of the farm field F based on the positioning information obtained from the positioning device 16 and the like, an engine control part for controlling the engine 103, an HST (Hydro-Static Transmission) control part for controlling the hydrostatic continuously variable transmission, and a work device control part for controlling work devices such as the spraying device 14. Each control part is constructed by an electronic control unit equipped with a microcontroller and the like, and various information and control programs stored in the non-volatile memory (for example, EEPROM such as flash memory) of the microcontroller. The various information stored in the non-volatile memory may include a pre-generated target path R and the like. In this embodiment, each control part is collectively referred to as the "vehicle control device 11" (see FIG. 2).

[0043] The positioning device 16 is a communication device including a positioning control unit 161, a storage unit 162, a communication unit 163, an antenna 164, etc. The antenna 164 is provided in front of and behind the ceiling part (connection part 100C) of the vehicle body 100 (see FIG. 3). Further, on the ceiling part of the vehicle body 100, an indicator lamp 102 for displaying the traveling state of the work vehicle 10 is provided (see FIG. 3). Note that the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 103 is stopped.

[0044] The communication unit 163 is a communication interface for connecting the positioning device 16 to the communication network N1 by wire or wirelessly and performing data communication according to a predetermined communication protocol with external devices such as the base station 40 via the communication network N1.

[0045] The antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites. Since the antenna 164 is provided in front of and behind the work vehicle 10, the current position and current orientation of the work vehicle 10 can be measured with high accuracy.

[0046] The positioning control unit 161 is a computer system including one or more processors and a storage memory such as a non-volatile memory and a RAM. The storage unit 162 is a non-volatile memory or the like 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 measures the current position and current orientation of the work vehicle 10 by a predetermined positioning method (such as the RTK method) based on the GNSS signal received by the antenna 164 from the satellite 50.

[0047] 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 to each ranging point (measurement object) in the measurement range from the lidar sensor by the TOF (Time Of Flight) method that measures the distance to the ranging point based on, for example, the round-trip time until the laser light emitted by the lidar sensor reaches the ranging point and returns.

[0048] The lidar sensor 171L has a predetermined range on the front left side of the vehicle body 100 set as the measurement range, and the lidar sensor 171R has a predetermined range on the front right side of the vehicle body 100 set as the measurement range. Each lidar sensor transmits measurement information such as the distance to each measured ranging point and the scanning angle (coordinates) with respect to each ranging point to the vehicle control device 11.

[0049] In addition, the obstacle detection device 17 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 to 4C) provided on the rear side of the vehicle body 100. Each ultrasonic sensor measures the distance from the ultrasonic sensor to the measurement object by the TOF method of measuring the distance to the measurement point based on the round-trip time until the ultrasonic wave transmitted by the ultrasonic sensor reaches the measurement point and returns.

[0050] The front left ultrasonic sensor 172F has a predetermined range on the front left side of the vehicle body 100 set as the measurement range, the front right ultrasonic sensor 172F has a predetermined range on the front right side of the vehicle body 100 set as the measurement range, the rear left ultrasonic sensor 172R has a predetermined range on the rear left side of the vehicle body 100 set as the measurement range, and the rear right ultrasonic sensor 172R has a predetermined range on the rear right side of the vehicle body 100 set as the measurement range. 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.

[0051] In addition, the obstacle detection device 17 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 contacts the contact sensor 173F. A 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). When an obstacle contacts the spraying device 14, the contact sensor 173R detects the obstacle by the spraying device 14 moving rearward (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.

[0052] Based on the measurement information regarding the obstacle acquired from the obstacle detection device 17, the vehicle control device 11 executes an avoidance process to avoid the obstacle when there is a possibility that the work vehicle 10 may collide with the obstacle.

[0053] The spraying processing unit 112 of the vehicle control device 11 causes the spraying device 14 to execute a spraying operation. Specifically, when the work vehicle 10 starts automatic driving at the work start position S (see FIG. 6), the spraying processing unit 112 outputs a switching signal for switching the spraying pattern to the spraying device 14 based on the control information included in the path data. When receiving the switching signal, the spraying device 14 executes a spraying operation with a predetermined spraying pattern. The spraying processing unit 112 is an example of the spraying processing unit of the present invention.

