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

Abstract

To provide an automated travelling method, an automated travelling system, and an automated travelling program capable of suppressing a work failure in a work vehicle equipped with a work machine that can switch a posture between a work posture and a non-work posture.SOLUTION: A travelling processing part 111 sets a work machine 14 for a work posture and causes a work vehicle 10 to travel at a first travelling speed in a linear route R1. The travelling processing part 111 sets the work machine 14 for a non-work posture and causes the work vehicle 10 to travel at a second travelling speed slower than the first travelling speed in a turning radius R2 connected to the linear route R1. The travelling processing part 111 changes the work machine 14 from the non-work posture to the work posture, and causes the work vehicle 10 to travel at a third travelling speed slower than the first travelling speed in a partial route R1a from an end position P2 to a predetermined position P3 of the turning route R2.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to an automatic driving method, an automatic driving system, and an automatic driving program for automatically driving a work vehicle that performs a predetermined task using a work machine. [Background technology]

[0002] Conventionally, there is known a system that automatically drives a work vehicle in a field while performing a predetermined task. For example, the work vehicle is equipped with a rotary (work implement) that can be raised and lowered, and the system automatically drives the work vehicle along a target route while lowering the rotary along the work route to till the soil (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-103183 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, the rotary descends on a work path (e.g., a straight path) where tillage work is performed, digging its tines into the ground to perform tillage work, and ascends on a non-work path (e.g., a turning path) where tillage work is not performed. For example, while the work vehicle is turning, the rotary is in a raised position, and when the work vehicle finishes turning, the rotary begins to descend. While the rotary is descending, the work vehicle automatically travels on a straight path. In this case, the work vehicle travels a predetermined distance until the tines of the rotary reach a predetermined depth in the ground, and the traveled portion of the predetermined distance is not properly tilled, resulting in poor work (residual tillage). As such, in the case of a work machine that switches between a working position (working position) and a non-working position (non-working position), there is a problem of poor work performance occurring when switching positions.

[0005] An object of the present invention is to provide an automatic driving method, an automatic driving system, and an automatic driving program that can suppress work defects in a work vehicle equipped with a work implement that can be switched between a working posture and a non-working posture. [Means for solving the problem]

[0006] An automated driving method according to the present invention is a method for automatically driving a work vehicle equipped with a work implement that can be switched between a working posture for performing a predetermined task and a non-working posture for not performing the predetermined task along a target route in a work area. The automated driving method includes the steps of: setting the work implement to the working posture and driving the work vehicle at a first driving speed on a first work route included in the target route; setting the work implement to the non-working posture and driving the work vehicle at a second driving speed slower than the first driving speed on a non-work route connected to the first work route included in the target route; and changing the work implement from the non-working posture to the working posture and driving the work vehicle at a third driving speed slower than the first driving speed on a first partial route from a junction of the non-working path and the second work route to a predetermined position on a second work route connected to the non-working path included in the target route.

[0007] The automated driving system of the present invention automatically drives a work vehicle equipped with a work implement that can be switched between a working posture for performing a predetermined task and a non-working posture for not performing the predetermined task, along a target route in a work area. The automated driving system includes a first driving processing unit, a second driving processing unit, and a third driving processing unit. The first driving processing unit sets the work implement to the working posture on a first work path included in the target route, and drives the work vehicle at a first driving speed. The second driving processing unit sets the work implement to the non-working posture on a non-work path that connects to the first work path included in the target route, and drives the work vehicle at a second driving speed that is slower than the first driving speed. The third driving processing unit changes the work implement from the non-working posture to the working posture on a first partial path from a junction of the non-working path and the second work path to a predetermined position on a second work path that connects to the non-working path included in the target route, and drives the work vehicle at a third driving speed that is slower than the first driving speed.

[0008] An automated driving program according to the present invention is a program for automatically driving a work vehicle equipped with a work implement that can be switched between a working posture for performing a predetermined task and a non-working posture for not performing the predetermined task along a target route in a work area. The automated driving program causes one or more processors to execute the following steps on a first work route included in the target route: setting the work implement to the working posture and driving the work vehicle at a first driving speed; setting the work implement to the non-working posture and driving the work vehicle at a second driving speed slower than the first driving speed on a non-work route connected to the first work route included in the target route; and changing the work implement from the non-working posture to the working posture and driving the work vehicle at a third driving speed slower than the first driving speed on a first partial route of a second work route connected to the non-work route included in the target route, the first partial route extending from a junction of the non-working path and the second work route to a predetermined position. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide an automatic driving method, an automatic driving system, and an automatic driving program that can suppress work defects in a work vehicle equipped with a work machine that can switch between a working posture and a non-working posture. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. [Figure 2] FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of a travel route of a work vehicle according to an embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of a conventional driving method for a work vehicle. [Figure 5] FIG. 5 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a traveling method of a work vehicle according to an embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing an example of the procedure of the automatic driving process executed by the automatic driving system according to the embodiment of the present invention. [Figure 10A] FIG. 10A is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 10B] FIG. 10B is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

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

[0012] As shown in FIG. 1, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN. The automated driving system 1 is a system that automatically drives the work vehicle 10 within a field F. The field F is an example of a work area of ​​the present invention.

[0013] In this embodiment, the work vehicle 10 is a tractor, for example. In other embodiments, the work vehicle 10 may be a rice transplanter, a combine harvester, construction machinery, a snowplow, or the like. The work vehicle 10 is a so-called robot tractor that is configured to be able to automatically (autonomously) travel within a field F (see FIG. 3 ) along a predetermined target route R. The work vehicle 10 is also equipped with a work implement 14 that can be switched between a working posture, in which a predetermined task is performed, and a non-working posture, in which the predetermined task is not performed. While automatically traveling within the field F, the work vehicle 10 sets the work implement 14 to the working posture on the work route and causes the work implement 14 to perform the predetermined task. In this embodiment, the work implement 14 is a tiller (rough tillage implement), and the work vehicle 10 performs tillage work (rough tillage work), for example. The tiller is in the non-working position when the tiller tines are in a raised position (highest position), and in the working position when the tiller tines are in a lowered position (lowest position). The work implement 14 performs lifting and lowering operations in accordance with commands from the vehicle control device 11, and switches between the working position and the non-working position.

[0014] The work vehicle 10 automatically travels along a target route R that has been generated in advance for the field F, based on position information of the current position of the work vehicle 10 calculated by the positioning device 16. The target route R includes a work route (straight route R1) along which the work implement 14 performs tilling work, and a non-work route (turning route R2) along which the work implement 14 does not perform tilling work, and includes multiple straight routes R1 and multiple turning routes R2 from the work start position S to the work end position G (see FIG. 3).

