Automated driving method, automated driving program, automated driving system, and work vehicle

Abstract

To provide an automated travelling method, an automated travelling program, an automated travelling system, and a work vehicle in which work efficiency is hardly deteriorated.SOLUTION: An automated travelling method causes a spreader 1 to perform automated travelling according to a target route R10 in a farm field F1, executes temporary stop processing, and executes stop reservation processing. The temporary stop processing is the processing to stop the spreader 1 in situ in a mode that it can resume travelling when a temporary stop condition is satisfied while the spreader 1 is performing automated travelling. The stop reservation processing is the processing to stop the spreader 1 in a state that it can resume travelling after the spreader 1 has travelled when a stop reservation condition is satisfied while the spreader 1 is performing automated travelling.SELECTED DRAWING: Figure 13

Description

Technical Field

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

Background Art

[0002] As related art, an automatic driving system for automatically driving a work vehicle along a target route at a work site has been proposed (see, for example, Patent Document 1). According to the automatic driving system according to the related art, the work vehicle automatically drives in a predetermined column order while performing predetermined work on work objects arranged in a plurality of columns at the work site. As the predetermined work, the work vehicle performs a spraying operation of spraying a spraying material such as a chemical solution or water on crops (work objects) planted in a field (work site).

[0003] In the above related art, at an operation terminal capable of communicating with the work vehicle via a communication network, it is possible to receive a work start instruction for the work vehicle, a travel stop instruction, etc. by an operator's operation. When a travel stop instruction is acquired from the operation terminal, the work vehicle stops automatic driving and stops the spraying operation. Thereby, the operator can stop the work vehicle at a location away from the work vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the aforementioned related technologies, if a stop command is received from the control terminal while a work vehicle is spraying chemicals or other materials within the work area of ​​a work site, the work vehicle will stop immediately. Therefore, for example, in order for an operator to approach the stopped work vehicle, it is necessary to enter the work area where the material has been sprayed, which may lead to a decrease in work efficiency, such as the need to take measures to prevent the operator from being exposed to the sprayed material.

[0006] The object of the present invention is to provide an automated driving method, an automated driving program, an automated driving system, and a work vehicle that do not easily reduce work efficiency. [Means for solving the problem]

[0007] An automated driving method according to one aspect of the present invention comprises: automatically driving a work vehicle according to a target route at a work site; performing a temporary stop process to stop the work vehicle in a manner that allows it to resume driving at the site when a temporary stop condition is met during the automated driving of the work vehicle; and performing a stop reservation process to stop the work vehicle in a manner that allows it to resume driving after it has been driven when a stop reservation condition is met during the automated driving of the work vehicle.

[0008] An automatic driving program according to one aspect of the present invention is an automatic driving program that causes one or more processors to execute the automatic driving method.

[0009] An automated driving system according to one aspect of the present invention includes an automated driving processing unit that causes a work vehicle to automatically drive along a target route in a work area. The automated driving processing unit is configured to perform a temporary stop process and a stop reservation process. The temporary stop process is a process that stops the work vehicle in a manner that allows it to resume driving by fulfilling a temporary stop condition while the work vehicle is automatically driving. The stop reservation process is a process that stops the work vehicle in a manner that allows it to resume driving after it has been driven by fulfilling a stop reservation condition while the work vehicle is automatically driving.