[0054] The stirring processing unit 113 of the vehicle control device 11 causes the stirring unit 14g (see FIG. 8) to execute a stirring operation for stirring the chemical liquid in the storage tank 14A. Specifically, the stirring processing unit 113 outputs a driving signal to a driving motor (not shown) that drives the stirring unit 14g to rotationally drive the stirring unit 14g. When the stirring unit 14g is rotationally driven, the chemical liquid in the storage tank 14A is stirred. The stirring unit 14g is rotationally driven at a preset rotational speed.

[0055] Incidentally, when the chemical liquid in the storage tank 14A is not sufficiently mixed with the chemical agent and the liquid at the time when the work vehicle 10 starts working, problems such as non-uniformity of the concentration of the chemical liquid or clogging of the spraying nozzles 14C occur, resulting in a decrease in the working accuracy of the spraying operation. On the other hand, according to the work vehicle 10 according to the present embodiment, it is possible to improve the working accuracy of the spraying operation by starting the stirring operation before the work vehicle 10 starts autonomous driving.

[0056] Specifically, the stirring processing unit 113 starts the stirring operation when a predetermined condition is satisfied before the work vehicle 10 starts autonomous driving. For example, the stirring processing unit 113 starts the stirring operation when a predetermined condition is satisfied before the work vehicle 10 reaches a preset work start position S. The stirring processing unit 113 is an example of the stirring processing unit of the present invention.

[0057] Here, the work vehicle 10 is supplied with chemical liquid from a chemical liquid supply vehicle in a chemical liquid supply area AR outside the farm field F. For example, as shown in FIG. 9, the operator moves the work vehicle 10 beside the chemical liquid supply vehicle in the chemical liquid supply area AR and inputs (supplies) the chemical liquid from the chemical liquid supply vehicle into the storage tank 14A. The work vehicle 10 supplied with the chemical liquid manually travels to the work start position S by an operation of the operator. For example, the operator operates a manual travel operation unit 18 (see FIG. 4B) provided on the work vehicle 10 to make the work vehicle 10 travel. FIG. 10 shows the appearance of the manual travel operation unit 18. The manual travel operation unit 18 includes a power switch 181 for enabling the manual travel mode, an operation switch 182 for moving the work vehicle 10 forward and backward, an operation switch 183 for turning the work vehicle 10 right and left, and an LED 184 that lights up when the manual travel mode is valid. The manual travel operation unit 18 is connected to a vehicle control device 11 of the work vehicle 10 via a communication cable (not shown). The vehicle control device 11 makes the work vehicle 10 travel according to the operation of the manual travel operation unit 18. For example, when the supply of the chemical liquid to the work vehicle 10 is completed, the operator turns on the power switch 181 of the manual travel operation unit 18 and operates the operation switches 182 and 183 to make the work vehicle 10 travel to the work start position S (see FIG. 9). When the work vehicle 10 reaches the work start position S and satisfies the conditions for starting automatic travel, it starts automatic travel according to the target path corresponding to the route data.

[0058] The predetermined conditions are conditions for starting the stirring operation. In the work vehicle 10, any one of a plurality of conditions shown below is set. Hereinafter, as the predetermined conditions, the first condition to the fourth condition are exemplified.

[0059] (First condition) The first condition is that "the key switch for starting the engine 103 (see FIG. 4A) of the work vehicle 10 is turned on". Specifically, when the key switch (for example, the engine key switch) for starting the engine 103 of the work vehicle 10 is turned on, the stirring processing unit 113 starts the stirring operation. For example, the operator transports the work vehicle 10 from the storage (such as a shed) to a predetermined position using a transport vehicle and turns on the engine start switch with the engine key. Thereby, the vehicle control device 11 starts the engine 103, and the stirring processing unit 113 starts the rotational drive of the stirring unit 14g. As a result, the chemical liquid in the storage tank 14A is stirred. Thereafter, the operator operates the manual driving operation unit 18 to lower the work vehicle 10 from the transport vehicle. When the operator lowers the work vehicle 10 from the transport vehicle, after performing a predetermined operation such as registering work information with the operation terminal 20, the operator operates the manual driving operation unit 18 to move the work vehicle 10 to the work start position S. While the work vehicle 10 is manually traveling, the chemical liquid in the storage tank 14A is stirred.

