Autonomous driving system and method

Abstract

To provide a configuration that eliminates the need for position adjustment of a plurality of travel routes even when a plurality of travel paths are set for the same field, and that can efficiently manage the plurality of travel paths.SOLUTION: An automatic traveling system includes a control unit and a display control unit. The control unit is capable of switching between a first mode in which a work vehicle is caused to automatically travel along a first travel path including a straight path and a turning path and a second mode in which the work vehicle is caused to automatically travel along a second travel path including only a straight path. The display control unit causes a display unit 73 to display at least one of a work history of work performed by the work vehicle in the first mode and a work history of work performed by the work vehicle in the second mode.SELECTED DRAWING: Figure 11

Description

[Technical field]

[0001] The present invention relates primarily to an automatic driving system and an automatic driving method for automatically driving a work vehicle along a driving route. [Background technology]

[0002] In order to have a work vehicle travel autonomously using an autonomous driving system, it is necessary to create a travel route in advance. Patent Document 1 discloses a method in which an operator designates two points in a field, creates a straight route by extending a reference line that passes through these two points, and arranges these straight routes side by side to create a travel route (a travel route that does not include turns). Patent Document 2 discloses a method for creating a travel route (a travel route that includes turns) that includes a straight route arranged in a work area of a field and a turning route that connects the straight routes. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4948098 [Patent Document 2] Japanese Patent Application Publication No. 2017-211734 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, due to various circumstances such as the shape of the field and the operator's requests, both a travel route that does not include a turn and a travel route that includes a turn may be created for the same field. Also, if the positions of these travel routes (specifically, the positions of the straight routes) do not match, the positions of the travel routes must be adjusted. Furthermore, since these travel routes are created for the same field, it is desirable that they be managed efficiently.

[0005] The present invention has been made in consideration of the above circumstances, and its main purpose is to provide a configuration that eliminates the need to adjust the positions of multiple travel routes even when multiple travel routes are set for the same field, and that can efficiently manage multiple travel routes. [Means for solving the problem]

[0006] An automated driving system according to one embodiment includes a control unit and a display control unit. The control unit is capable of switching between a first mode in which a work vehicle is automatically driven along a first driving path that includes a straight path and a turning path, and a second mode in which the work vehicle is automatically driven along a second driving path that is composed only of a straight path. The display control unit causes the display unit to display at least one of a work history of work performed by the work vehicle in the first mode and a work history of work performed by the work vehicle in the second mode.

[0007] An automatic driving method according to one embodiment includes switching between a first mode in which a work vehicle is automatically driven along a first driving path that includes a straight path and a turning path, and a second mode in which the work vehicle is automatically driven along a second driving path that is composed only of a straight path, and displaying on a display unit at least one of a work history of work performed by the work vehicle in the first mode and a work history of work performed by the work vehicle in the second mode. [Brief description of the drawings]

[0008] [Figure 1] A side view of a rice transplanter provided in an area registration system according to one embodiment of the present invention. [Figure 2] Plan view of the rice transplanter. [Diagram 3] FIG. 1 is a block diagram of a rice transplanter and a wireless communication terminal. [Figure 4] FIG. [Diagram 5] FIG. [Figure 6] FIG. 4 is a diagram showing a process of creating a first travel route and a second travel route from one another. [Figure 7]Flowchart showing the processing performed when creating the first travel route. [Figure 8] Flowchart showing the processing performed when creating the second travel route. [Figure 9] Diagram showing the shape of the field where it is assumed that work will be performed by switching between the first travel route and the second travel route. [Figure 10] Flowchart showing the processing related to autonomous driving. [Figure 11] Diagram showing the screen displayed on the wireless communication terminal before and after mode switching.

Mode for Carrying Out the Invention

[0009] Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view of the rice transplanter 1 used in the field work system according to an embodiment of the present invention. FIG. 2 is a plan view of the rice transplanter 1. FIG. 3 is a block diagram of the rice transplanter 1 and the wireless communication terminal 7.

[0010] The autonomous driving system 100 of the present embodiment uses the rice transplanter 1 as a work vehicle that performs work in the field. By an operator giving instructions using the wireless communication terminal 7 or the like, the rice transplanter 1 is made to perform autonomous driving while also performing work (seedling planting work) on the rice transplanter 1. Note that the field working machine in the present invention is not limited to the rice transplanter 1, and for example, a seeder, a tractor, a combine, etc. can be used.

[0011] Autonomous driving means that at least the steering is autonomously performed along a predetermined route by the control unit provided in the rice transplanter 1 controlling the devices related to driving. Also, in addition to steering, a configuration in which the vehicle speed or work by a working machine is autonomously performed may be adopted. Autonomous driving includes cases where a person is on the rice transplanter 1 and cases where no person is on the rice transplanter 1.

[0012] As shown in FIGS. 1 and 2, the rice transplanter 1 includes a vehicle body portion 11, front wheels 12, rear wheels 13, and a planting portion 14. The front wheels 12 and the rear wheels 13 are provided in a pair on the left and right with respect to the vehicle body portion 11, respectively.

