Route Determination Method, Route Determination System, and Route Determination Program

Abstract

To provide a route determination method, a route determination system, and a route determination program for determining a target route on which a work vehicle can perform work while performing automatic traveling without damaging surface soil at a work site.SOLUTION: A route determination method executes generating a plurality of candidate routes r1 to r3 being candidates for a target route R on which a work vehicle 10 for performing automatic traveling in a prescribed row order is made to travel while performing spraying work to a crop row Vr arranged in a plurality of rows in a farm field F, and determining a first candidate route selected from among the plurality of candidate routes r1 to r3 as the target route R.SELECTED DRAWING: Figure 10

Description

Technical Field

[0001] The present invention relates to a route determination method, a route determination system, and a route determination program for determining a target route of a work vehicle that automatically travels while performing predetermined work on work objects arranged in a plurality of rows.

Background Art

[0002] There is known a work vehicle that automatically travels along a target route while spraying a chemical solution on crops planted in a work area such as a field or a farm (see, for example, Patent Document 1). The target route is generated, for example, by connecting both ends of each row in a plurality of rows (crop rows) in which crops are arranged.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order to automatically travel along the generated target route, the work vehicle travels to the same location every time it performs work. For this reason, there arises a problem of damaging the topsoil of the portion where the work vehicle has traveled in the work area.

[0005] An object of the present invention relates to a route determination method, a route determination system, and a route determination program for determining a target route that enables a work vehicle to perform work while automatically traveling without damaging the topsoil of a work area.

Means for Solving the Problems

[0006] The route determination method according to the present invention is a method for generating a plurality of candidate routes that are candidates for a target route for driving a work vehicle that automatically travels in a predetermined column order while performing a predetermined operation on work objects arranged in a plurality of columns at a work site, and determining a first candidate route selected from among the plurality of candidate routes as the target route.

[0007] The route determination system according to the present invention includes a generation processing unit and a determination processing unit. The generation processing unit generates a plurality of candidate routes that are candidates for a target route for driving a work vehicle that automatically travels in a predetermined column order while performing a predetermined operation on work objects arranged in a plurality of columns at a work site. The determination processing unit determines a first candidate route selected from among the plurality of candidate routes as the target route.

[0008] The route determination program according to the present invention is a program for causing one or more processors to generate a plurality of candidate routes that are candidates for a target route for driving a work vehicle that automatically travels in a predetermined column order while performing a predetermined operation on work objects arranged in a plurality of columns at a work site, and determine a first candidate route selected from among the plurality of candidate routes as the target route.

Effects of the Invention

[0009] According to the present invention, it is possible to provide a route determination method, a route determination system, and a route determination program for determining a target route that enables a work vehicle to perform work while automatically traveling without damaging the topsoil of a work site.

Brief Description of the Drawings

[0010]

Figure 1

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Figure 7B

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Embodiments 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] [Autonomous Driving System 1] As shown in FIGS. 1 and 2, the autonomous driving system 1 according to an embodiment of the present invention includes a work vehicle 10, an operation terminal 20, a server 30, a base station 40, and a satellite 50. The work vehicle 10, the operation terminal 20, and the server 30 are communicable 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. Also, each of the work vehicle 10 and the operation terminal 20 and the server 30 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 field F. The field F is an example of the work area of the present invention, and the field F is, for example, an orchard such as a vineyard or an apple orchard. The crop V is an example of the work object of the present invention, and the crop V is, for example, a grape fruit tree. The spraying operation is an example of a predetermined operation of the present invention, and the spraying operation is, for example, an operation of spraying a spraying material such as a chemical solution and water on the crop V. As another embodiment, the work vehicle 10 may be a vehicle that performs a weeding operation, a foliage cutting operation, or a harvesting operation. The weeding operation and the harvesting operation are examples of a predetermined operation of the present invention.

[0014] The crops V are arranged in a plurality of rows at a predetermined interval in the 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 (autonomously traveling) along a preset target route R. For example, as shown in FIG. 6, the work vehicle 10 automatically travels along the target route R including the work route R1 (work routes R1a to R1f) and the movement route R2 from the work start position S to the work end position G. The work route R1 is a linear route along which the work vehicle 10 performs spraying work on the crop V, and the movement route R2 is a route along which the work vehicle 10 moves between the crop rows Vr without performing spraying work. The movement route R2 includes, for example, a turning route and a straight - running route. In the example shown in FIG. 6, in the field F, the crop V composed of the 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 the chemical solution on the crop V of 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 - hand side vehicle body (left - hand side part 100L) of the work vehicle 10 travels in the work passage between the crop rows Vr4 and Vr5, the right - hand side vehicle body (right - hand side part 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 of the crop rows Vr4, Vr5, and Vr6.

[0016] In addition, the work vehicle 10 performs automatic traveling 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 traveling according to the preset order of the crop rows Vr. Note that the work vehicle 10 may travel one row at a time in the arrangement order of the crop rows Vr, or may travel every few 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, longitude, altitude) and the current orientation of the work vehicle 10 and the like by using 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 for positioning 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 at the base station 40. Since the positioning method is a well-known technique, detailed description thereof is omitted.

[0019] Hereinafter, 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 seen from the left front side. FIG. 4A is an external view of the left side of the work vehicle 10 as seen from the left side, FIG. 4B is an external view of the right side of the work vehicle 10 as seen from the right side, and FIG. 4C is an external view of the back of the work vehicle 10 as seen 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, a camera device 17, an obstacle detection device 18, 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 camera device 17, the obstacle detection device 18, 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 executing data communication with external devices such as the operation terminal 20 and the server 30 according to a predetermined communication protocol 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. 10) 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 (for example, server 30) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. Further, the storage unit 12 stores data of the target route R generated in the operation terminal 20. For example, the data of the target route R is transmitted from the operation terminal 20 to the server 30, transferred from the server 30 to the work vehicle 10, and stored in the storage unit 12.