[0060] Also, when a predetermined amount of chemical liquid does not remain in the storage tank 14A when the work vehicle 10 is lowered from the transport vehicle, the operator moves the work vehicle 10 to the chemical liquid supply area AR and supplies the chemical liquid from the chemical liquid supply vehicle to the storage tank 14A (see FIG. 9). Thereafter, the operator operates the manual driving operation unit 18 to move the work vehicle 10 to the work start position S. Note that information regarding the remaining amount of the chemical liquid in the storage tank 14A may be displayed on the operation terminal 20.

[0061] According to the first condition, the stirring operation can be started when the engine of the work vehicle 10 is started.

[0062] (Second condition) The second condition is that "chemical liquid has been supplied to the storage tank 14A". Specifically, when chemical liquid is supplied to the storage tank 14A, the stirring processing unit 113 starts the stirring operation. For example, when there is no chemical liquid in the storage tank 14A, the stirring processing unit 113 does not drive the stirring unit 14g, and when chemical liquid is supplied (input) to the storage tank 14A, the stirring processing unit 113 drives the stirring unit 14g. For example, based on the detection result of the remaining amount sensor 14h (see FIG. 8), the stirring processing unit 113 recognizes that chemical liquid has been supplied to the storage tank 14A and starts the rotational drive of the stirring unit 14g.

[0063] According to the second condition, the stirring operation can be started when chemical liquid is supplied to the storage tank 14A. Also, unnecessary rotational operations of the stirring unit 14g can be prevented.

[0064] (Third condition) The third condition is that "the power switch 181 (see FIG. 10) of the manual driving operation unit 18 for manually driving the work vehicle 10 to the work start position S has been turned on". Specifically, when the power switch 181 of the manual driving operation unit 18 is turned on, the stirring processing unit 113 starts the stirring operation. For example, when the operator turns on the power switch 181 of the manual driving operation unit 18 when getting off the work vehicle 10 from the transport vehicle, the stirring processing unit 113 starts the rotational drive of the stirring unit 14g.

[0065] According to the third condition, the stirring operation can be started when the operator starts the manual driving of the work vehicle 10.

[0066] (Fourth condition) The fourth condition is that "the work vehicle 10 has been connected to an external power source". Specifically, when the work vehicle 10 is connected to an external power source, the stirring processing unit 113 starts the stirring operation. For example, when the work vehicle 10 is connected to a power source (such as a battery) mounted on the transport vehicle that transports the work vehicle 10, the stirring processing unit 113 uses the power source to start the stirring operation.

[0067] According to the fourth condition, the chemical liquid in the storage tank 14A can be stirred even while the work vehicle 10 is being transported.

[0068] As described above, when the stirring processing unit 113 satisfies a condition set in advance from among the first condition, the second condition, the third condition, and the fourth condition before the work vehicle 10 starts automatic driving, the stirring operation is started. For example, the operator can select and set any one of the first condition, the second condition, the third condition, and the fourth condition on the operation terminal 20. Further, the operator may be able to change the set condition to another condition.

[0069] Here, when the obstacle detection device 17 detects an obstacle during the automatic driving after the work vehicle 10 starts automatic driving, the vehicle control device 11 temporarily stops the running of the work vehicle 10. In this case, if the stirring unit 14g also stops, the concentration of the chemical liquid in the storage tank 14A may become non-uniform. Therefore, when the work vehicle 10 detects an obstacle and stops during automatic driving, the stirring processing unit 113 continues the stirring operation without stopping it. Thereby, it is possible to spray a chemical liquid with a uniform concentration even after the automatic driving of the work vehicle 10 resumes. Thus, the stirring processing unit 113 continuously executes the stirring operation while the work vehicle 10 travels from the work start position S to the work end position G.

[0070] The notification processing unit 114 of the vehicle control device 11 causes at least one of the operation display unit 19 and the operation terminal 20 mounted on the work vehicle 10 to display the working status of the stirring operation. As shown in FIG. 4B, an operation display unit 19 including a display unit (display panel) and an operation unit (operation switch) is provided on the front side of the right vehicle body (right side portion 100R) of the work vehicle 10. Note that the operation display unit 19 may be a touch panel in which the display unit and the operation unit are integrally formed. The notification processing unit 114 displays, for example, information indicating the status of the stirring operation, that is, whether the stirring operation is being performed, on the display unit.

[0071] As another embodiment, the notification processing unit 114 may notify the operation terminal 20 of the status of the stirring operation, and cause the operation display unit 23 of the operation terminal 20 to display information indicating whether the stirring operation is being performed. Thereby, the operator can easily grasp whether the chemical solution in the storage tank 14A is being stirred.