[0013] The vehicle body portion 11 includes a bonnet 21. The bonnet 21 is provided at the front portion of the vehicle body portion 11. An engine 22 is provided inside the bonnet 21.

[0014] The power generated by the engine 22 is transmitted to the front wheels 12 and the rear wheels 13 via a transmission case 23. This power is also transmitted to the planting portion 14 via the transmission case 23 and a PTO shaft 24 disposed at the rear portion of the vehicle body portion 11.

[0015] The vehicle body portion 11 further includes a driver's seat 25 and a plurality of operation members. An operator can sit on the driver's seat 25. The driver's seat 25 is disposed between the front wheels 12 and the rear wheels 13 in the front-rear direction of the vehicle body portion 11. The plurality of operation members include a steering wheel 26, a shift operation pedal 27, and a planting clutch lever 30.

[0016] By operating the steering wheel 26, the rice transplanter 1 can be steered. By operating the shift operation pedal 27, the traveling speed (vehicle speed) of the rice transplanter 1 can be adjusted. By operating the planting clutch lever 30, the transmission state in which the planting clutch transmits power to the PTO shaft 24 (i.e., the planting portion 14) and the cutoff state in which the planting clutch does not transmit power to the PTO shaft 24 (i.e., the planting portion 14) can be switched.

[0017] The planting portion 14 is disposed behind the vehicle body portion 11. The planting portion 14 is connected to the vehicle body portion 11 via a lift link mechanism 31. The lift link mechanism 31 is constituted by a parallel link including a top link 31a and a lower link 31b.

[0018] In the lifting link mechanism 31, a lifting cylinder 32 of a lifting device is connected to the lower link 31b. The lifting device can raise and lower the planting unit 14 up and down relative to the vehicle body 11 by extending and retracting the lifting cylinder 32. In this embodiment, the lifting cylinder 32 is a hydraulic cylinder, but it may also be an electric cylinder. The lifting device may also raise and lower the planting unit 14 using an actuator other than a cylinder.

[0019] The planting section 14 includes a planting input case section 33, a plurality of planting units 34, a seedling carrier 35, a plurality of floats 36, and a spare seedling carrier 37. The planting section 14 sequentially supplies seedlings from the seedling carrier 35 to each planting unit 34, allowing for continuous planting of seedlings.

[0020] Each planting unit 34 has a planting transmission case 41 and a rotating case 42. Power is transmitted to the planting transmission case 41 via the PTO shaft 24 and the planting input case 33.

[0021] The rotating case 42 is rotatably attached to the planting transmission case 41. The rotating case 42 is arranged on both sides in the vehicle width direction of the planting transmission case 41. Two planting claws 43 are attached to one side of each rotating case 42.

[0022] The two planting claws 43 are aligned in the traveling direction of the rice transplanter 1. The two planting claws 43 are displaced with the rotation of the rotating case part 42. As the two planting claws 43 are displaced, one row of seedlings is planted.

[0023] The seedling carrier 35 is located above and in front of the planting units 34. A seedling mat can be placed on the seedling carrier 35. The seedling carrier 35 is configured to supply the seedlings in the seedling mat placed on the seedling carrier 35 to each planting unit 34.

[0024] Specifically, the seedling mounting table 35 is configured to be laterally reciprocally movable (slidable in the lateral direction) so as to reciprocate in the vehicle width direction. Further, the seedling mounting table 35 is configured to be able to intermittently vertically feed and convey the seedling mat downward at the reciprocating end of the seedling mounting table 35.

[0025] The float 36 is swingably provided below the planting part 14. The float 36 can bring the lower surface of the float 36 into contact with the field surface in order to stabilize the planting posture of the planting part 14 with respect to the field surface.

[0026] The spare seedling tables 37 are provided in a pair on the left and right with respect to the vehicle body part 11. The spare seedling tables 37 are arranged outside the vehicle width direction of the bonnet 21. The spare seedling tables 37 can carry a seedling box containing spare mat seedlings.

[0027] The upper parts of the pair of left and right spare seedling tables 37 are connected by a connecting frame 28 extending in the vertical direction and the vehicle width direction. A housing 29 is provided at the center of the connecting frame 28 in the vehicle width direction. Inside the housing 29, a positioning antenna 61, an inertial measurement device 62, and a communication antenna 63 are provided.

[0028] The positioning antenna 61 can receive radio waves from positioning satellites constituting the Global Navigation Satellite System (GNSS). By performing known positioning calculations based on this radio wave, the position of the rice transplanter 1 can be acquired.

[0029] The inertial measurement device 62 has three gyro sensors (angular velocity sensors) and three acceleration sensors. By using the angular velocity and acceleration of the rice transplanter 1 detected by the inertial measurement device 62 as auxiliary, the accuracy of the positioning result of the rice transplanter 1 can be improved.