[0024] The vehicle control device 11 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 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 (working area) for various processes executed by the CPU. Then, the vehicle control device 11 controls the work vehicle 10 by causing the CPU to execute various control programs stored in advance in the ROM or the storage unit 12.

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

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

[0027] The work vehicle 10 includes a gantry-shaped vehicle body 100 that runs 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, and 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.

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

[0029] The traveling device 13 is a driving unit that makes the work vehicle 10 travel. The traveling device 13 includes an engine, crawlers 101, etc.

[0030] The left and right crawlers 101 are driven by the power from the engine in a state where independent speed change by a hydrostatic continuously variable transmission is possible. Thereby, the vehicle body 100 enters a forward state in which it travels 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 travels 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 unequal 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 unequal speeds in the reverse direction. Also, the vehicle body 100 enters a pivot turning (in-place turning) state when one of the left and right crawlers 101 is stopped and the other crawler 101 is driven, and enters a spin turning (ultra-in-place 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. Incidentally, the left and right crawlers 101 may be configured as an electric type driven by an electric motor.

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

[0032] Each spraying nozzle 14C is attached to the corresponding spraying pipe 14B so as to be vertically position - changeable. Thereby, each spraying nozzle 14C can change the interval between adjacent spraying nozzles 14C and the height position relative to the spraying pipe 14B according to the spraying object (crop V). Also, each spraying nozzle 14C is attached to the vehicle body 100 so that its height position and left - right position can be changed according to the spraying object.

[0033] In the spraying device 14, the number of spraying nozzles 14C provided on each spraying pipe 14B can be variously changed according to the type of crop V, the length of each spraying pipe 14B, etc.

[0034] As shown in FIG. 4C, among the plurality of spraying nozzles 14C, the three spraying nozzles 14C provided on the left - most spraying pipe 14B spray the chemical liquid left - ward 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 left - most spraying pipe 14B spray the chemical liquid right - ward toward the crop Vb located in the left - right central space 100S of the vehicle body 100. Among the plurality of spraying nozzles 14C, the three spraying nozzles 14C provided on the right - most spraying pipe 14B spray the chemical liquid right - ward 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 right - most spraying pipe 14B spray the chemical liquid left - ward toward the crop Vb located in the space 100S.

[0035] 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 the back of the vehicle body 100 with a left-right interval allowing the passage of the crop Vb (space 100S) between the left and right spraying portions 14L, 14R in a state where spraying in the left-right direction is possible.

[0036] In the spraying device 14, the spraying patterns by the spraying portions 14L, 14R include a four-direction spraying pattern in which each of the spraying portions 14L, 14R sprays the chemical liquid in both the left and right directions, and a direction-limited spraying pattern in which the spraying direction by the spraying portions 14L, 14R is limited. The direction-limited spraying pattern includes a left three-direction spraying pattern in which the spraying portion 14L sprays the chemical liquid in both the left and right directions and the spraying portion 14R sprays the chemical liquid only in the left direction, a right three-direction spraying pattern in which the spraying portion 14L sprays the chemical liquid only in the right direction and the spraying portion 14R sprays the chemical liquid in both the left and right directions, a two-direction spraying pattern in which the spraying portion 14L sprays the chemical liquid only in the right direction and the spraying portion 14R sprays the chemical liquid only in the left direction, a left one-direction spraying pattern in which the spraying portion 14L sprays only in the left direction and the spraying portion 14R does not spray the chemical liquid, and a right one-direction spraying pattern in which the spraying portion 14R sprays only in the right direction and the spraying portion 14L does not spray the chemical liquid.

[0037] The vehicle body 100 is equipped with an automatic driving control unit that automatically drives the vehicle body 100 along the target path R of the field F based on the positioning information obtained from the positioning device 16 and the like, an engine control unit that controls the engine, an HST (Hydro-Static Transmission) control unit that controls the hydrostatic continuously variable transmission, and a work device control unit that controls work devices such as the spraying device 14. Each control unit 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 the pre-generated target path R and the like. In the present embodiment, each control unit is collectively referred to as the "vehicle control device 11" (see FIG. 2).

[0038] The positioning device 16 is a communication device including a positioning control unit 161, a storage unit 162, a communication unit 163, and an antenna 164. 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 and the like 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 is stopped.

[0039] The communication unit 163 is a communication interface for connecting the positioning device 16 to the communication network N1 by wire or wirelessly and executing data communication with external devices such as the base station 40 according to a predetermined communication protocol via the communication network N1.

[0040] 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 of the work vehicle 10 can be accurately positioned.

[0041] The positioning control unit 161 is a computer system including one or more processors and storage memories such as non-volatile memory and RAM. The storage unit 162 is a non-volatile memory 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 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.

[0042] 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 within the measurement range from the lidar sensor by the TOF (Time Of Flight) method that measures the distance to the ranging point based on the round-trip time until the laser light emitted by the lidar sensor reaches the ranging point and returns.

[0043] For the lidar sensor 171L, a predetermined range on the front left side of the vehicle body 100 is set as the measurement range, and for the lidar sensor 171R, a predetermined range on the front right side of the vehicle body 100 is set as the measurement range. Each lidar sensor transmits measurement information such as the measured distance to each ranging point and the scanning angle (coordinates) for each ranging point to the vehicle control device 11.