[0072] Also, as another embodiment, the operation display unit 19 may be capable of receiving a start operation of the stirring operation from the operator. When the operation display unit 19 receives the start operation of the stirring operation, the stirring processing unit 113 may start the stirring operation. According to this configuration, the operator can start the stirring operation at a desired timing. For example, the operator can start the stirring operation at a desired timing before the set conditions are satisfied.

[0073] The configuration of the work vehicle 10 described above is an example of the configuration of the work vehicle of the present invention, and the present invention is not limited to the above-described configuration. As another embodiment, the work vehicle 10 may have a normal shape in which the vehicle body 100 does not have a portal shape and the entire vehicle body 100 travels between the crop rows Vr (working passage). In this case, the work vehicle 10 automatically travels in each working passage in order without straddling the crop rows Vr. Further, the spraying device 14 includes one spraying unit, and switches between a spraying pattern in which the chemical solution is sprayed in both 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 to perform the spraying operation.

[0074] [Operation terminal 20] As shown in FIG. 2, the operation terminal 20 is an information processing device including a control unit 21, a storage unit 22, an operation display unit 23, a communication unit 24, and the like. The operation terminal 20 may be configured by a portable terminal such as a tablet terminal or a smartphone.

[0075] The communication unit 24 is a communication interface for connecting the operation terminal 20 to the communication network N1 by wire or wirelessly and performing data communication according to a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0076] The operation display unit 23 is a user interface including a display unit such as a liquid crystal display or an organic EL display for displaying various types of information, and an operation unit such as a touch panel, a mouse, or a keyboard for receiving operations. The operator can perform operations such as registering various types of information (such as work vehicle information, field information, and work information described later) by operating the operation unit on the operation screen displayed on the display unit. Further, the operator can perform operations such as a work start instruction and a travel stop instruction for the work vehicle 10 by operating the operation unit. Furthermore, the operator can grasp the travel state, work situation, and surrounding situation of the work vehicle 10 that automatically travels in the field F along the target route R based on the travel 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.

[0077] The storage unit 22 is a non-volatile storage unit such as an HDD or an SSD that stores various types of information. The storage unit 22 stores control programs such as an automatic driving program for causing the control unit 21 to execute the automatic driving process (see FIG. 12) 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 22. Note that 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.

[0078] The control unit 21 includes 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 that stores control programs such as a BIOS and an OS for causing the CPU to execute various types of arithmetic processing 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 (working area) for various types of processing executed by the CPU. Then, the control unit 21 controls the operation terminal 20 by causing the CPU to execute various control programs stored in advance in the ROM or the storage unit 22.

[0079] As shown in FIG. 2, the control unit 21 includes various processing units such as a setting processing unit 211, a path generation processing unit 212, and an output processing unit 213. Note that the control unit 21 functions as the various processing units by executing various processes according to the control program using the CPU. Also, some or all of the processing units may be configured by electronic circuits. Note that the control program may be a program for causing a plurality of processors to function as the processing units.

[0080] The setting processing unit 211 sets and registers information regarding the work vehicle 10 (hereinafter referred to as work vehicle information), information regarding the field F (hereinafter referred to as field information), and information regarding the work (here, spraying work) (hereinafter referred to as work information).

[0081] In the setting process of the work vehicle information, the setting processing unit 211 sets the information such as the model of the work vehicle 10, the position where the antenna 164 is attached to the work vehicle 10, the type of the work implement (here, the spraying device 14), the size and shape of the work implement, the position of the work implement with respect to the work vehicle 10, the vehicle speed and engine speed during the operation of the work vehicle 10, and the vehicle speed and engine speed during the turning of the work vehicle 10, by performing an operation registered by the operator on the operation terminal 20. In the present embodiment, information regarding the spraying device 14 is set as the information of the work implement.

[0082] In the setting process of the field information, the setting processing unit 211 sets the information such as the position and shape of the field F, the work start position S where the work starts and the work end position G where the work ends (see FIG. 6), and the work direction, by performing an operation registered by the operator 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 excluding non-work areas such as headlands from the field F.

[0083] Information on the position and shape of the field F can be automatically obtained, for example, by having an operator manually drive the work vehicle 10 once around the outer periphery of the field F and recording the transition of the position information of the antenna 164 at that time. Further, the position and shape of the field F can also be obtained based on a polygon obtained by having the operator operate the operation terminal 20 to specify a plurality of points on the map while the map is being displayed on the operation terminal 20. The area specified by the obtained position and shape of the field F is an area (travel area) in which the work vehicle 10 can travel.