[0030] The communication antenna 63 is an antenna for performing wireless communication with the wireless communication terminal 7 shown in FIG. 3.

[0031] As shown in FIG. 3, the control unit 50 includes a calculation unit, a storage device, an input / output unit, and the like (not shown). The storage device stores various programs, data, and the like. The calculation unit can read and execute various programs from the storage device. The above hardware and software work together to cause the control unit 50 to operate as a travel control unit 51 and a work implement control unit 52. The control unit 50 may be a single piece of hardware, or multiple pieces of hardware that can communicate with each other. In addition to the above-mentioned inertial measurement unit 62, the control unit 50 is also connected to a position acquisition unit 64, a communication processing unit 65, a vehicle speed sensor 66, a steering angle sensor 67, and a planting clutch sensor 68.

[0032] The position acquisition unit 64 is electrically connected to the positioning antenna 61. The position acquisition unit 64 acquires the position of the rice transplanter 1 as, for example, latitude and longitude information from the positioning signal received by the positioning antenna 61. The position acquisition unit 64 receives the positioning signal from a reference station (not shown) using an appropriate method and then performs positioning using the well-known GNSS-RTK method. However, instead of this, positioning using, for example, differential GNSS, or standalone positioning, etc. may be performed. Alternatively, position acquisition based on the radio wave strength of a wireless LAN or the like, or position acquisition using inertial navigation, etc. may be performed.

[0033] The communication processing unit 65 is electrically connected to the communication antenna 63. The communication processing unit 65 can transmit and receive data to and from the wireless communication terminal 7 by performing modulation processing or demodulation processing using an appropriate method.

[0034] The vehicle speed sensor 66 can detect the vehicle speed of the rice transplanter 1. The vehicle speed sensor 66 is provided at an appropriate position on the rice transplanter 1, for example, on the axle of the front wheels 12. In this case, the vehicle speed sensor 66 generates pulses according to the rotation of the axle of the front wheels 12. The data of the detection results obtained by the vehicle speed sensor 66 is output to the control unit 50.

[0035] The rudder angle sensor 67 can detect the rudder angle of the front wheels 12. The rudder angle sensor 67 is provided at an appropriate position of the rice transplanter 1, for example, on a kingpin (not shown) provided on the front wheels 12. Note that the rudder angle sensor 67 may be provided on the steering handle 26. The data of the detection result obtained by the rudder angle sensor 67 is output to the control unit 50.

[0036] The planting clutch sensor 68 is a sensor that detects the operating position of the above-mentioned planting clutch lever 30. The detection result of the planting clutch sensor 68 is output to the control unit 50. Based on the detection result of the planting clutch sensor 68, the control unit 50 can identify whether the planting operation is being performed. The data of the detection result obtained by the planting clutch sensor 68 is output to the control unit 50.

[0037] The travel control unit 51 can perform automatic control related to the travel of the rice transplanter 1. For example, the travel control unit 51 can perform vehicle speed control and steering control. The travel control unit 51 may perform both vehicle speed control and steering control simultaneously, or may perform only steering control. In the latter case, the vehicle speed of the rice transplanter 1 is operated by the operator using the shift operation pedal 27.

[0038] In vehicle speed control, the vehicle speed of the rice transplanter 1 is adjusted based on predetermined conditions. Specifically, in vehicle speed control, the travel control unit 51 performs control to bring the current vehicle speed obtained from the detection result of the vehicle speed sensor 66 closer to the target vehicle speed. This control is realized by changing at least one of the gear ratio of the transmission in the transmission case 23 and the rotational speed of the engine 22. Note that this vehicle speed control also includes control to set the vehicle speed to zero so that the rice transplanter 1 stops.

[0039] Steering control is a control that adjusts the steering angle of the rice transplanter 1 based on predetermined conditions. Specifically, the steering control is performed by the travel control unit 51 to bring the current steering angle obtained from the detection result of the steering angle sensor 67 closer to the target steering angle. This control is realized, for example, by driving a steering actuator provided on the rotation shaft of the steering wheel 26. Note that with regard to steering control, the travel control unit 51 may directly adjust the steering angle of the front wheels 12 of the rice transplanter 1 instead of the rotation angle of the steering wheel 26.

[0040] The work machine control unit 52 can control the operation of the planting unit 14 (lifting and lowering operation, planting work, etc.) based on predetermined conditions.

[0041] The wireless communication terminal 7 is a tablet terminal and includes a communication antenna 71, a communication processing unit 72, a display unit 73, an operation unit 74, and a control unit 80. The wireless communication terminal 7 is not limited to a tablet terminal, and may be a smartphone or a laptop. The wireless communication terminal 7 performs various processes related to the autonomous traveling of the rice transplanter 1, as described below, but at least some of these processes can also be performed by the control unit 50 of the rice transplanter 1. Conversely, at least some of the various processes related to the autonomous traveling performed by the control unit 50 of the rice transplanter 1 can also be performed by the wireless communication terminal 7.