[0044] Further, the obstacle detection device 17 includes left and right ultrasonic sensors 172F provided on the front side of the vehicle body 100 (see FIG. 3) and left and right ultrasonic sensors 172R provided on the rear side of the vehicle body 100 (see FIGS. 4A and 4B). Each ultrasonic sensor measures the distance to the measurement object from the ultrasonic sensor by the TOF method that measures the distance to the ranging point based on the round-trip time until the ultrasonic wave emitted by the ultrasonic sensor reaches the ranging point and returns.

[0045] The ultrasonic sensor 172F on the front left side has a predetermined range on the front left side of the vehicle body 100 set as the measurement range. The ultrasonic sensor 172F on the front right side has a predetermined range on the front right side of the vehicle body 100 set as the measurement range. The ultrasonic sensor 172R on the rear left side has a predetermined range on the rear left side of the vehicle body 100 set as the measurement range. The ultrasonic sensor 172R on the rear right side 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 distance to the measured object and the direction of the measured object to the vehicle control device 11.

[0046] Also, 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 (on the rear side of the work vehicle 10). The contact sensor 173R detects an obstacle when the obstacle contacts the spraying device 14 and the spraying device 14 moves rearward (to the front side of the work vehicle 10). Each contact sensor transmits a detection signal to the vehicle control device 11 when an obstacle is detected.

[0047] Based on the measurement information about the obstacle obtained from the obstacle detection device 17, the vehicle control device 11 executes an avoidance process to avoid the obstacle when the work vehicle 10 may collide with the obstacle.

[0048] With the above configuration, the work vehicle 10 can be automatically driven along the target path R with high precision, and the spraying operation of chemicals and the like by the spraying device 14 can be properly performed.

[0049] 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 configuration. The above work vehicle 10 is a vehicle capable of performing a spraying operation of spraying a spraying material on the first crop row Vr and the second crop rows Vr on the left and right sides of the first crop row Vr while traveling across the first crop row Vr. As another embodiment, the work vehicle 10 may have a normal shape in which the vehicle body 100 does not have a 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 through 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 liquid is sprayed in both left and right directions, a spraying pattern in which the chemical liquid is sprayed only in the left direction, and a spraying pattern in which the chemical liquid is sprayed only in the right direction to perform the spraying operation.

[0050] [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 mobile terminal such as a tablet terminal or a smartphone.

[0051] The communication unit 24 is a communication interface for connecting the operation terminal 20 to the communication network N1 by wire or wirelessly and executing data communication according to a predetermined communication protocol with external devices such as one or more work vehicles 10 and a server 30 via the communication network N1.

[0052] 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 information, and an operation unit such as a touch panel, a mouse, or a keyboard for receiving operations. The operator can perform operations to register various information (such as work vehicle information, field information, work information described later) by operating the operation unit on the operation screen displayed on the display unit. In addition, 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 according to 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.

[0053] The storage unit 22 is a non-volatile storage unit such as an HDD or an SSD for storing various information. The storage unit 22 stores control programs such as an automatic travel program for causing the control unit 21 to execute an automatic travel process (see FIG. 10) described later. For example, the automatic travel 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 travel 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.

[0054] The control unit 21 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 that stores control programs such as a BIOS and an OS in advance for causing the CPU to execute various arithmetic processes. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory (working area) for various processes 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.

[0055] As shown in FIG. 2, the control unit 21 includes various processing units such as a setting processing unit 211, a generation processing unit 212, and an output processing unit 213. 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. The control program may be a program for causing a plurality of processors to function as the processing units.

[0056] 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).

[0057] In the setting process of the work vehicle information, the setting processing unit 211 sets the information by having the operator perform an operation of registering on the operation terminal 20 regarding 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 operation of the work vehicle 10, and the vehicle speed and engine speed during turning of the work vehicle 10. In the present embodiment, information regarding the spraying device 14 is set as the information of the work implement.

[0058] In the setting process of the field information, the setting processing unit 211 sets the information by having the operator perform an operation of registering on the operation terminal 20 regarding 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. 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.

[0059] 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. Also, the position and shape of the field F can be obtained based on a polygon obtained by having an 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.

[0060] 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 routes (skip number) that the work vehicle 10 skips when turning on the headland, the width of the headland, etc.

[0061] The generation processing unit 212 generates a target route R, which is a route for automatically driving the work vehicle 10, based on the respective setting information. 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 on 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.

[0062] Specifically, the generation processing unit 212 generates a plurality of candidate routes that are candidates for the target route R. First, the generation processing unit 212 generates one reference candidate route r1 based on the respective setting information and the position where the crop V is arranged.

[0063] An example of a method for generating a reference candidate path r1 will be described with reference to FIGS. 7A to 7F. FIGS. 7A to 7F schematically show crop rows Vr. First, the operator manually drives the work vehicle 10 along the outer periphery of the crop row Vr (see FIG. 7A). While the work vehicle 10 is running, it detects an end point E1 on one side (the lower side in FIG. 7A) and an end point E2 on the other side (the upper side in FIG. 7A) 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 targets indicating the positions of crops V to be planted in the future. The generation processing unit 212 acquires the position information (coordinates) of each end point E1, E2 from the work vehicle 10.