[0084] In the setting process of the work information, the setting processing unit 211 is configured to be able to set, as work information, the number of skipped work paths (skip number) that the work vehicle 10 skips when turning on the headland, the width of the headland, and the like.

[0085] Based on the respective setting information, the route generation processing unit 212 generates a target route R, which is a route for automatically driving the work vehicle 10. The target route R is, for example, a route from the work start position S to the 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 onto the crop V in the area where the crop V is planted, and a movement route R2 for moving between the crop rows Vr without performing the spraying work.

[0086] An example of a method for generating a target path R will be described with reference to FIGS. 11A and 11B. FIG. 11A schematically shows a crop row Vr. First, the operator manually drives the work vehicle 10 along the outer periphery of the crop row Vr (see FIG. 11A). While the work vehicle 10 is moving, it detects an end point E1 on one side (the lower side in FIG. 11A) and an end point E2 on the other side (the upper side in FIG. 11A) of each crop row Vr, and acquires position information (coordinates) of each end point E1, E2. Note that the end points E1, E2 may be the positions of already planted crops V, or may be the positions of target objects indicating the positions of 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, it sets a line L1 (see FIG. 11B) connecting the corresponding end points E1, E2 as the working path of the crop row Vr, and generates a target path R including a plurality of working paths and a movement path (turning path). The method for generating the target path R is not limited to the above-described method. The path generation processing unit 212 may store the generated target path R in the storage unit 22.

[0087] The output processing unit 213 outputs path data including information on the target path R generated by the path generation processing unit 212 to the work vehicle 10.

[0088] Note that the output processing unit 213 may output the path data to a server (not shown). The server stores and manages the plurality of path data acquired from each of the plurality of operation terminals 20 in association with the operation terminals 20 and the work vehicle 10.

[0089] In addition to the above-described processing, the control unit 21 executes processing for causing the operation display unit 23 to display various information. 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 path R, an operation screen for starting automatic driving of the work vehicle 10, a display screen for displaying the running state of the work vehicle 10, etc. Further, for example, when the control unit 21 acquires the working status of the stirring operation from the work vehicle 10, it causes the operation display unit 23 to display the working status, that is, information indicating whether or not the stirring operation of the chemical liquid in the storage tank 14A is being performed.

[0090] Further, the control unit 21 receives various operations from the operator. Specifically, the control unit 21 receives a work start instruction to start work on the work vehicle 10 from the operator, a travel stop instruction to stop the travel of the work vehicle 10 during automatic travel, and the like. When receiving each of the above instructions, the control unit 21 outputs each of the instructions to the work vehicle 10.

[0091] When the vehicle control device 11 of the work vehicle 10 acquires a work start instruction from the operation terminal 20, it starts the automatic travel and spraying work of the work vehicle 10. Further, when the vehicle control device 11 acquires a travel stop instruction from the operation terminal 20, it stops the automatic travel and spraying work of the work vehicle 10.

[0092] Note that the operation terminal 20 may be able to access the website of the agricultural support service provided by the server (agricultural support site) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal of the server when the browser program is executed by the control unit 21.

[0093] [Automatic Driving Process] Hereinafter, an example of the automatic driving process executed by the vehicle control device 11 of the work vehicle 10 will be described with reference to FIG. 12.

[0094] Note that the present invention can be regarded as an invention of an automatic driving method for executing one or more steps included in the automatic driving process. Further, one or more steps included in the automatic driving process described here may be appropriately omitted. Note that the execution order of each step in the automatic driving process may be different as long as the same operational effects are produced. Furthermore, here, the case where the vehicle control device 11 executes each step in the automatic driving process is taken as an example for description, but an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner is also considered as another embodiment.

[0095] Here, among the first to fourth conditions that are the start conditions of the stirring operation, the first condition will be described as an example.

[0096] In step S1, the vehicle control device 11 determines whether or not a key switch (engine key switch) for starting the engine 103 of the work vehicle 10 has been turned on. For example, the operator transports the work vehicle 10 from the storage to a predetermined position using a transport vehicle and turns on the engine start switch with the engine key. When the vehicle control device 11 detects that the key switch is in the ON state (S1: Yes), the process proceeds to step S2. The vehicle control device 11 waits until the key switch is turned on (S1: No).