[0042] The communication antenna 71 includes a short-range communication antenna for wireless communication with the rice transplanter 1, and a mobile communication antenna for communication using a mobile phone line and the Internet. The communication processing unit 72 is electrically connected to the communication antenna 71. The communication processing unit 72 can perform modulation or demodulation processing using an appropriate method to send and receive data to and from the wireless communication terminal 7 or other devices. Therefore, for example, part of the information stored in the control unit 50 or the control unit 80 can also be stored in an external server.

[0043] The display unit 73 is a liquid crystal display, an organic EL display, or the like, and is configured to be able to display images. The display unit 73 can display, for example, information regarding autonomous driving, information regarding the settings of the rice transplanter 1, detection results of various sensors, and warning information. The operation unit 74 includes a touch panel and hardware keys. The touch panel is placed on top of the display unit 73, and is capable of detecting operations by the operator's fingers, etc. The hardware keys are placed on the side of the housing of the wireless communication terminal 7 or around the display unit 73, etc., and can be operated by the operator pressing them. Note that the wireless communication terminal 7 may be configured to have only either a touch panel or hardware keys.

[0044] The control unit 80 includes an arithmetic unit, a storage device, an input / output unit, and the like, which are not shown. The storage device stores various programs, data, and the like. The arithmetic unit can read out and execute various programs from the storage device. Through cooperation between the above hardware and software, the control unit 80 can operate as a storage unit 81, a first driving route creation unit 82, a second driving route creation unit 83, an interlocking route creation unit 84, a display control unit 85, and a route selection unit 86. The processing performed by each unit of the control unit 80 will be described later.

[0045] Next, the field and the travel route for autonomous travel will be described with reference to Figures 4 and 5. The field includes a work area and a headland area. The work area is located in the center of the field and is an area for carrying out work. The headland area is located outside the work area and is an area used for carrying out work appropriately in the work area. For example, the headland area is used to move the rice transplanter 1 that has entered the field to a start position for work in the work area. Furthermore, the headland area is also used as an area for turning the rice transplanter 1.

[0046] The position and shape of the field are created based on the transition of the position information when the rice transplanter 1 travels along the outer periphery of the field. Note that the position and shape of the field may be created by the user designating a range on a map displayed on, for example, the display unit 73 without actually running the rice transplanter 1. Also, in the present embodiment, the information regarding the field is stored in the wireless communication terminal 7, but it may be stored in the above-described server. In this case, the wireless communication terminal 7 acquires the information regarding the field from this server.

[0047] In the present embodiment, a first travel route 91 and a second travel route 92 are created as travel routes for the rice transplanter 1 to travel autonomously. Hereinafter, the first travel route 91 and the second travel route 92 may be collectively referred to as the "travel route". First, the first travel route 91 will be described. The first travel route 91 is created by the first travel route creation unit 82 or the linked route creation unit 84. As shown in FIG. 4, the first travel route 91 includes a plurality of first straight routes 91a and a plurality of turning routes 91b. Also, a start position (S in FIG. 4) and an end position (G in FIG. 4) are set for the first travel route 91.

[0048] The first straight route 91a is a linear route and is parallel to, for example, one side (e.g., the short side) of the contour of the field or the working area. The first straight route 91a is created so as to fit within the field. Note that in the present embodiment, the first straight route 91a may be created so as to fit within the working area or may be created so as to slightly protrude from the working area. Since the first straight route 91a is a route for the rice transplanter 1 to move linearly in the working area, it is created so that at least a part thereof overlaps with the working area. The arrangement interval of the first straight routes 91a is determined based on, for example, the working width, the overlap length (the length indicating how much the adjacent working ranges overlap in the vehicle width direction), and the working interval (the length indicating how much interval is provided between the adjacent working ranges in the vehicle width direction), etc.

[0049] The turning path 91b is a path that connects the first straight paths 91a to each other. In the present embodiment, the turning path 91b connects adjacent first straight paths 91a to each other, but it may also connect first straight paths 91a that are further apart. Furthermore, the turning path 91b in the present embodiment is a path that causes the rice transplanter 1 to make a 180-degree turn, thereby causing the rice transplanter 1 to turn around and reach the next first straight path 91a. Alternatively, the turning path 91b may be a path that causes the rice transplanter 1 to make a 90-degree turn, then move backward, and then move forward and make another 90-degree turn, thereby causing the rice transplanter 1 to turn around and reach the next first straight path 91a (a path that performs a so-called fishtail turn). In this way, the first travel path creation unit 82 creates the first travel path 91 based on the start position, the end position, the position of the field, the position of the work area, the arrangement interval of the first straight paths 91a, and the turning method. At least one of these conditions may be omitted, or other conditions may be added.

[0050] Next, the second travel path 92 will be described. The second travel path 92 is created by the second travel path creation unit 83 or the interlocking path creation unit 84. As shown in FIG. 5, the second travel path 92 is made up of a plurality of second straight paths 92a. The second travel path 92 is a path intended for autonomous travel only on straight sections. Turning is performed manually (by operating the steering wheel 26) at the timing intended by the operator. Furthermore, no start or end position is set for the second travel path 92. Hereinafter, the first straight path 91a and the second straight path 92a may be collectively referred to simply as the "straight path."