[0064] Next, as shown in FIG. 7B, the generation processing unit 212 groups a plurality of end points E1 as a first group G1, and groups a plurality of end points E2 as a second group G2. Next, as shown in FIG. 7C, the generation processing unit 212 calculates an interval w1 (inter-row interval) between the end points E1 included in the first group G1 and an interval w2 (inter-row interval) between the end points E2 included in the second group G2. The generation processing unit 212 also generates a straight line L1 connecting all the end points E1 included in the first group G1 and a straight line L2 connecting all the end points E2 included in the second group G2, and calculates the inclination of each of the straight lines L1, L2. The generation processing unit 212 determines the presence or absence of missing end points E1, E2 in each of the first group G1 and the second group G2 based on the inter-rows w1, w2 and the inclinations of the straight lines L1, L2. When a missing occurs, virtual points Ev are inserted at the missing positions to complement the missing end points E1, E2. FIG. 7C shows an example in which two virtual points Ev are inserted into the first group G1 and one virtual point Ev is inserted into the second group G2.

[0065] Next, as shown in FIG. 7D, the generation processing unit 212 generates a straight line L3 that connects the opposing endpoints E1 and E2 of each endpoint E1 of the first group G1 and each endpoint E2 of the second group G2. Next, as shown in FIG. 7E, the generation processing unit 212 calculates the average inclination of each straight line L3 and generates a reference line L4 having the calculated inclination. Next, the generation processing unit 212 executes a first pairing process that pairs each endpoint E2 of the second group G2 with each endpoint E1 of the first group G1, and a second pairing process that pairs each endpoint E1 of the first group G1 with each endpoint E2 of the second group G2.

[0066] Specifically, as shown in FIG. 7E, in the first pairing process, the generation processing unit 212 generates a reference line L4 with an arbitrary endpoint E1 in the first group G1 as the origin, extracts a plurality of endpoints E2 of the second group G2 that exist within the reference value from the reference line L4, and selects the endpoint E2 that is closest to the reference line L4 by a distance w3 among the extracted plurality of endpoints E2, and pairs it with the endpoint E1 that is the origin of the reference line L4. The generation processing unit 212 executes the first pairing process for all endpoints E1 of the first group G1. Also, in the second pairing process, the generation processing unit 212 uses each endpoint E2 of the second group G2 as the origin and executes the same process as the first pairing process for all endpoints E2 of the second group G2. After the generation processing unit 212 executes the first pairing process and the second pairing process, it determines whether the pairing results of each pairing process are the same, and if the pairing results are the same, it determines that the pairing has succeeded. When the pairing is successful, as shown in FIG. 7F, the generation processing unit 212 generates a plurality of straight lines L5 connecting the paired endpoints E1 and E2 as the reference candidate path r1.

[0067] In this way, the generation processing unit 212 generates the reference candidate path r1 by connecting the both endpoints E1 and E2 of the crop row Vr in each crop row Vr. The method for generating the reference candidate path r1 is not limited to the above method.

[0068] When the generation processing unit 212 generates the reference candidate path r1, it generates other candidate paths based on the reference candidate path r1. Specifically, the generation processing unit 212 generates other candidate paths by offsetting the reference candidate path r1 by a predetermined distance. For example, as shown in FIG. 8, the generation processing unit 212 generates a candidate path r2 that is offset to the right by X1 (cm) with respect to the reference candidate path r1, and a candidate path r3 that is offset to the left by X1 (cm) with respect to the reference candidate path r1. The predetermined distance is a value within a preset allowable range, and is set based on at least one of the respective types and sizes of the work vehicle 10 and the work implement (spraying device 14), the interval W1 between the crop rows Vr (see FIG. 5), the interval W2 of the work passages (see FIG. 5), and the inclination angle of the field F. Further, the allowable range is set based on the respective types and sizes of the work vehicle 10 and the work implement (spraying device 14), the interval W1 between the crop rows, the interval W2 of the work passages, and the inclination angle of the field F. For example, when the allowable range is set to ±5 cm, the generation processing unit 212 sets an offset amount of ±5 cm with respect to the reference candidate path r1. That is, the generation processing unit 212 generates a candidate path r2 that is offset to the right by 5 cm with respect to the reference candidate path r1, and a candidate path r3 that is offset to the left by 5 cm with respect to the reference candidate path r1. Note that the offset amount in the right direction (+ direction) and the offset amount in the left direction (- direction) may be set to different values from each other.

[0069] Further, the predetermined distance may be set using a random number within the allowable range. For example, the generation processing unit 212 generates a random number normalized in the range of -1.0 to +1.0, and sets, as the predetermined distance, a value calculated by multiplying the generated random number by the maximum value of the allowable range (5 cm in the above example). In this way, each time the generation processing unit 212 sets the offset amount, it may set a random offset amount using a random number.

[0070] When the reference candidate path r1 is set as the target path R, the work vehicle 10 automatically travels along the path indicated by the solid line in FIG. 8. When the candidate path r2 is set as the target path R, the work vehicle 10 automatically travels along the path indicated by the dotted line in FIG. 8. When the candidate path r3 is set as the target path R, the work vehicle 10 automatically travels along the path indicated by the dashed-dotted line in FIG. 8.

[0071] Also, as shown in FIG. 8, the generation processing unit 212 may set the turning start position c11 of the turning path included in the movement path R2 (the solid line path in FIG. 8) connected to the reference candidate path r1 that becomes the work path R1, the turning start position c21 of the turning path included in the movement path R2 (the dotted line path in FIG. 8) connected to the candidate path r2 that becomes the work path R1, and the turning start position c31 of the turning path included in the movement path R2 (the dashed-dotted line path in FIG. 8) connected to the candidate path r3 that becomes the work path R1 at different positions from each other. Similarly, the generation processing unit 212 may set the turning end position c12 of the turning path included in the movement path R2 (the solid line path in FIG. 8) connected to the reference candidate path r1 that becomes the work path R1, the turning end position c22 of the turning path included in the movement path R2 (the dotted line path in FIG. 8) connected to the candidate path r2 that becomes the work path R1, and the turning end position c32 of the turning path included in the movement path R2 (the dashed-dotted line path in FIG. 8) connected to the candidate path r3 that becomes the work path R1 at different positions from each other. Thereby, the work vehicle 10 can perform the work while automatically traveling without damaging the topsoil of the work area around the end points of the crop row Vr.