[0015] The work vehicle 10 travels back and forth along multiple straight paths R1 in parallel in a field F shown in Fig. 3 from a work start position S to a work end position G, for example, while lowering the work implement 14 along each straight path R1 to perform tilling work. The target path R is not limited to the path shown in Fig. 3, but is set appropriately depending on the work content.

[0016] [Work vehicle 10] 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a work implement 14, a communication unit 15, a positioning device 16, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work implement 14, the positioning device 16, etc. Note that the vehicle control device 11 and the positioning device 16 may be capable of wireless communication.

[0017] The communication unit 15 is a communication interface that connects the work vehicle 10 to the communication network N1 by wire or wirelessly and performs data communication in accordance with a predetermined communication protocol with external devices such as the operation terminal 20 via the communication network N1.

[0018] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various 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. 9 ), which will be described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. The storage unit 12 may also store data for a target route R generated in the operation terminal 20.

[0019] The traveling device 13 is a drive unit that causes the work vehicle 10 to travel. As shown in Fig. 2, the traveling device 13 is equipped with an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handlebar 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. The traveling device 13 is not limited to a wheel type equipped with front wheels 132 and rear wheels 133, but may also be a crawler type equipped with crawlers provided on the left and right sides of the work vehicle 10.

[0020] The engine 131 is a drive source such as a diesel engine or a gasoline engine that is driven by fuel supplied to a fuel tank (not shown). The traveling device 13 may be equipped with an electric motor as a drive source in addition to or instead of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery provided on the work vehicle 10. The battery is charged with power supplied from the generator. The vehicle control device 11, positioning device 16, and other electrical components provided on the work vehicle 10 can be driven by power supplied from the battery even after the engine 131 is stopped.

[0021] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and to the rear wheels 133 via the transmission 134 and the rear axle 136. The driving force of the engine 131 is also transmitted to the work implement 14 via a PTO shaft (not shown). When the work vehicle 10 performs autonomous driving, the traveling device 13 performs traveling operations in accordance with commands from the vehicle control device 11.

[0022] The work implement 14 is, for example, a cultivator, a seed sower, a mower, a plow, or a fertilizer applicator, and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the work implements 14. Figure 2 shows a case where the work implement 14 is a rough tillage implement (for example, a stubble cultivator).

[0023] The work implement 14 is supported on the work vehicle 10 by a lifting mechanism (not shown) so that it can be raised and lowered. The vehicle control device 11 can raise and lower the work implement 14 by controlling the lifting mechanism. For example, the vehicle control device 11 lowers the work implement 14 when the work vehicle 10 travels on a work path (straight path R1) in the field F, and raises the work implement 14 when the work vehicle 10 travels on a non-work path (turning path R2, headland area). The vehicle control device 11 also outputs a work stop command to the work implement 14 when it acquires an instruction to stop work. For example, the vehicle control device 11 acquires the stop command from the operation terminal 20 when an operator (user) performs a stop instruction operation on the operation terminal 20. When it acquires an instruction to stop work, the vehicle control device 11 stops driving the PTO shaft to stop the work of the work implement 14.

[0024] The handle 137 is an operating unit that is operated by an operator or the vehicle control device 11. For example, in the traveling device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to operation of the handle 137 by the vehicle control device 11, and the traveling direction of the work vehicle 10 is changed.

[0025] In addition to the handlebars 137, the traveling device 13 is also equipped with a shift lever, accelerator, brake, etc. (not shown) that are operated by the vehicle control device 11. In the traveling device 13, the gear of the transmission 134 is switched to a forward gear, a reverse gear, etc. in response to operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward, reverse, etc. The vehicle control device 11 also operates the accelerator to control the rotation speed of the engine 131. The vehicle control device 11 also operates the brake to brake the rotation of the front wheels 132 and rear wheels 133 using an electromagnetic brake.

[0026] The positioning device 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, a positioning antenna 164, and the like. For example, as shown in FIG. 2 , the positioning device 16 is provided on top of a cabin 18 in which an operator sits. The installation location of the positioning device 16 is not limited to the cabin 18. The positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning device 16 may be disposed in different locations in the work vehicle 10. As described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. The positioning device 16 may be substituted with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0027] The positioning control unit 161 is a computer system including one or more processors and storage memories such as nonvolatile memory and RAM. The storage unit 162 is a nonvolatile memory that stores a program for causing the positioning control unit 161 to execute the positioning process, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Note that the program may be downloaded to the positioning device 16 from a server (not shown) via a communication network N1 and stored in the storage unit 162.

[0028] The communication unit 163 is a communication interface for connecting the positioning device 16 to the communication network N1 by wire or wirelessly and for executing data communication in accordance with a predetermined communication protocol with an external device such as a base station (not shown) via the communication network N1. The positioning antenna 164 is an antenna for receiving radio waves (GNSS signals) transmitted from satellites.

[0029] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the work vehicle 10 is autonomously traveling in a field F, the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites, and the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GPS positioning method (RTK method)), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs autonomous traveling using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the determined position (for example, the position of the positioning antenna 164), or may be displaced from the determined position.

[0030] The vehicle control device 11 has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are pre-stored. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as temporary storage memory (work area) for the various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by having the CPU execute various control programs pre-stored in the ROM or storage unit 12.

[0031] However, in the prior art, when the work implement 14 has a configuration that switches between a working posture and a non-working posture, there is a problem that poor work (residual tillage) occurs in the work path when the posture is switched. A specific example of this problem will be described with reference to FIG.

[0032] FIG. 4 shows a straight path R1 on which the work vehicle 10 performs work, and a turning path R2 on which the work vehicle 10 does not perform work. For example, on the straight path R1, the work vehicle 10 sets the work implement 14 in a working position and performs tilling work while traveling straight at a traveling speed of 7 km / h. When the work vehicle 10 reaches the end position Pa of the straight path R1, it begins to raise the work implement 14 and reduces the traveling speed to 3 km / h. On the turning path R2, the work vehicle 10 sets the work implement 14 in a non-working position and travels at a traveling speed of 3 km / h.

[0033] Next, when the work vehicle 10 reaches the terminal position Pb of the turning path R2, it starts lowering the work implement 14 and accelerates the travel speed from 3 km / h to 7 km / h. When the work vehicle 10 reaches a predetermined position Pc on the straight path R1, it performs tilling work while traveling straight at a travel speed of 7 km / h.