[0051] The second straight path 92a is a straight path and, similar to the first straight path 91a, is parallel to one side (e.g., the short side) of the contour of the field or the work area. The second straight path 92a of the present embodiment is created so as to protrude from the field, but may also be created only within the field. The interval of the second straight path 92a is determined on the same basis as that of the first straight path 91a. The number of the second straight paths 92a to be created is not particularly limited. The second straight path 92a of the present embodiment is created at a position that does not overlap with the field at all, but may also be created only at a position that overlaps with the field. The second travel path creation unit 83 creates a line segment by connecting, for example, two positions designated by the operator, extends the line segment, and arranges the line segments at the above-described arrangement intervals to create the second travel path 92.

[0052] The linked path creation unit 84 has a first linkage function of creating the second travel path 92 in linkage with the creation of the first travel path 91 by the first travel path creation unit 82. Further, the linked path creation unit 84 has a second linkage function of creating the first travel path 91 in linkage with the creation of the second travel path 92 by the second travel path creation unit 83. Note that the first linkage function and the second linkage function are configured to be individually set to be valid / invalid.

[0053] First, the first linkage function will be described. When the first linkage function is valid, as shown in FIG. 6, the linked path creation unit 84 extracts one first straight path 91a from the first travel path 91 (the central figure in FIG. 5). In the present embodiment, one first straight path 91a including the start position is extracted, but other first straight paths 91a may also be extracted. Next, the linked path creation unit 84 extends the extracted first straight path 91a to create a second straight path 92a.

[0054] Finally, the linked path creation unit 84 further creates the second straight path 92a at the same arrangement interval as the first straight path 91a. In this way, the linked path creation unit 84 creates the second travel path 92. By creating the second travel path 92 in this manner, the first straight path 91a and the second straight path 92a overlap (the positions of the straight paths coincide).

[0055] The length of the second straight path 92a may be a fixed value or may be a value determined depending on the size of the corresponding field. Furthermore, the number of second straight paths 92a to be arranged may be a fixed value or may be a value determined depending on the size of the corresponding field.

[0056] Next, the second interlocking function will be described. When the second interlocking function is enabled, the interlocking path creation unit 84 extracts, from the second straight path 92a of the second travel path 92, the path that overlaps with the work area and is located at the extreme edge, as shown in FIG. 5. Then, the interlocking path creation unit 84 creates the first straight path 91a by adjusting (shortening) the length of the second straight path 92a based on the size of the work area (center diagram in FIG. 5). Note that if the field, work area, etc. are not registered, the second travel path 92 cannot be created. Therefore, the interlocking path creation unit 84 displays this information on the display unit 73.

[0057] Next, the interlocking path creation unit 84 arranges the first straight path 91a in a range overlapping with the work area at the same arrangement interval as the second straight path 92a. Finally, the interlocking path creation unit 84 creates a turning path 91b based on the start position, end position, turning method, etc. Note that if these conditions are set in advance, the interlocking path creation unit 84 uses those settings. If a necessary condition is missing, the interlocking path creation unit 84 displays a screen to prompt the operator to input the necessary condition.

[0058] The method of creating a travel route using the first interlocking function and the second interlocking function is one example, and a travel route may be created using a method different from the above.

[0059] Next, the flow of operations performed by the first travel route creation unit 82, the second travel route creation unit 83, and the linked route creation unit 84 to create travel routes will be briefly described with reference to Fig. 7 and Fig. 8. Fig. 7 is a flowchart showing the processing performed when creating the first travel route 91. Fig. 8 is a flowchart showing the processing performed when creating the second travel route 92.

[0060] When there is an instruction from the operator to create the first travel route 91 (S101), the first travel route 91 is created by the method described above (S102). Next, the linked route creation unit 84 determines whether the first linkage function is valid or invalid (S103). When the first linkage function is invalid, the storage unit 81 stores the first travel route 91 created by the first travel route creation unit 82 in association with the field (S104). "Storing in association with the field" means, for example, storing by associating the identification information of the field and the identification information of the travel route. When the first linkage function is valid, the linked route creation unit 84 creates the second travel route 92 using the first travel route 91 as described above (S105). Next, both the first travel route 91 and the second travel route 92 are stored in the storage unit 81 in association with the field (S106).

[0061] Note that in this embodiment, the validity / invalidity of the first linkage function is configured to be set in advance. Instead of or in addition to this, a configuration may be adopted in which the validity / invalidity of the first linkage function can be selected at the time of creating the first travel route. For example, on the creation screen of the first travel route, a checkbox indicating that the second travel route is to be created simultaneously may be provided. By the operator checking this checkbox, the first linkage function becomes valid. Also, the fact that the second travel route 92 has been created in association with the first travel route 91 may or may not be displayed on the display unit 73.