[0072] Further, as shown in FIG. 8, the generation processing unit 212 may set the straight path r0 included in the movement path R2 (the solid line path in FIG. 8) connected to the reference candidate path r1 that becomes the work path R1, the straight path r0 included in the movement path R2 (the dotted line path in FIG. 8) connected to the candidate path r2 that becomes the work path R1, and the straight path r0 included in the movement path R2 (the dashed-dotted line path in FIG. 8) connected to the candidate path r3 that becomes the work path R1 as a common path at the same position. In the movement path R2, since the work vehicle 10 travels in an area where no crop V is planted, there is no problem even if the topsoil is damaged, and it can travel on the common path. As a result, it becomes possible for the operator to grasp at which position the work vehicle 10 travels during the turning travel, and the safety can be improved.

[0073] Note that the control unit 21 may cause the operation terminal 20 to display the information on the candidate paths r1 to r3 shown in FIG. 8. For example, the control unit 21 causes the operation terminal 20 to display each of the candidate paths r1 to r3 in different display modes. Thereby, the operator can easily grasp the candidate paths r1 to r3 on the operation terminal 20. Further, the control unit 21 may cause the operation terminal 20 to visually display the travel path that the work vehicle 10 traveled last among the candidate paths r1 to r3. Thereby, the operator can easily grasp the travel path that the work vehicle 10 traveled last and the candidate path to be selected this time on the operation terminal 20.

[0074] As described above, the generation processing unit 212 generates a plurality of candidate paths that are candidates for the target path R. In the above example, the generation processing unit 212 generates the reference candidate path r1 and the candidate paths r2 and r3. The generation processing unit 212 may store the generated plurality of candidate paths in the storage unit 22.

[0075] The output processing unit 213 outputs the plurality of candidate paths generated by the generation processing unit 212 to the server 30. In the above example, the output processing unit 213 outputs the path data of the candidate paths including the reference candidate path r1 and the candidate paths r2 and r3 to the server 30. Note that the output processing unit 213 may output the path data of the plurality of candidate paths to the work vehicle 10.

[0076] In addition to the above-described processing, the control unit 21 executes processing for causing the operation display unit 23 to display various types of 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 a candidate route, 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, and the like.

[0077] Further, the control unit 21 receives various operations from the operator. Specifically, the control unit 21 receives a work start instruction for starting work on the work vehicle 10 from the operator, a travel stop instruction for stopping the travel of the work vehicle 10 during automatic driving, and the like. When receiving each of the above instructions, the control unit 21 outputs each of the instructions to the work vehicle 10.

[0078] 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 driving and 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 driving and work of the work vehicle 10.

[0079] Note that the operation terminal 20 may be able to access the website (agricultural support site) of the agricultural support service provided by the server 30 via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal of the server 30 when a browser program is executed by the control unit 21.

[0080] [Server 30] As shown in FIG. 2, the server 30 is a server device including a control unit 31, a storage unit 32, an operation display unit 33, a communication unit 34, and the like. Note that the server 30 is not limited to a single computer, and may be a computer system in which a plurality of computers cooperate to operate. Also, various processes executed by the server 30 may be executed distributively by one or a plurality of processors.

[0081] The communication unit 34 is a communication interface for connecting the server 30 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 and one or more operation terminals 20 via the communication network N1.

[0082] The operation display unit 33 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.

[0083] The storage unit 32 is a non-volatile storage unit such as an HDD or an SSD for storing various types of information. In the storage unit 32, control programs such as an automatic driving program for causing the control unit 31 to execute the automatic driving process (see FIG. 10) described later are stored. 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 32. Note that the automatic driving program may be downloaded from another server (not shown) to the server 30 via the communication network N1 and stored in the storage unit 32.

[0084] Also, the route information D1 of the candidate route output from the operation terminal 20 is stored in the storage unit 32. FIG. 9 shows the position of the route information D1. The route information D1 includes information such as a corresponding "route ID", "candidate route name", and "offset amount" for each candidate route. The route ID is identification information of the candidate route, and the candidate route name is the name of the candidate route. The offset amount is information indicating the offset amount with respect to the reference candidate route r1. In FIG. 9, information regarding the reference candidate route r1 (candidate route ID: "r001"), the candidate route r2 (candidate route ID: "r002"), and the candidate route r3 (candidate route ID: "r003") is registered. The route data of each candidate route is stored in the storage unit 32 in association with the route ID.

[0085] Note that the storage unit 32 may store route information D1 corresponding to each work vehicle 10 for each work vehicle 10. For example, the storage unit 32 may store route information D1 corresponding to the work vehicle 10A and route information D1 corresponding to the work vehicle 10B.

[0086] The control unit 31 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 BIOS and 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 (working area) for various processes executed by the CPU. Then, the control unit 31 controls the server 30 by causing the CPU to execute various control programs stored in advance in the ROM or the storage unit 32.