[0034] Here, it takes a certain amount of time for the tilling tines of the work implement 14 to reach a predetermined depth in the ground after they start to descend. Therefore, in the section of the straight path R1 where the work vehicle 10 accelerates from the terminal position Pb to the predetermined position Pc, plowing work is performed without the tilling tines reaching the predetermined depth, resulting in poor plowing (residual plowing).

[0035] In contrast, the automated driving system 1 according to this embodiment can suppress operational defects in a work vehicle 10 equipped with a work implement 14 that can switch between a working posture and a non-working posture, as will be described below.

[0036] Specifically, as shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111 and a switching processing unit 112. The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the automatic driving program using the CPU. Some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing multiple processors to function as the processing units.

[0037] The driving processing unit 111 controls the driving of the work vehicle 10. Specifically, the driving processing unit 111 causes the work vehicle 10 to drive automatically based on position information indicating the current position of the work vehicle 10 measured by the positioning control unit 161. For example, when the positioning state becomes one allowing RTK positioning and the operator presses a start button on the operation screen (not shown) of the operation terminal 20, the operation terminal 20 outputs a work start instruction to the work vehicle 10. When the driving processing unit 111 of the work vehicle 10 receives the work start instruction from the operation terminal 20, it causes the work vehicle 10 to start automatic driving based on the position information indicating the current position of the work vehicle 10 measured by the positioning control unit 161. As a result, the work vehicle 10 starts automatic driving according to the target route R and starts work by the work implement 14. Note that the target route R is generated by, for example, the operation terminal 20. The work vehicle 10 receives data on the target route R from the operation terminal 20 and drives automatically within the field F according to the target route R (see FIG. 3).

[0038] The target route R also includes information on the travel speed of the work vehicle 10. The travel processing unit 111 switches the travel speed of the work vehicle 10 based on the position information of the work vehicle 10. For example, if the travel speed for the straight route R1 is set to "7 km / h" and the travel speed for the turning route R2 is set to "3 km / h" on the operation terminal 20 (see FIG. 7), the travel processing unit 111 sets the travel speed to "7 km / h" when the work vehicle 10 enters the straight route R1, and sets the travel speed to "3 km / h" when the work vehicle 10 enters the turning route R2. The travel device 13 performs travel operation in accordance with the travel speed set by the travel processing unit 111. The method for setting the travel speed in this embodiment will be described in detail later.

[0039] Furthermore, the driving processing unit 111 stops the automatic driving of the work vehicle 10 when it receives a work stop instruction from the operation terminal 20. For example, when the operator presses the stop button on the operation screen (not shown) of the operation terminal 20, the operation terminal 20 outputs a work stop instruction to the work vehicle 10. When the driving processing unit 111 receives a work stop instruction from the operation terminal 20, it stops the automatic driving of the work vehicle 10. As a result, the work vehicle 10 stops automatic driving and stops work by the work equipment 14. The driving processing unit 111 is an example of the first driving processing unit, second driving processing unit, and third driving processing unit of the present invention.

[0040] The switching processing unit 112 sets the posture of the work implement 14. Specifically, the switching processing unit 112 switches the work implement 14 between a working posture, which is a posture for performing a predetermined task (here, plowing), and a non-working posture, which is a posture for not performing the predetermined task (plowing). The switching processing unit 112 also switches the posture of the work implement 14 based on position information of the work vehicle 10. The switching processing unit 112 outputs a switching command (such as an instruction to raise or lower) to the lifting mechanism of the work implement 14.

[0041] For example, when the work vehicle 10 reaches the start position of the straight path R1, the switching processing unit 112 outputs a lowering command to the lifting mechanism, causing the work implement 14 to lower to the working posture (lowest position). Also, for example, when the work vehicle 10 reaches the end position of the straight path R1 (the start position of the turning path R2), the switching processing unit 112 outputs an upward command to the lifting mechanism, causing the work implement 14 to raise to the non-working posture (highest position). Also, for example, when the work vehicle 10 reaches the end position of the turning path R2 (the start position of the straight path R1), the switching processing unit 112 outputs a downward command to the lifting mechanism, causing the work implement 14 to lower to the working posture (lowest position).

[0042] In this way, the vehicle control device 11 changes the attitude of the work implement 14 (working attitude, non-working attitude) and also changes the travel speed of the work vehicle 10 based on the position information of the work vehicle 10.

[0043] [Operation terminal 20] 1, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone.

[0044] The communication unit 24 is a communication interface that connects the operation terminal 20 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0045] The operation display unit 23 is a user interface equipped with a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit on the operation screen displayed on the display unit to register various information (such as work vehicle information, field information, and work information, which will be described later). The operator can also operate the operation unit to give automatic driving instructions to the work vehicle 10. Furthermore, from a location away from the work vehicle 10, the operator can grasp the driving status of the work vehicle 10, which is automatically driving within the field F according to the target route R, by looking at the driving trajectory displayed on the operation terminal 20.

[0046] The memory unit 22 is a non-volatile memory unit such as an HDD or SSD that stores various types of information. The memory unit 22 stores a control program for causing the operation control unit 21 to execute predetermined control processing. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) provided in the operation terminal 20 and stored in the memory unit 22. The control program may be downloaded to the operation terminal 20 from a server (not shown) via the communication network N1 and stored in the memory unit 22. The memory unit 22 may also store work information transmitted from the work vehicle 10.

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

[0048] The operation control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for the various types of processing executed by the CPU. The operation control unit 21 controls the operation terminal 20 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 22.

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

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

[0051] For example, the operator registers the work vehicle information by selecting "Work Machine Registration" on the menu screen D1 shown in Fig. 5. Fig. 6 shows an example of an operation screen D2 for registering information about the work machine 14. The operator registers the size of the work machine 14 and other information on the operation screen D2.

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

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

[0054] Information on the position and shape of the field F can be automatically obtained, for example, by having an operator get into the work vehicle 10 and drive it around the perimeter of the field F, recording the changes in position information of the positioning antenna 164 at that time. The position and shape of the field F can also be obtained based on a polygon obtained by the operator operating the operation terminal 20 to specify multiple points on a map while a map is displayed on the operation terminal 20. The area specified by the obtained position and shape of the field F is the area in which the work vehicle 10 can be driven (travel area).