[0097] In step S2, the vehicle control device 11 starts the engine 103. In the subsequent step S3, the vehicle control device 11 starts the stirring operation. Specifically, the vehicle control device 11 starts the rotational drive of the stirring unit 14g (see FIG. 8) to stir the chemical liquid in the storage tank 14A.

[0098] Next, in step S4, the vehicle control device 11 manually drives the work vehicle 10 to the work start position S. For example, the vehicle control device 11 manually drives the work vehicle 10 to the work start position S based on a travel instruction operation of the manual travel operation unit 18 (see FIG. 10) by the operator.

[0099] Here, when the operator supplies the chemical liquid to the work vehicle 10 that has started the stirring operation, the operator operates the manual travel operation unit 18 to move the work vehicle 10 to the chemical liquid supply area AR and supply the chemical liquid from the chemical liquid supply vehicle to the storage tank 14A. Thereafter, the operator operates the manual travel operation unit 18 to move the work vehicle 10 back to the work start position S (see FIG. 9). If there is no chemical liquid remaining in the storage tank 14A, the vehicle control device 11 may start the stirring operation when it detects that the chemical liquid has been supplied to the storage tank 14A (corresponding to the second condition).

[0100] Next, in step S5, the vehicle control device 11 determines whether the work vehicle 10 has reached the work start position S (automatically drivable position). When the work vehicle 10 reaches the work start position S (S5: Yes), the process proceeds to step S6. Until the work vehicle 10 reaches the work start position S, the manual driving process (S4) is continued (S5: No).

[0101] In step S6, the vehicle control device 11 determines whether an automatic driving 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 an automatic driving start instruction (work start instruction) to the work vehicle 10. When the vehicle control device 11 acquires an automatic driving start instruction from the operation terminal 20 (S6: Yes), the process proceeds to step S7. The vehicle control device 11 waits until an automatic driving start instruction is acquired from the operation terminal 20 (S6: No).

[0102] In step S7, the vehicle control device 11 starts automatic driving. For example, when the vehicle control device 11 acquires an automatic driving start instruction and route data from the operation terminal 20, it starts automatic driving and spraying work along the target route R according to the route data. The vehicle control device 11 stores the route data acquired from the operation terminal 20 in the storage unit 12.

[0103] Next, in step S8, the vehicle control device 11 determines whether the work vehicle 10 has completed the work (spraying work). The vehicle control device 11 determines that the work has been completed when the position of the work vehicle 10 coincides with the work end position G. When the work vehicle 10 has completed the work (S8: Yes), the automatic driving process ends. The vehicle control device 11 continues the automatic driving and spraying work until the work vehicle 10 completes the work (S8: No).

[0104] Here, when the work vehicle 10 finishes the spraying work and needs to replenish the chemical liquid, it manually drives to the chemical liquid supply area AR by operating the manual driving operation unit 18 by the operator (see FIG. 9). Then, the operator replenishes the work vehicle 10 with the chemical liquid in the chemical liquid supply area AR.

[0105] As described above, the automatic driving system 1 according to the present embodiment automatically drives the work vehicle 10 along the target route R at the work site (for example, the farm field F), and executes a spraying operation of spraying a spraying object (for example, the crop V) with a spraying material (for example, a chemical solution). Further, the automatic driving system 1 executes a stirring operation of stirring the spraying material in the storage tank 14A. Further, the automatic driving system 1 starts the stirring operation when a predetermined condition is satisfied before the work vehicle 10 starts automatic driving.

[0106] Further, in the automatic driving method according to the present embodiment, one or a plurality of processors automatically drive the work vehicle 10 along the target route R at (for example, the farm field F), execute a spraying operation of spraying a spraying object (for example, the crop V) with a spraying material (for example, a chemical solution), execute a stirring operation of stirring the spraying material in the storage tank 14A, and start the stirring operation when a predetermined condition is satisfied before the work vehicle 10 starts automatic driving.

[0107] According to the above configuration, since the chemical solution in the storage tank 14A can be stirred before the work vehicle 10 starts automatic driving, it is possible to avoid problems such as the concentration of the chemical solution not becoming uniform or clogging of the spray nozzles for spraying the chemical solution. As a result, it is possible to appropriately spray the chemical solution with a uniform concentration on the crop V immediately after the start of automatic driving. Therefore, it is possible to improve the working accuracy of the spraying operation. Further, even when the operator forgets to give an instruction to start the stirring operation, the stirring operation can be automatically started at a predetermined timing.