[0087] As shown in FIG. 2, the control unit 31 includes various processing units such as an acquisition processing unit 311, a determination processing unit 312, and a transfer processing unit 313. Note that the control unit 31 functions as the various processing units by causing the CPU to execute various processes according to the control program. 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.

[0088] The acquisition processing unit 311 acquires various information from the work vehicle 10 and the operation terminal 20. For example, the acquisition processing unit 311 acquires user information, field information, work schedule information, candidate route information, etc. from the operation terminal 20. Also, the acquisition processing unit 311 acquires information such as work results from the work vehicle 10. For example, when the acquisition processing unit 311 acquires the route data of the candidate route from the operation terminal 20, it stores the route information D1 (see FIG. 9) regarding the candidate route and the route data in the storage unit 32.

[0089] The determination processing unit 312 determines a target route R for automatically driving the work vehicle 10. Specifically, the determination processing unit 312 determines, as the target route R, a candidate route (the first candidate route of the present invention) selected from among a plurality of candidate routes.

[0090] For example, the determination processing unit 312 selects a candidate route different from the candidate route selected during the previous work and determines it as the target route R. For example, when the work vehicle 10 automatically travels and performs a spraying operation using the candidate route r1 as the target route R during the previous work, in this work, the determination processing unit 312 selects the candidate route r2 or the candidate route r3 from among the plurality of candidate routes r1 to r3 registered in the route information D1 and determines it as the target route R. Here, when the determination processing unit 312 selects the candidate route r2 in this work, in the next work, the determination processing unit 312 selects the candidate route r1 or the candidate route r3 and determines it as the target route R.

[0091] In this way, for each work, the determination processing unit 312 randomly selects, from among a plurality of candidate routes, a candidate route different from the candidate route selected during the previous work and determines it as the target route R.

[0092] As another embodiment, the determination processing unit 312 may determine, as the target route R, a candidate route selected by a user (operator). For example, when the operator selects a desired candidate route from among the candidate routes r1 to r3 on the operation terminal 20, the determination processing unit 312 determines, as the target route R, the candidate route selected by the operator. The operation terminal 20 may display information (travel record) of the past (for example, the previous time) target route R on the candidate route selection screen. Thereby, the operator can grasp the route on which the work vehicle 10 has traveled in past work such as the previous work. Further, the determination processing unit 312 may accept a user's selection operation from among the candidate routes excluding the candidate route selected during the previous work. Further, the determination processing unit 312 may preferentially display, on the selection screen, a candidate route with a low travel frequency among the plurality of candidate routes, or may display the plurality of candidate routes on the selection screen in ascending order of travel frequency, based on the past travel record.

[0093] As another embodiment, the determination processing unit 312 may determine the candidate route selected based on the state of the topsoil (soil) of the farm field F as the target route R. For example, the work vehicle 10 is equipped with a camera (not shown), and the determination processing unit 312 selects a candidate route for the current work based on the image of the topsoil captured by the camera during the previous work. For example, if the determination processing unit 312 determines, as a result of analyzing the image, that the topsoil of the candidate route r2 is damaged (rough), then in the current work, the candidate route r1 or the candidate route r3 is selected and determined as the target route R. Also, for example, if the determination processing unit 312 determines, as a result of analyzing the image, that the topsoil of the candidate route r3 is damaged, then in the current work, the candidate route r1 or the candidate route r2 is selected and determined as the target route R. Further, the determination processing unit 312 may select a candidate route based on the information of the candidate route selected during the previous work and the current state of the topsoil, and determine it as the target route R. The work vehicle 10 according to the above embodiment may be provided with an obstacle detection device 17 and the camera.

[0094] As described above, the first candidate route of the present invention may be a candidate route different from the candidate route selected during the previous work, or a candidate route selected by the user, or a candidate route selected based on the state of the topsoil of the farm field F.

[0095] Note that the determination processing unit 312 may execute a process of determining the target route R when an instruction to start automatic driving (work start instruction) is acquired from the operation terminal 20.

[0096] The transfer processing unit 313 transfers the route data of the target route R (see FIG. 6) determined by the determination processing unit 312 to the work vehicle 10. The work vehicle 10 stores the route data of the target route R transferred from the server 30 in the storage unit 12. The work vehicle 10 performs automatic driving along the target route R while measuring the current position of the work vehicle 10 by the positioning device 16.

[0097] Here, the work vehicle 10 is configured to be able to automatically travel when the current position is within the field F, and is configured not to be able to automatically travel when the current position is outside the field F (such as on a public road). Also, the work vehicle 10 is configured to be able to automatically travel when, for example, the current position coincides with the work start position S.

[0098] When the current position of the work vehicle 10 coincides with the work start position S, when the operator presses the start button on the operation terminal 20 to give a work start instruction, the vehicle control device 11 starts automatic driving and starts the spraying operation by the spraying device 14. That is, the work vehicle 10 permits automatic driving on the condition that the current position coincides with the work start position S. Note that the conditions for permitting the automatic driving of the work vehicle 10 are not limited to the above conditions.

[0099] Based on the target route R acquired from the server 30, the vehicle control device 11 automatically drives the work vehicle 10 from the work start position S to the work end position G. Also, when the work vehicle 10 finishes the work, the vehicle control device 11 may automatically drive from the work end position G to the entrance of the field F. When the work vehicle 10 is automatically driving, the operation terminal 20 can receive the state (position, traveling speed, work status, etc.) of the work vehicle 10 from the work vehicle 10 and display it on the operation display unit 23.