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

[0056] The route generation processing unit 214 generates a target route R, which is a route along which the work vehicle 10 will automatically travel, based on the setting information. The target route R in this embodiment includes a work route (straight route R1) along which the work implement 14 will perform tilling work, and a non-work route (turning route R2) along which the work implement 14 will not perform tilling work (see FIG. 3). The route generation processing unit 214 can generate and store the target route R for the work vehicle 10 based on the setting information set by the vehicle setting processing unit 211, the field setting processing unit 212, and the work setting processing unit 213.

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

[0058] The route generation processing unit 214 also sets information on the travel speed of the work vehicle 10 in association with the target route R. For example, the operator selects "Route Generation" on the menu screen D1 shown in FIG. 5 to register the travel speed. FIG. 7 shows an example of an operation screen D3 for registering information on the travel speed of the work vehicle 10. The operation screen D3 includes a setting field K1 for setting the ON / OFF of ground work (plowing work), a setting field K2 for setting the vehicle speed during work (the travel speed on the straight route R1), a setting field K3 for setting the vehicle speed during turning (the travel speed on the turning route R2), a setting field K4 for setting the vehicle speed at the end of the turn (the travel speed on the partial route R1a of the straight route R1), and a setting field K5 for setting the vehicle speed distance at the end of the turn (the distance of the partial route R1a). The operator registers each of the setting fields K1 to K5 on the operation screen D3. In this way, the route generation processing unit 214 receives operations from the operator to set each of the setting fields K1 to K5.

[0059] The route generation processing unit 214 registers the information set in the setting fields K1 to K5 in association with the target route R. For example, the route generation processing unit 214 registers a traveling speed of "7 km / h" in association with the straight route R1, a traveling speed of "3 km / h" in association with the turning route R2, a traveling speed of "3 km / h" in association with the partial route R1a (see FIG. 8) of the straight route R1, and a traveling distance of "3.0 m" in association with the partial route R1a of the straight route R1.

[0060] The output processing unit 215 outputs data of the target route R generated by the route generation processing unit 214 to the work vehicle 10. The output processing unit 215 also outputs work start instructions and work end instructions to the work vehicle 10 based on the operation of the operator.

[0061] The reception processing unit 216 receives from the operator an instruction operation to start work (work start instruction operation), an instruction operation to stop work of the automatically traveling work vehicle 10 (work stop instruction operation), etc. When the reception processing unit 216 receives the work start instruction operation, the output processing unit 215 outputs the work start instruction to the work vehicle 10. As a result, the vehicle control device 11 of the work vehicle 10 acquires the work start instruction from the operation terminal 20. Upon acquiring the work start instruction, the vehicle control device 11 starts the work and traveling of the work vehicle 10. Furthermore, when the reception processing unit 216 receives the work stop instruction operation, the output processing unit 215 outputs the work stop instruction to the work vehicle 10. As a result, the vehicle control device 11 of the work vehicle 10 acquires the work stop instruction from the operation terminal 20. Upon acquiring the work stop instruction, the vehicle control device 11 stops the work and traveling of the work vehicle 10.

[0062] When the work vehicle 10 receives the data of the target route R transferred from the operation terminal 20, it stores it in the memory unit 12. The work vehicle 10 is configured to be able to travel automatically when its current position is located within the field F, and is configured not to be able to travel automatically when its current position is located outside the field F. Furthermore, the work vehicle 10 is configured to be able to travel automatically when, for example, its current position coincides with the work start position S.

[0063] When the current position of the work vehicle 10 coincides with the work start position S, and the operator presses the start button on the operation screen to give an instruction to start work, the vehicle control device 11 starts plowing work using the work implement 14. In other words, the operation control unit 21 permits the work vehicle 10 to travel automatically on the condition that the current position coincides with the work start position S. Note that the conditions for permitting the work vehicle 10 to travel automatically are not limited to the above conditions.

[0064] Based on the information on the target route R, the vehicle control device 11 causes the work vehicle 10 to automatically travel while controlling the travel speed from the work start position S to the work end position G, and raises and lowers the work implement 14 to perform tilling work. Furthermore, when the work vehicle 10 finishes work, the vehicle control device 11 may cause the work vehicle 10 to automatically travel from the work end position G to the entrance of the field F. When the work vehicle 10 is traveling automatically, the operation control unit 21 can receive the status of the work vehicle 10 (position, travel speed, etc.) from the work vehicle 10 and display it on the operation display unit 23.

[0065] The operation terminal 20 may be able to access a website (agricultural support site) for an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit 21. The server is provided with the above-mentioned processing units and executes each process.

[0066] An example of a driving method in which the work vehicle 10 automatically drives based on the target route R generated in this embodiment will now be described with reference to Fig. 8. The target route R includes the information set on the operation screen D3 in Fig. 7.

[0067] FIG. 8 shows a straight path R1 on which the work vehicle 10 performs work, and a turning path R2 on which the work vehicle 10 does not perform work. For example, on the straight path R1, the work vehicle 10 sets the work implement 14 in a working position and performs tilling work while traveling straight at a traveling speed of 7 km / h. When the work vehicle 10 reaches an end position P1 of the straight path R1, it begins to raise the work implement 14 and reduces the traveling speed to 3 km / h. On the turning path R2, the work vehicle 10 sets the work implement 14 in a non-working position and travels at a traveling speed of 3 km / h.

[0068] Next, when the work vehicle 10 reaches the terminal position P2 of the turning path R2, it starts lowering the work implement 14 and sets the traveling speed to "3 km / h." In this case, since this is the same as the traveling speed of the turning path R2, the traveling speed is maintained at "3 km / h."

[0069] The work vehicle 10 travels at a constant speed of 3 km / h from the terminal position P2 to a predetermined position P3 that is a set distance L1 away. The work vehicle 10 lowers the work implement 14 to the lowest position in the section from the terminal position P2 to the predetermined position P3, thereby allowing the tiller tines to reach a predetermined depth in the ground. The set distance L1 is a distance that is set in advance, and is, for example, a distance of 3.0 m registered by the operator (setting field K5 in Figure 7).

[0070] Next, when the work vehicle 10 reaches a predetermined position P3, it accelerates its traveling speed from 3 km / h to 7 km / h while performing tilling work. When the work vehicle 10 reaches a predetermined position P4 on the straight path R1, it performs tilling work while traveling at a constant traveling speed of 7 km / h. The predetermined position P3 is a position that is a preset distance L1 away from the connection position (terminal position P2) of the turning path R2 and the straight path R1.