[0062] In FIG. 8, contrary to FIG. 7, the processing when there is an instruction to create the second travel route 92 is shown. The processing from S201 to S206 in FIG. 8 corresponds to the processing from S101 to S106 in FIG. 7, and is just the interchange of the first and the second, so the description is omitted. Also, the modification example regarding the first linkage function is applicable to the second linkage function as well.

[0063] Next, with reference to FIGS. 9 to 11, the switching of the travel route will be described. First, with reference to FIG. 9, an example of a situation where it is necessary to switch the travel route will be described. FIG. 9 is a diagram showing the shape of a field in which it is assumed that work is performed by switching between the first travel route 91 and the second travel route 92.

[0064] The field shown in FIG. 9 is trapezoidal, and the work area is also trapezoidal. In the example shown in FIG. 9, the right-side contour of the work area is inclined relative to the left-side contour. In addition, a first straight path 91a is created that is parallel to the left side of the work area. Therefore, near the right edge of the work area, the first straight path 91a intersects with the right-side contour (hypotenuse) of the work area. As a result, the angle between the path and the work area is significantly different from 90 degrees. In addition, the first travel path 91 approaches the edge of the field. For this reason, the portion indicated by the two-dot chain line in FIG. 9 may not be set as a route for autonomous travel. Therefore, the portion indicated by the two-dot chain line is traveled using the second travel path 92.

[0065] Even if the shape of the field and the work area is not trapezoidal, it may be necessary to switch between the first travel path 91 and the second travel path 92. Here, the first travel path 91 creates a turning path 91b in a position with sufficient clearance to ensure the rice transplanter 1 turns (for example, at the edge of the field or a position sufficiently far from obstacles, etc.). Therefore, for example, when the first travel path 91 is created in a situation where there is an obstacle in the field, the range in which work can be performed may be narrowed. Therefore, it may be preferable for the operator to manually turn the rice transplanter 1 using the second travel path 92 only for the portion where the obstacle needs to be detoured or avoided.

[0066] Furthermore, in the past, even when the first travel path 91 and the second travel path 92 were created, the two travel paths were managed separately. Therefore, in order to switch the travel path, after autonomous travel using the first travel path 91 was completed, the operator had to display a screen such as a list of routes and search for and select the second travel path 92. Furthermore, because the first travel path 91 and the second travel path 92 were created separately, the positions of the first straight path 91a and the second straight path 92a usually did not match. To prevent duplicate work and work omissions, it was necessary to align the positions of the first straight path 91a and the second straight path 92a. Therefore, route adjustment work was also required.

[0067] Next, with reference to FIGS. 10 and 11, the flow of the process of switching the travel route and performing work by the autonomous driving system 100 of the present embodiment will be described. FIG. 10 is a flowchart showing the process related to autonomous driving. FIG. 11 is a diagram showing the screen displayed on the wireless communication terminal 7 before and after the mode switch. Also, hereinafter, performing work using the first travel route 91 is referred to as the first mode, and performing work using the second travel route 92 is referred to as the second mode.

[0068] First, the operator operates the operation unit 74 to give an instruction to start autonomous driving. When the control unit 80 receives the instruction for autonomous driving from the operator (S301), it displays on the display unit 73 a screen for allowing the operator to select whether to perform work in either the first mode or the second mode (S302). In the present embodiment, it is configured to allow the operator to select buttons described as the first mode, the second mode, etc., but it may also be configured to display the routes and allow the operator to select.

[0069] Next, the control unit 80 (route selection unit 86) selects a travel route corresponding to the mode selected by the operator (S303). That is, when the operator selects the first mode, the control unit 80 (route selection unit 86) selects the first travel route 91, and when the operator selects the second mode, it selects the second travel route 92. The control unit 80 starts the autonomous driving of the rice transplanter 1 by transmitting an instruction to start autonomous driving and the selected route, etc. to the rice transplanter 1 (S304).

[0070] After the start of autonomous driving, the control unit 80 determines whether the mode switching condition is satisfied (S305). The mode switching condition is a condition under which switching between the first mode and the second mode is executable. The mode switching condition includes, for example, that the rice transplanter 1 is not in autonomous driving, that the rice transplanter 1 and the wireless communication terminal 7 can communicate, that two or more travel routes are associated and stored in the same field, and that no abnormality has occurred.

[0071] When the control unit 80 determines that the mode switching condition is satisfied, it enables the mode switching button shown in FIG. 11 (S306). For example, when the mode switching condition is not satisfied, the mode switching button is grayed out and inoperable, and when the mode switching condition is satisfied, the mode switching button becomes operable. Alternatively, the mode switching button may be configured to be displayed only when the mode switching condition is satisfied. Further, the mode switching button may be displayed on the top screen related to autonomous driving, or may be displayed on the setting screen displayed when a predetermined button is pressed.