[0100] As another embodiment, the control unit 31 of the server 30 may generate the reference candidate route and generate other candidate routes based on the reference candidate route. That is, the control unit 31 may have the function of the generation processing unit 212 of the operation terminal 20. Also, as another embodiment, the control unit 21 of the operation terminal 20 may generate the reference candidate route and the control unit 31 of the server 30 may generate other candidate routes.

[0101] As another embodiment, in the case where the operation terminal 20 outputs the route data of the plurality of candidate routes to the work vehicle 10, the vehicle control device 11 of the work vehicle 10 may determine a candidate route selected from the plurality of candidate routes as the target route R. That is, the vehicle control device 11 may have the function of the determination processing unit 312 of the server 30. In this case, when the vehicle control device 11 acquires a work start instruction from the operation terminal 20, it determines a candidate route selected from the plurality of candidate routes as the target route R and starts automatic driving along the determined target route R.

[0102] [Automatic driving process] Hereinafter, an example of the automatic driving process executed by the vehicle control device 11 of the work vehicle 10, the control unit 21 of the operation terminal 20, and the control unit 31 of the server 30 will be described with reference to FIG. 10.

[0103] Note that the present invention can be regarded as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. Also, one or more steps included in the automatic driving process described here may be omitted as appropriate. 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, the control unit 21, and the control unit 31 execute 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. Also, the automatic driving method includes the route determination method of the present invention.

[0104] In step S1, the control unit 21 of the operation terminal 20 registers various setting information. Specifically, the control unit 21 sets and registers information about the work vehicle 10 (work vehicle information), information about the field F (field information), and information about the work (work information) based on the setting operation of the operator.

[0105] Next, in step S2, the control unit 21 generates candidate paths that are candidates for the target path R based on the respective setting information. For example, the control unit 21 generates one reference candidate path r1 based on the position where the crop V is arranged in the field F (see FIGS. 7A to 7F), and generates other candidate paths r2 and r3 by offsetting the reference candidate path r1 by a predetermined distance (+X1, -X1) (see FIG. 8). The control unit 21 outputs the path data of the generated plurality of candidate paths r1 to r3 to the server 30.

[0106] Next, in step S3, when the control unit 31 of the server 30 acquires the path data output from the operation terminal 20, it stores the path information D1 (see FIG. 9) regarding the candidate paths r1 to r3 and the path data in the storage unit 32.

[0107] In step S4, the control unit 31 determines the candidate path selected from among the plurality of candidate paths (see FIGS. 8 and 9) as the target path R. Specifically, the control unit 31 selects a candidate path different from the candidate path selected during the previous operation and determines it as the target path R. Also, the control unit 31 may determine the candidate path selected by the operator as the target path R. Further, the control unit 31 may determine the candidate path selected based on the topsoil state of the field F as the target path R.

[0108] Next, in step S5, the control unit 31 transfers the path data of the determined target path R to the work vehicle 10.

[0109] Next, in step S6, the vehicle control device 11 of the work vehicle 10 determines whether or not it has acquired a work start instruction from the operation terminal 20. For example, when the operator presses the start button on the operation terminal 20, the operation terminal 20 outputs a work start instruction to the work vehicle 10. When the vehicle control device 11 acquires a work start instruction from the operation terminal 20 (S6: Yes), the process proceeds to step S7. The vehicle control device 11 waits until it acquires a work start instruction from the operation terminal 20 (S6: No).

[0110] Next, in step S7, when the vehicle control device 11 acquires the work start instruction from the operation terminal 20 and acquires the route data transferred from the server 30, it starts automatic driving along the target route R according to the route data. The vehicle control device 11 stores the route data acquired from the server 30 in the storage unit 12. Thereby, the work vehicle 10 starts automatic driving from the work start position S, for example, as shown in FIG. 6, and automatically drives to the work end position G while spraying the chemical solution on the crops V of the crop rows Vr1 to Vr11 along the target route R.

[0111] Next, in step S8, the vehicle control device 11 determines whether the work vehicle 10 has finished the 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 finished the work (S8: Yes), the automatic driving process ends. The vehicle control device 11 repeats the process of step S8 until the work vehicle 10 finishes the work and continues the automatic driving.

[0112] Note that the processes of steps S1 to S4 and the processes of steps S5 to S8 may be executed independently. For example, the automatic driving system 1 executes the processes of steps S1 to S4 at the initial setting stage when the work vehicle 10 is introduced. Also, the automatic driving system 1 executes the processes of steps S5 to S8 when the operator performs work with the work vehicle 10.

[0113] As described above, the automatic driving system 1 according to the present embodiment generates a plurality of candidate routes that are candidates for a target route R for driving the work vehicle 10 that automatically drives in a predetermined column order while performing a predetermined work (for example, spraying work) on work objects (for example, crops V) arranged in a plurality of rows in a work area (for example, the field F), and determines a first candidate route selected from the plurality of generated candidate routes as the target route R. Further, the automatic driving method (route determination method) according to the present embodiment includes one or a plurality of processors generating a plurality of candidate routes that are candidates for a target route R for driving the work vehicle 10 that automatically drives in a predetermined column order while performing a predetermined work (for example, spraying work) on work objects (for example, crops V) arranged in a plurality of rows in a work area (for example, the field F) (generation process), and determining a first candidate route selected from the plurality of generated candidate routes as the target route R (determination process).

[0114] According to the above configuration, since the target route R for driving the work vehicle 10 is selected from a plurality of candidate routes, for example, the work vehicle 10 can be driven to a location different from the location where it drove last time. Therefore, it is possible to prevent the work vehicle 10 from driving to the same location every time it performs work. In this way, since the driving location of the work vehicle 10 can be dispersed without being fixed, it is possible to prevent damage to the topsoil of the field F. Therefore, it is possible to generate a target route R that allows the work vehicle 10 to perform work while automatically driving without damaging the topsoil of the field F.