[0071] In this way, the vehicle control device 11 of the work vehicle 10 sets the work implement 14 to a working posture on the straight path R1 (first work path) and causes the work vehicle 10 to travel at 7 km / h (first travel speed), and sets the work implement 14 to a non-working posture on the turning path R2 (non-work path) connected to the straight path R1 and causes the work vehicle 10 to travel at 3 km / h (second travel speed). Furthermore, the vehicle control device 11 changes the work implement 14 from the non-working posture to the working posture on a partial path R1a (first partial path) from a connection position (terminal position P2) of the turning path R2 and the straight path R1 to a predetermined position P3 on the straight path R1 connected to the turning path R2, and causes the work vehicle 10 to travel at a third travel speed (for example, 3 km / h) that is slower than the first travel speed.

[0072] Furthermore, as shown in FIG. 8, the vehicle control device 11 causes the work vehicle 10 to travel at a constant speed of "3 km / h" (third traveling speed) on the partial route R1a, accelerates the work vehicle 10 from "3 km / h" (third traveling speed) to "7 km / h" (first traveling speed) on the partial route R1b (second partial route) following the partial route R1a, and causes the work vehicle 10 to travel at a constant speed of "7 km / h" (first traveling speed) on the partial route R1c (third partial route) following the partial route R1b.

[0073] In this embodiment, the vehicle control device 11 sets the travel speed on the work path (straight path R1) to a speed (e.g., 3 km / h) lower than the travel speed during work (e.g., 7 km / h) until the work implement 14 transitions from the non-working posture (highest position) to the working posture (lowest position), and maintains the set low travel speed. This makes it possible to shorten the distance traveled on the work path by which the work implement 14 transitions from the non-working posture to the working posture compared to the conventional configuration (see FIG. 4), thereby reducing poor tillage (residual tillage).

[0074] [Automatic driving processing] An example of the automatic driving process executed by the automatic driving system 1 will be described below with reference to Fig. 9. For example, the automatic driving process is started by the vehicle control device 11 and the operation control unit 21 when the operator starts an operation to set a target route R for the work vehicle 10.

[0075] The present invention can be understood as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. Furthermore, one or more steps included in the automatic driving process described herein may be omitted as appropriate. The steps in the automatic driving process may be executed in a different order as long as the same effects are achieved. Furthermore, while the description here uses an example in which the vehicle control device 11 and the operation control unit 21 execute each step in the automatic driving process, another embodiment can also be an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner.

[0076] In step S1, the operation control unit 21 of the operation terminal 20 registers various setting information. Specifically, the operation control unit 21 sets and registers information about the work vehicle 10 (work vehicle information), information about the field (field information), and information about the work (for example, tillage work) (work information) based on setting operations by the operator. The operation control unit 21 also sets and registers information such as the work start position S and work end position G, and the traveling direction.

[0077] Next, in step S2, the operation control unit 21 generates a target route R based on the various setting information. For example, in a field F, the operation control unit 21 generates a target route R (see FIG. 3) connecting a work start position S and a work end position G based on the work start position S and the work end position G specified by the operator. The operator also registers information such as the travel speed of the work vehicle 10 on the operation screen D3 shown in FIG. 7. The operation control unit 21 associates the information set in the setting fields K1 to K5 of the operation screen D3 with the target route R and registers it. The operation control unit 21 also stores the data of the target route R in the memory unit 22.

[0078] Next, in step S3, the vehicle control device 11 of the work vehicle 10 determines whether or not a work start instruction has been received from the operation terminal 20. For example, when the operator presses the start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs data of the target route R and a work start instruction to the work vehicle 10. When the vehicle control device 11 receives the data and the work start instruction from the operation terminal 20 (S3: Yes), the processing proceeds to step S4. The vehicle control device 11 waits until it receives the data and the work start instruction from the operation terminal 20 (S3: No).

[0079] Next, in step S4, the vehicle control device 11 executes automatic driving processing according to the target route R corresponding to the data. Here, when the current position of the work vehicle 10 coincides with the work start position S (the starting position of the straight route R1), the vehicle control device 11 sets the driving speed to 7 km / h and causes the work vehicle 10 to start driving straight ahead. The vehicle control device 11 also lowers the work implement 14 to a working posture (lowest position) and starts tilling work. As a result, the work vehicle 10 starts automatic driving and tilling work according to the target route R.

[0080] Next, in step S5, the vehicle control device 11 determines whether the work vehicle 10 has reached the terminal position P1 (see FIG. 8) of the straight route R1. If the work vehicle 10 has reached the terminal position P1 (S5: Yes), the process proceeds to step S6. The work vehicle 10 performs tilling work while traveling straight at a traveling speed of 7 km / h until it reaches the terminal position P1 (S5: No).

[0081] In step S6, the vehicle control device 11 starts raising the work implement 14. Specifically, when the work vehicle 10 reaches the terminal position P1, the vehicle control device 11 outputs a raise command to the lifting mechanism of the work implement 14. In accordance with the raise command, the lifting mechanism raises the work implement 14 (tillage tines) from the lowest position to the highest position.

[0082] Next, in step S7, the vehicle control device 11 decelerates the traveling speed of the work vehicle 10 to "3 km / h". Specifically, the vehicle control device 11 outputs a traveling speed change instruction to the traveling device 13 when the work vehicle 10 reaches the terminal position P1. The traveling device 13 decelerates the traveling speed from "7 km / h" to "3 km / h" in accordance with the change instruction. As a result, the work vehicle 10 travels on the turning path R2 at a traveling speed of "3 km / h" with the work implement 14 raised.

[0083] Next, in step S8, the vehicle control device 11 determines whether the work vehicle 10 has reached the terminal position P2 (see FIG. 8) of the turning path R2. If the work vehicle 10 has reached the terminal position P2 (S8: Yes), the process proceeds to step S9. The work vehicle 10 turns at a traveling speed of 3 km / h until it reaches the terminal position P2 (S8: No).

[0084] In step S9, the vehicle control device 11 starts lowering the work implement 14. Specifically, when the work vehicle 10 reaches the terminal position P2, the vehicle control device 11 outputs a lowering command to the lifting mechanism of the work implement 14. In accordance with the lowering command, the lifting mechanism lowers the work implement 14 (tillage tines) from the uppermost position to the lowermost position.