[0072] The control unit 80 determines whether there is an instruction to change the mode (that is, whether the operator has operated the mode switching button) (S307). When the control unit 80 determines that there is an instruction to change the mode, it performs the process of step S303 again. That is, the changed travel route is selected by the route selection unit 86, and autonomous driving is started.

[0073] In this way, by using the mode switching button, the mode can be changed with a simple operation. In particular, in this embodiment, since two travel routes are associated and stored, other travel routes associated with the same field can be automatically detected. Therefore, it is not necessary for the operator to select the corresponding travel route from the list of travel routes. Further, since the two travel routes are associated and stored in the same field, for example, when a certain field is deleted, the two related travel routes can be deleted collectively. In addition, since the travel routes created for a certain field can be collectively displayed, it is possible to easily check the travel routes.

[0074] Next, with reference to FIG. 11, the travel history will be described. The travel history indicates the area where the rice transplanter 1 has traveled along the travel route. In this embodiment, the area where the rice transplanter 1 has traveled and where the work has been performed is managed as the work history. Therefore, the work history is a kind of travel history. Whether the work has been performed is determined based on the operation of the work implement (for example, the operation state of the planting clutch).

[0075] Conventionally, the work history when traveling along the first travel path 91 and the work history when traveling along the second travel path 92 were managed separately. However, since both are work performed in the same field, it is preferable to manage them together. In particular, the rice transplanter 1 may calculate the remaining work area from the work history and calculate and prepare the required amount of seedling mats. Therefore, conventionally, it was necessary to compare the work history of the first travel path 91 with the work history of the second travel path 92 to calculate the required amount of seedling mats, which was a significant effort for the operator.

[0076] In contrast, in this embodiment, the work history of both can be managed in a unified manner. Furthermore, the control unit 80 (display control unit 85) can superimpose the travel route during travel and the work history on the display unit 73. The upper diagram in FIG. 11 shows the work history before switching the travel route (during autonomous travel using the first travel route 91). The shaded area represents the work history. The lower diagram in FIG. 11 shows the work history after switching the travel route (during autonomous travel using the second travel route 92). As shown in the lower diagram in FIG. 11, even after switching the travel route, the work history before switching the travel route is displayed on the display unit 73 by the display control unit 85. In this way, in this embodiment, the work history is carried over even when the travel route is switched, allowing the work history to be managed appropriately. Therefore, for example, the required amount of seedling mats can be easily calculated.

[0077] In this embodiment, the work history is stored in association with the field, not with the travel route. Therefore, for example, when a process for deleting the work history is performed, the deletion of the work history is reflected regardless of whether the autonomous travel route is the first travel route 91 or the second travel route 92.

[0078] As described above, the autonomous driving system 100 of the present embodiment includes a first travel route creation unit 82, a second travel route creation unit 83, an interlocking route creation unit 84, a storage unit 81, a route selection unit 86, and a travel control unit 51. The first travel route creation unit 82 can create a first travel route 91 including a plurality of first straight routes 91a arranged at intervals within a field so as to fit within the field and turning routes 91b connecting the first straight routes 91a. The second travel route creation unit 83 can create a second travel route 92 composed of a plurality of second straight routes 92a arranged at intervals. The interlocking route creation unit 84 has at least one of a function of creating a second straight route 92a at least partially overlapping with the first straight route 91a and creating the second travel route 92 in conjunction with the creation of the first travel route 91 by the first travel route creation unit 82, and a function of creating a first travel route 91 including the first straight route 91a overlapping with the second straight route 92a in conjunction with the creation of the second travel route 92 by the second travel route creation unit 83. The storage unit 81 stores the travel routes created by the first travel route creation unit 82 or the second travel route creation unit 83 in association with the travel routes created by the interlocking route creation unit 84. The route selection unit 86 selectively selects the first travel route 91 or the second travel route 92 according to the input instruction. The travel control unit 51 autonomously drives the rice transplanter 1 along at least a part of the travel route selected by the route selection unit 86.

[0079] As a result, since the positions of the straight routes in the two travel routes match, there is no need to adjust the positions of the travel routes. In addition, since the two travel routes created in conjunction are associated with each other, the management of these travel routes and the application to the work vehicle become easy. Furthermore, since the other travel route is automatically created when one travel route is created, the labor required to create the travel route can be reduced.

[0080] Also, in the autonomous driving system 100 of the present embodiment, in the process of creating the second travel route 92 by the linked route creation unit 84 in conjunction with the creation of the first travel route 91 by the first travel route creation unit 82, the process includes extending the first straight route 91a of the first travel route 91 to form the second straight route 92a.

[0081] Thereby, the second travel route 92 can be created by a simple process. In particular, if there is information necessary for creating the first travel route 91, the second travel route 92 can be created, so the second travel route 92 can be automatically created without asking the user for additional input or the like.

[0082] Also, the autonomous driving system 100 of the present embodiment includes a display unit 73 and a display control unit 85. The display unit 73 displays the travel route selected by the route selection unit 86 and the travel history of the rice transplanter 1. When the travel route selected by the route selection unit 86 is switched, the display control unit 85 combines the travel histories before and after the switch and displays them on the display unit.