[0115] Further, according to the above configuration, by generating one reference candidate route r1, one or a plurality of candidate routes can be generated using the reference candidate route r1, so that an increase in the processing load of route generation in the automatic driving system 1 can be prevented. Note that the automatic driving system 1 may generate only the reference candidate route r1 and generate other candidate routes and determine the target route R when an operation start instruction is acquired.

[0116] In addition, since the automatic driving system 1 generates other candidate routes r2 and r3 based on the offset amount within the allowable range with respect to the reference candidate route r1, it is possible to vary the driving route while maintaining the safety of the driving and work of the work vehicle 10.

[0117] As another embodiment, the server 30 may determine the offset amount with respect to the reference candidate route r1 and output information on the determined offset amount to the work vehicle 10. In this case, when the work vehicle 10 acquires the offset amount from the server 30, it sets a route obtained by adding the offset amount to the reference candidate route r1 as the target route R and performs automatic driving. The server 30 may determine the offset amount by a random number, or may select an offset amount different from that at the previous work from among a plurality of preset offset amounts. Thereby, the server 30 or the work vehicle 10 can reduce the data amount of the stored route data.

[0118] In the above-described embodiment, the operation terminal 20 and the server 30 correspond to the route determination system according to the present invention, but the route determination system according to the present invention may be configured by the operation terminal 20 alone or the server 30 alone. Further, the route determination system according to the present invention may be configured by one or a plurality of components among the operation terminal 20, the server 30, and the work vehicle 10.

Explanation of Signs

[0119] 1: Automatic driving system 10: Work vehicle 11: Vehicle control device 20: Operation terminal 30: Server 40: Base station 50: Satellite 211: Setting processing unit 212: Generation processing unit 213: Output processing unit 311: Acquisition processing unit 312: Determination processing unit 313: Transfer processing unit E1, E2: End points F: Field (work area) R: Target path V: Crop (object to be worked on) Vr: Crop row r1: Reference candidate path, candidate path (first candidate path) r2: Candidate path (first candidate path) r3: Candidate path (first candidate path)

Claims

1. Generating a plurality of candidate routes that are candidates for a target route for driving a work vehicle that automatically travels in a predetermined column order while performing a predetermined operation on work objects arranged in a plurality of columns at a work site; Determining, as the target route, a first candidate route selected from among the plurality of candidate routes; Executing, Based on the positions where the work objects are arranged at the work site, generating one reference candidate route included in the plurality of candidate routes; A route determination method for generating other candidate routes included in the plurality of candidate routes by offsetting the reference candidate route by a predetermined distance within a preset allowable range based on the arrangement interval of the work objects.

2. The predetermined distance is set based on at least any one of the type and size of the work vehicle, the arrangement interval of the work objects, and the inclination angle of the work site. The route determination method according to Claim 1.

3. At the work site, the work objects are arranged in a plurality of columns, Generating the reference candidate route by connecting both end points of each column in each column. The route determination method according to Claim 1 or 2.

4. The first candidate route is a candidate route different from the candidate route selected during the previous operation. The route determination method according to any one of Claims 1 to 3.

5. The first candidate route is a candidate route selected by the user. The route determination method according to any one of Claims 1 to 4.

6. The first candidate route is a candidate route selected based on the topsoil state of the work site. The route determination method according to any one of Claims 1 to 4.

7. The target route includes a plurality of work routes in which the work vehicle travels linearly while performing the predetermined operation, and a movement route in which the work vehicle moves between the work routes. The movement route includes a turning route connected to the work route and a straight travel route connected to the turning route. Setting the turning start positions of the turning routes connected to the work routes corresponding to each of the plurality of candidate routes at different positions from each other, and setting the turning end positions of the turning routes connected to the work routes corresponding to each of the plurality of candidate routes at different positions from each other. The route determination method according to any one of Claims 1 to 6.

8. Setting the straight travel route connected to the turning route connected to the work route corresponding to each of the plurality of candidate routes as a common route. The route determination method according to claim 7.

9. Further performing transferring the route data of the target route to the work vehicle The route determination method according to any one of claims 1 to 8.

10. Further performing displaying the plurality of candidate routes on the user's operation terminal in different display modes from each other The route determination method according to any one of claims 1 to 9.

11. A generation processing unit that generates a plurality of candidate routes that are candidates for a target route for driving a work vehicle that automatically travels in a predetermined column order while performing a predetermined operation on work objects arranged in a plurality of columns at a work site; A determination processing unit that determines a first candidate route selected from the plurality of candidate routes as the target route; Comprising The generation processing unit generates one reference candidate route included in the plurality of candidate routes based on the position where the work object is arranged at the work site, and offsets the reference candidate route by a predetermined distance within a preset allowable range based on the arrangement interval of the work objects, thereby generating other candidate routes included in the plurality of candidate routes. A route determination system.

12. Generating a plurality of candidate routes that are candidates for a target route for driving a work vehicle that automatically travels in a predetermined column order while performing a predetermined operation on work objects arranged in a plurality of columns at a work site; Determining a first candidate route selected from the plurality of candidate routes as the target route; Causing one or more processors to execute Based on the position where the work object is arranged at the work site, generating one reference candidate route included in the plurality of candidate routes; A route determination program that generates other candidate routes included in the plurality of candidate routes by offsetting the reference candidate route by a predetermined distance within a preset allowable range based on the arrangement interval of the work objects.

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