[0085] Next, in step S10, the vehicle control device 11 sets (maintains) the traveling speed of the work vehicle 10 at "3 km / h". Specifically, the vehicle control device 11 outputs an instruction to the traveling device 13 to maintain the traveling speed when the work vehicle 10 reaches the terminal position P2. The traveling device 13 maintains the traveling speed at "3 km / h" in accordance with the instruction. As a result, the work vehicle 10 travels at a traveling speed of "3 km / h" on the partial route R1a (see FIG. 8) while lowering the work implement 14. Note that if the traveling speed on the partial route R1a is the same as the traveling speed on the turning route R2, the vehicle control device 11 does not need to output an instruction to the traveling device 13 to maintain the traveling speed.

[0086] Next, in step S11, the vehicle control device 11 determines whether the work vehicle 10 has traveled a set distance L1. Specifically, the vehicle control device 11 determines whether the work vehicle 10 has traveled on the straight path R1 at a travel speed of 3 km / h to a predetermined position P3 (see FIG. 8) that is the set distance L1 away from the terminal position P2 (whether the predetermined position P3 has been reached). If the work vehicle 10 has traveled the set distance L1 (S11: Yes), the processing proceeds to step S12. The work vehicle 10 travels at a constant speed of 3 km / h until it reaches the set distance L1 (predetermined position P3) (S11: No). The work vehicle 10 lowers the work implement 14 to the lowest position in the section from the terminal position P2 to the predetermined position P3 (set distance L1), thereby allowing the tiller tines to reach a predetermined depth in the ground.

[0087] In step S12, the vehicle control device 11 accelerates the travel speed of the work vehicle 10 from 3 km / h to 7 km / h. Specifically, the vehicle control device 11 outputs a travel speed change instruction to the travel device 13 when the work vehicle 10 has traveled a set distance L1 at 3 km / h (predetermined position P3). The travel device 13 accelerates the travel speed from 3 km / h to 7 km / h in accordance with the change instruction. The work vehicle 10 accelerates and travels while performing tilling work, maintaining the work implement 14 in the lowest position, in the section from the predetermined position P3 to a predetermined position P4 (see FIG. 8) where the travel speed reaches 7 km / h.

[0088] Next, in step S13, the vehicle control device 11 causes the work vehicle 10 to travel at a constant speed of "7 km / h". Specifically, the vehicle control device 11 maintains the travel speed of the work vehicle 10 at "7 km / h" and causes the work vehicle 10 to travel at a constant speed from the predetermined position P4 until it reaches the end position of the straight route R1. As a result, the work vehicle 10 travels straight along the straight route R1 while performing plowing work.

[0089] Next, in step S14, the vehicle control device 11 determines whether the work vehicle 10 has reached the work end position G (see FIG. 3). If the work vehicle 10 has reached the work end position G (S14: Yes), the processing ends. On the other hand, if the work vehicle 10 has not reached the work end position G (S14: No), the processing returns to step S5, and the above-described processing is repeated.

[0090] In this way, the vehicle control device 11 causes the work vehicle 10 to automatically travel by repeating a process of changing the travel speed of the work vehicle 10 and a process of switching the attitude of the work implement 14 according to the target route R (straight route R1 and turning route R2) from when the work vehicle 10 starts automatic travel at the work start position S until it reaches the work end position G. In this way, the automatic travel system 1 executes the automatic travel process.

[0091] As described above, the automatic driving system 1 according to this embodiment is a system that automatically drives a work vehicle 10 equipped with a work implement 14 that can be switched between a working posture, in which a predetermined work (plowing work) is performed, and a non-working posture, in which the predetermined work is not performed, along a target route R in a field F (work area).

[0092] Furthermore, the automated driving system 1 sets the work implement 14 to the working posture on a first work path (straight path R1) included in the target route R, and causes the work vehicle 10 to travel at a first travel speed. Furthermore, on a non-work path (turning path R2) connected to the first work path included in the target route R, the automated driving system 1 sets the work implement 14 to the non-working posture and causes the work vehicle 10 to travel at a second travel speed slower than the first travel speed. Furthermore, on a first partial path (partial path R1a) from a junction (terminal position P2) of the non-work path and the second work path to a predetermined position P3 on a second work path (straight path R1) connected to the non-work path included in the target route R, the automated driving system 1 changes the work implement 14 from the non-working posture to the working posture and causes the work vehicle 10 to travel at a third travel speed slower than the first travel speed.

[0093] In this way, when the work vehicle 10 transitions from a non-work path to a work path, the automated driving system 1 changes the posture of the work implement 14 from the non-work posture to the work posture while maintaining the travel speed of the work vehicle 10 at a low speed. This allows the work implement 14 to transition to the work posture while the work vehicle 10 is traveling at a low speed. For example, when the work vehicle 10 enters the straight path R1 from the turning path R2, the automated driving system 1 lowers the work implement 14 while maintaining the travel speed of the work vehicle 10 at the speed during turning. This allows the tines of the work implement 14 to reach a predetermined depth in the ground while the work vehicle 10 is traveling at a low speed. Then, after the tines of the work implement 14 have reached the predetermined depth in the ground, the automated driving system 10 is accelerated to a work speed, and tilling work can be performed at the work speed.

[0094] As a result, the distance traveled by the work implement 14 on the work path before transitioning from the non-working posture to the working posture can be made shorter than in the conventional configuration (see FIG. 4), thereby making it possible to suppress poor tillage (residual tillage). Note that in this embodiment, the first work path and the second work path are each a straight path R1, and the non-working path is a turning path R2, but the present invention is not limited to this.

[0095] [Other embodiments] The present invention is not limited to the above-described embodiment, and other embodiments of the present invention will be described below.

[0096] In the above-described embodiment, the vehicle control device 11 sets the traveling speed of the partial route R1a connected to the turning route R2 to the same speed (e.g., 3 km / h) as the traveling speed of the turning route R2. With this configuration, it is not necessary to switch the traveling speed after the turning is completed, and therefore the processing load of the vehicle control device 11 can be reduced. However, the present invention is not limited to this configuration, and in another embodiment, the vehicle control device 11 may set the traveling speed of the partial route R1a to a speed higher than the traveling speed of the turning route R2 and lower than the traveling speed of the straight route R1. For example, the vehicle control device 11 may set the traveling speed of the partial route R1a to a speed greater than 3 km / h and less than 7 km / h (e.g., 5 km / h).

[0097] In this way, in the present invention, the traveling speed (third traveling speed) of the partial route R1a is set to be equal to or greater than the traveling speed (second traveling speed) of the turning route R2 and less than the traveling speed (first traveling speed) of the straight route R1. Note that the present invention is not limited to this, and the traveling speed (third traveling speed) of the partial route R1a may be less than the traveling speed (second traveling speed) of the turning route R2.