[0083] Thereby, even when the travel route is switched, the travel history of the entire field can be easily grasped.

[0084] Although the preferred embodiments of the present invention have been described above, the above configuration can be changed as follows, for example.

[0085] In the above embodiment, the linked route creation unit 84 has both the first linked function and the second linked function, but it may have only one of the functions.

[0086] In the above embodiment, the travel history before switching the travel route and the travel history after switching the travel route are displayed in the same manner without distinction. However, they may be displayed in a different color or the like, for example.

[0087] <Supplementary Note of the Invention> According to an aspect of the present invention, there is provided an autonomous driving system having the following configuration. Specifically, the autonomous driving system includes a first driving path creation unit, a second driving path creation unit, an interlocking path creation unit, a memory unit, a route selection unit, and a driving control unit. The first driving path creation unit is a driving path for a work vehicle to travel in a field, and is capable of creating a first driving path including a plurality of first straight paths that are spaced apart to fit within the field, and a turning path that connects the first straight paths. The second driving path creation unit is a driving path for a work vehicle to travel in a field, and is capable of creating a second driving path consisting of a plurality of second straight paths that are spaced apart. The interlocking path creation unit has at least one of a function of creating the second driving path by creating the second straight path, at least a portion of which overlaps with the first straight path, in conjunction with the creation of the first driving path by the first driving path creation unit, and a function of creating the first driving path including the first straight path that overlaps with the second straight path, in conjunction with the creation of the second driving path by the second driving path creation unit. The storage unit stores the travel route created by the first travel route creation unit or the second travel route creation unit in association with the travel route created by the interlocking route creation unit. The route selection unit alternatively selects the first travel route or the second travel route in response to an input instruction. The travel control unit causes the work vehicle to autonomously travel along at least a portion of the travel route selected by the route selection unit.

[0088] As a result, the positions of the straight-line paths of the two travel routes are aligned, eliminating the need to adjust the positions of the travel routes. Furthermore, the two travel routes created in conjunction with each other are associated, making it easier to manage these travel routes and apply them to work vehicles. Furthermore, when one travel route is created, the other is automatically created, reducing the effort required to create the travel routes.

[0089] In the above-mentioned autonomous driving system, it is preferable that the process in which the linked path creation unit creates the second driving path in conjunction with the creation of the first driving path by the first driving path creation unit includes a process in which the first straight path of the first driving path is extended to form the second straight path.

[0090] Accordingly, the second travel route can be created with simple processing. In particular, if there is information necessary for creating the first travel route, the second travel route can be created, so that the second travel route can be automatically created without asking the user for additional input or the like.

[0091] In the above-described autonomous driving system, it is preferable to have the following configuration. That is, this autonomous driving system includes a display unit and a display control unit. The display unit displays the travel route being selected by the route selection unit and the travel history of the work vehicle. When the travel route selected by the route selection unit is switched, the display control unit combines the travel histories before and after the switch and displays them on the display unit.

[0092] Accordingly, even when the travel route is switched, the travel history across the entire field can be easily grasped.

[0093] A work vehicle system according to an aspect of the present invention includes a travel route creation unit and a selection unit. The travel route creation unit is configured to be able to create a plurality of straight routes that are travel routes for causing a work vehicle to travel in a field and are arranged at intervals. The selection unit selects, as the travel mode of the work vehicle between two of the straight routes, either a first mode in which the vehicle automatically turns or a second mode in which the vehicle manually turns in response to an operator's operation.

Explanation of Signs

[0094] 1 Rice transplanter (work vehicle) 50 Control unit 51 Travel control unit 80 Control unit 100 Autonomous driving system

Claims

1. A control unit capable of changing between a first mode for automatically driving a work vehicle along a first travel route including a straight route and a turning route, and a second mode for automatically driving the work vehicle along a second travel route composed only of a straight route; A display control unit that combines and displays on a display unit a work history of work performed by the work vehicle in the first mode and a work history of work performed by the work vehicle in the second mode; Comprising: The control unit is capable of automatically driving the work vehicle in the second mode after automatically driving the work vehicle in the first mode; The display control unit causes the display unit to display a work history of work performed by the work vehicle in the first mode even while automatically driving in the second mode; An automatic driving system.

2. The display control unit causes the display unit to display the work history by superimposing it on the first travel route and the second travel route; The automatic driving system according to Claim 1.

3. Changing between a first mode for automatically driving a work vehicle along a first travel route including a straight route and a turning route, and a second mode for automatically driving the work vehicle along a second travel route composed only of a straight route; Combining and displaying on a display unit a work history of work performed by the work vehicle in the first mode and a work history of work performed by the work vehicle in the second mode; Having: It is possible to automatically drive the work vehicle in the second mode after automatically driving the work vehicle in the first mode; The work history of work performed by the work vehicle in the first mode is displayed on the display unit even while automatically driving in the second mode; An automatic driving method.

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