Explanation of reference numerals

[0108] 1: Automatic driving system 10: Work vehicle 11: Vehicle control device 111: Travel processing unit 112: Spraying processing unit 113: Stirring processing unit 114: Notification processing unit 14: Spreading device 14A: Storage tank 18: Manual driving operation unit 19: Operation display unit (display unit) 20: Operation terminal 211: Setting processing unit 212: Route generation processing unit 213: Output processing unit 40: Base station 50: Satellite F: Field (working area) R: Target route V: Crop Vr: Crop row

Claims

1. Automatically driving a work vehicle along a target path at a work site, Executing a spraying operation of spraying a spraying material onto a spraying target, Executing a stirring operation of stirring the spraying material in a storage tank, When the spraying material is supplied to the storage tank before the work vehicle starts automatic driving, starting the stirring operation, An automatic driving method for performing the above.

2. Automatically driving a work vehicle along a target path at a work site, Executing a spraying operation of spraying a spraying material onto a spraying target, Executing a stirring operation of stirring the spraying material in a storage tank, When the power switch of a manual driving operation unit for manually driving the work vehicle to a preset automatic driving start position is turned on before the work vehicle starts automatic driving, starting the stirring operation, An automatic driving method for performing the above.

3. Automatically driving a work vehicle along a target path at a work site, Executing a spraying operation of spraying a spraying material onto a spraying target, Executing a stirring operation of stirring the spraying material in a storage tank, When the work vehicle is connected to an external power source before the work vehicle starts automatic driving, starting the stirring operation, An automatic driving method for performing the above.

4. Continuing the stirring operation when the work vehicle detects an obstacle and stops after the stirring operation is started, The automatic driving method according to any one of Claims 1 to 3.

5. Displaying the working status of the stirring operation on at least one of a display unit mounted on the work vehicle and an operation terminal capable of communicating with the work vehicle, The automatic driving method according to any one of Claims 1 to 4.

6. A running processing unit for automatically driving a work vehicle along a target path at a work site, A spraying processing unit for executing a spraying operation of spraying a spraying material onto a spraying target, A stirring processing unit for executing a stirring operation of stirring the spraying material in a storage tank, Comprising, When the spraying material is supplied to the storage tank before the work vehicle starts automatic driving, the stirring processing unit starts the stirring operation. An automatic driving system.

7. A running processing unit for automatically driving a work vehicle along a target path at a work site, A spraying processing unit for executing a spraying operation of spraying a spraying material onto a spraying target, A stirring processing unit that executes a stirring operation for stirring the spraying material in the storage tank comprising The stirring processing unit starts the stirring operation when the power switch of the manual driving operation unit for manually driving the work vehicle to a preset automatic driving start position is turned on before the work vehicle starts automatic driving. An automatic driving system

8. A running processing unit that automatically runs a work vehicle along a target route at a work site A spraying processing unit that executes a spraying operation for spraying a spraying material onto a spraying target A stirring processing unit that executes a stirring operation for stirring the spraying material in the storage tank comprising The stirring processing unit starts the stirring operation when the work vehicle is connected to an external power source before the work vehicle starts automatic driving. An automatic driving system

9. Automatically running a work vehicle along a target route at a work site Executing a spraying operation for spraying a spraying material onto a spraying target Executing a stirring operation for stirring the spraying material in the storage tank Starting the stirring operation when the spraying material is supplied to the storage tank before the work vehicle starts automatic driving An automatic driving program for causing one or more processors to execute

10. Automatically running a work vehicle along a target route at a work site Executing a spraying operation for spraying a spraying material onto a spraying target Executing a stirring operation for stirring the spraying material in the storage tank Starting the stirring operation when the power switch of the manual driving operation unit for manually driving the work vehicle to a preset automatic driving start position is turned on before the work vehicle starts automatic driving An automatic driving program for causing one or more processors to execute

11. Automatically running a work vehicle along a target route at a work site Executing a spraying operation for spraying a spraying material onto a spraying target Executing a stirring operation for stirring the spraying material in the storage tank Starting the stirring operation when the work vehicle is connected to an external power source before the work vehicle starts automatic driving An automatic driving program for causing one or more processors to execute

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