[0098] In another embodiment, the operation control unit 21 of the operation terminal 20 may set an acceptable range for the vehicle speed after turning (travel speed of the partial route R1a) on the operation screen D3 (see FIG. 7). For example, the operation control unit 21 sets the acceptable range to a range equal to or greater than the vehicle speed during turning (3 km / h) and less than the vehicle speed during work (7 km / h). This makes it possible to prevent the operator from inputting an incorrect travel speed.

[0099] In another embodiment, the operation control unit 21 may input (display) an initial value (default value) in advance in the setting field K4 of the operation screen D3. For example, the operation control unit 21 may display the vehicle speed during turning (the traveling speed of the turning path R2) in the setting field K4.

[0100] Furthermore, for example, the operation control unit 21 may set the vehicle speed after the swing is completed (travel speed of the partial route R1a) based on work machine information (type, size, weight, etc. of the work machine) related to the work machine 14. For example, the time required for the tiller tines of the work machine 14 to move from the uppermost position to the lowermost position varies depending on the type, size, and weight of the work machine. Therefore, the operation control unit 21 sets a travel speed at which the work machine 14 can move from the uppermost position to the lowermost position while the work vehicle 10 travels the set distance L1, based on the work machine information (type, size, weight, etc. of the work machine) input on the operation screen D2 of FIG. 6.

[0101] Furthermore, for example, the operation control unit 21 may set the vehicle speed distance after the end of the turn (set distance L1 of the partial route R1a) based on work machine information about the work machine 14 (type, size, weight, etc. of the work machine).

[0102] In the above-described embodiment, the operation control unit 21 is configured to be able to accept an operation from the operator on the operation screen D3 (see FIG. 7) to register the vehicle speed after the turn (setting field K4) and the vehicle speed distance after the turn (setting field K5). However, in another embodiment, the operation control unit 21 may be configured to omit the setting field K4 and register the vehicle speed distance after the turn (setting field K5) (see FIG. 10A). In this configuration, the operation control unit 21 may set the vehicle speed after the turn in advance (for example, set it to the vehicle speed during the turn).

[0103] In another embodiment, the operation control unit 21 may be configured such that the setting field K5 for setting the vehicle speed distance after the turn (the set distance L1 of the partial route R1a) is omitted from the operation screen D3 (see FIG. 7). In this configuration, the operation control unit 21 sets the vehicle speed distance after the turn in advance.

[0104] In another embodiment, the operation control unit 21 may be configured to be able to accept an operation to register a travel time (predetermined time) for which the work vehicle 10 will travel at the vehicle speed during the turn (the travel speed of the turning route R2) after the turn is completed. For example, as shown in FIG. 10B , the operator inputs a travel time (e.g., "4 seconds") for which the work vehicle 10 will travel at the vehicle speed during the turn after the turn is completed in a setting field K6 of the operation screen D3. This causes the vehicle control device 11 to travel the work vehicle 10 at the vehicle speed during the turn (the travel speed of the turning route R2) until the travel time ("4 seconds") has elapsed since the work vehicle 10 reached the terminal position P2. Note that in this configuration, the setting field K5 for setting the vehicle speed distance after the turn is completed (set distance L1 of the partial route R1a) may be omitted.

[0105] In the embodiment described above, the vehicle control device 11 initiates a change in the attitude of the work implement 14 from the non-working attitude to the working attitude when the work vehicle 10 reaches the terminal position P2 (see FIG. 8 ). In another embodiment, the vehicle control device 11 may initiate a change in the attitude of the work implement 14 from the non-working attitude to the working attitude before the work vehicle 10 reaches the terminal position P2, i.e., while the work vehicle 10 is traveling on the non-working path (turning path R2). This makes it possible to further shorten the distance on the partial path R1a over which the tiller tines of the work implement 14 do not reach the predetermined depth. Note that if the work implement 14 is lowered while the work vehicle 10 is turning, the position of the center of gravity of the work vehicle 10 may fluctuate and deviate from the target path R. Therefore, the vehicle control device 11 may determine the timing to start lowering the work implement 14 based on the turning radius of the turning path R2, the traveling speed on the turning path R2, the traveling speed on the partial path R1a, work implement information of the work implement 14, etc.

[0106] In the above-described embodiment, a tiller is given as an example of the working machine 14, but the working machine 14 is not limited to a tiller and may be other agricultural machinery. For example, the working machine 14 may be a sprayer that sprays a chemical. The working position of the sprayer is when the nozzle is in a horizontally open position, and the non-working position is when the nozzle is in a horizontally or vertically closed position.

[0107] [Disclosure Note] The following is a summary of the disclosure extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0108] <Appendix 1> An automatic driving method for automatically driving a work vehicle equipped with a work machine that can be switched between a working posture for performing a predetermined work and a non-working posture for not performing the predetermined work in a work area, along a target route, comprising: setting the work implement in the working posture and causing the work vehicle to travel at a first traveling speed on a first work route included in the target route; setting the work implement in the non-working posture and causing the work vehicle to travel at a second traveling speed slower than the first traveling speed on a non-working route that is included in the target route and that is connected to the first work route; changing the work implement from the non-working posture to the working posture and causing the work vehicle to travel at a third traveling speed slower than the first traveling speed on a first partial route from a connecting position of the non-working path and the second working path to a predetermined position on a second working route that is included in the target route and that connects to the non-working path; An automated driving method that performs the above.

[0109] <Appendix 2> the work vehicle is caused to travel at a constant speed at the third travel speed on the first partial route of the second work route; accelerating the work vehicle from the third traveling speed to the first traveling speed on a second partial route of the second work route that follows the first partial route; the work vehicle is caused to travel at a constant speed at the first travel speed on a third partial route of the second work route that follows the second partial route; 1. The automated driving method according to claim 1.

[0110] <Appendix 3> The predetermined position is set at a position that is a preset distance away from the connection position. 10. The automated driving method according to claim 1 or 2.

[0111] <Appendix 4> causing the work vehicle to travel at the third travel speed until a predetermined time has elapsed since the work vehicle reached the connection position; 10. The automated driving method according to claim 1 or 2.

[0112] <Appendix 5> receiving an operation from a user to set the third traveling speed; 5. The automatic driving method according to any one of appendices 1 to 4.

[0113] <Appendix 6> accepting an operation from a user to set the third traveling speed and the set distance; 1. The automated driving method described in Appendix 3.

[0114] <Appendix 7> setting the third traveling speed based on work machine information related to the work machine; 5. The automatic driving method according to any one of appendices 1 to 4.

[0115] <Appendix 8> The third traveling speed is set to be equal to or greater than the second traveling speed and less than the first traveling speed. An automatic driving method according to any one of appendices 1 to 7.

[0116] <Appendix 9> When the work vehicle reaches the connecting position, a posture change of the work machine from the non-working posture to the working posture is initiated. An automatic driving method according to any one of appendices 1 to 8.

[0117] <Appendix 10> each of the first working path and the second working path is a straight path; The non-working path is a turning path. An automatic driving method according to any one of appendices 1 to 9.

[0118] <Appendix 11> An automatic driving system that automatically drives a work vehicle equipped with a work machine that can be switched between a working posture that is a posture for performing a predetermined work and a non-working posture that is a posture for not performing the predetermined work in a work area along a target route, a first travel processing unit that sets the work implement to the working posture and causes the work vehicle to travel at a first travel speed on a first work route included in the target route; a second travel processing unit that sets the work implement to the non-working posture and causes the work vehicle to travel at a second travel speed that is slower than the first travel speed on a non-working route that is included in the target route and is connected to the first work route; a third travel processing unit that changes the work implement from the non-working posture to the working posture and travels the work vehicle at a third travel speed slower than the first travel speed on a first partial route from a connecting position of the non-working path and the second work route to a predetermined position on a second work route that is included in the target route and connects to the non-working path; An autonomous driving system equipped with

[0119] <Appendix 12> An automatic driving program that automatically drives a work vehicle equipped with a work implement that can be switched between a working posture that is a posture for performing a predetermined work and a non-working posture that is a posture for not performing the predetermined work in a work area, along a target route, setting the work implement in the working posture and causing the work vehicle to travel at a first traveling speed on a first work route included in the target route; setting the work implement in the non-working posture and causing the work vehicle to travel at a second traveling speed slower than the first traveling speed on a non-working route that is included in the target route and that is connected to the first work route; changing the work implement from the non-working posture to the working posture and causing the work vehicle to travel at a third traveling speed slower than the first traveling speed on a first partial route from a connecting position of the non-working path and the second working path to a predetermined position on a second working route that is included in the target route and that connects to the non-working path; An automated driving program for executing the above on one or more processors. [Explanation of symbols]

[0120] 1:Automated driving system 10: Work vehicle 11: Vehicle control device 14: Work equipment 20: Operation terminal 111: Travel processing unit (first travel processing unit, second travel processing unit, third travel processing unit) 112: Switching processing unit 211: Vehicle setting processing unit 212: Field setting processing unit 213: Work setting processing section 214: Route generation processing unit 215: Output processing section 216: Reception processing unit F: Field (working area) L1: Set distance P1: End position P2: End position (connection position) P3 :Predetermined position P4 :Predetermined position R: Target route R1: Straight path (work path) R1a: Partial path (first partial path) R1b: Subpath (second subpath) R1c: Subpath (third subpath) R2: Rotation path (non-work path)

Claims

1. An automatic driving method for automatically driving a work vehicle equipped with a work machine that can be switched between a working posture for performing a predetermined work and a non-working posture for not performing the predetermined work in a work area, along a target route, comprising: setting the work implement to the working posture on a first work path included in the target path; setting the work machine to the non-working posture on a non-working path that is included in the target path and that is connected to the first work path; changing the work machine from the non-working posture to the working posture while automatically traveling the work vehicle on a first partial route from a connecting position of the non-working path and the second working path to a predetermined position, of a second working path that is included in the target route and that is connected to the non-working path; An automated driving method that performs the above.

2. The work vehicle is caused to travel at a first travel speed on the first work route; causing the work vehicle to travel on the non-work route at a second traveling speed that is slower than the first traveling speed; The automatic driving method according to claim 1 .

3. The work vehicle is caused to travel at a first travel speed on the first work route; On the first partial route, the work vehicle is caused to travel at a third traveling speed that is slower than the first traveling speed. The automatic driving method according to claim 1 or 2.

4. On the first partial route, the work vehicle is caused to travel at a constant speed at the third traveling speed; On a second partial route of the second work route that follows the first partial route, the work vehicle is accelerated from the third traveling speed to the first traveling speed; the work vehicle is caused to travel at a constant speed at the first travel speed on a third partial route of the second work route that follows the second partial route; The automatic driving method according to claim 3.

5. The predetermined position is set at a position that is a preset distance away from the connection position. The automatic driving method according to any one of claims 1 to 4.

6. The work vehicle is caused to travel at the third travel speed until a predetermined time has elapsed since the work vehicle reached the connection position. The automatic driving method according to claim 3 or 4.

7. accepting an operation from a user to set the third traveling speed; The automatic driving method according to claim 3 or 4.

8. receiving an operation from a user to set the set distance; The automatic driving method according to claim 5.

9. setting the third traveling speed based on work machine information related to the work machine; The automatic driving method according to claim 3 or 4.

10. When the work vehicle reaches the connecting position, a posture change of the work machine from the non-working posture to the working posture is initiated, and when the work vehicle reaches the predetermined position, the work machine is set to the working posture. The automatic driving method according to any one of claims 1 to 9.

11. An automatic driving system that automatically drives a work vehicle equipped with a work machine that can be switched between a working posture that is a posture for performing a predetermined work and a non-working posture that is a posture for not performing the predetermined work in a work area along a target route, a first processing unit that sets the work implement to the working posture on a first work path included in the target path; a second processing unit that sets the working machine to the non-working posture on a non-working path that is included in the target path and that is connected to the first working path; a third processing unit that changes the work implement from the non-working posture to the working posture while automatically traveling the work vehicle on a first partial route from a connecting position of the non-working path and the second working path to a predetermined position, of a second working path that is included in the target route and that is connected to the non-working path; An autonomous driving system equipped with

12. An automatic driving program that automatically drives a work vehicle equipped with a work implement that can be switched between a working posture that is a posture for performing a predetermined work and a non-working posture that is a posture for not performing the predetermined work in a work area, along a target route, setting the work implement to the working posture on a first work path included in the target path; setting the work machine to the non-working posture on a non-working path that is included in the target path and that is connected to the first work path; changing the work machine from the non-working posture to the working posture while automatically traveling the work vehicle on a first partial route from a connecting position of the non-working path and the second working path to a predetermined position, of a second working path that is included in the target route and that is connected to the non-working path; An automated driving program for executing the above on one or more processors.

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