[0010] A work vehicle according to one aspect of the present invention comprises an automatic driving system and a driving unit controlled by the automatic driving system. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide an automated driving method, an automated driving program, an automated driving system, and a work vehicle that do not easily reduce work efficiency. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is an external view of the sprayer according to Embodiment 1, as seen from the left front side. [Figure 2] Figure 2 is a rear view of the sprayer according to Embodiment 1, as seen from the rear side. [Figure 3] Figure 3 shows an example of a crop row in which the sprayer according to Embodiment 1 is used. [Figure 4] Figure 4 is a schematic diagram showing the overall configuration of an automated work system using a sprayer according to Embodiment 1. [Figure 5] Figure 5 is a schematic block diagram showing the main configuration of the automated work system according to Embodiment 1. [Figure 6] Figure 6 is an external view of the left side of the sprayer according to Embodiment 1, as seen from the left side. [Figure 7] Figure 7 is an external view of the right side of the sprayer according to Embodiment 1, as seen from the right side. [Figure 8] Figure 8 is an external view of the top surface of the sprayer according to Embodiment 1, as seen from above. [Figure 9] Figure 9 is a rear view of the sprayer according to Embodiment 1, as seen from the rear side. [Figure 10] Figure 10 is a schematic diagram showing the sprayer according to Embodiment 1 as viewed from the rear at an oblique angle. [Figure 11] Figure 11 is an enlarged view of region Z1 in Figure 7, showing the external view of the manual operating device inside the outlet. [Figure 12] Figure 12 is a schematic diagram illustrating the operation of the automatic driving of the sprayer according to Embodiment 1. [Figure 13] FIG. 13 is a schematic diagram for explaining the operation related to the stop of the automatic traveling of the spraying machine according to Embodiment 1. [Figure 14] FIG. 14 is a schematic diagram for explaining the operation related to the reservation of the stop of the spraying machine according to Embodiment 1. [Figure 15] FIG. 15 is a schematic diagram for explaining the operation related to the reservation of the stop of the spraying machine according to Embodiment 1. [Figure 16] FIG. 16 is a flowchart showing an example of the process particularly related to the stop of the automatic traveling among the automatic traveling methods according to Embodiment 1. [Figure 17] FIG. 17 is a schematic diagram for explaining the operation when the spraying machine according to Embodiment 1 enters the working path.

MODE FOR CARRYING OUT THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are an example of embodying the present invention and are not intended to limit the technical scope of the present invention. [[ID=P23]]

[0014] (Embodiment 1) [1] Overall Configuration First, the overall configuration of the spraying machine 1 according to the present embodiment will be described with reference to FIGS. 1 to 5. In the present embodiment, the spraying machine 1 performs a spraying operation of spraying a spraying material such as a chemical solution, water, or fertilizer on the crop V1 (see FIG. 2) grown in the field F1. The spraying machine 1 is an example of a "working vehicle" that performs various operations while automatically traveling along a target path in a work area such as the field F1.

[0015] That is, the spraying machine 1 is a working vehicle capable of performing a spraying operation of spraying a spraying material such as a chemical solution, water, or fertilizer as an operation. The "working vehicle" referred to in the present disclosure includes, in addition to the spraying machine, working vehicles such as, for example, a tractor, a rice transplanter, a sprayer, a seeder, a transplanter, and a combine. Further, the "working vehicle" referred to in the present disclosure is not limited to agricultural machinery (agricultural machines), and may be, for example, construction machinery (construction machines).

[0016] In addition, the "field" as referred to in the present disclosure is an example of a work area where various operations such as spraying operations are performed while the spraying machine 1, which is a work vehicle, moves, and includes orchards, pastures, paddy fields, fields, etc. where agricultural products are grown. In this case, the crop V1 grown in the field F1 is an agricultural product. Further, when growing plants in a nursery, the nursery becomes the field F1, and when growing trees that become timber in a forest as in forestry, the forest becomes the field F1. In this case, the crop V1 grown in the field F1 is a plant or a tree, etc. However, the work area where the work vehicle performs work is not limited to the field F1 and may be outside the field F1. For example, if the work vehicle is a construction machine, the site where the construction machine performs work becomes the work area.

[0017] In this embodiment, as an example, the spraying machine 1 is a vehicle that sprays a chemical solution on the crop V1 grown in the field F1 while moving in the orchard field F1 such as a vineyard or an apple orchard. In this case, the chemical solution is an example of a sprayed material. Also, the crop V1 is an example of a spraying target object on which the sprayed material (chemical solution) is sprayed, and is, for example, a fruit tree of grapes. The crop V1 that is the spraying target object is also an example of a work target object that is the target of the work by the spraying machine 1 as a work vehicle. The "chemical solution" as the sprayed material here is an agricultural chemical used for improving agricultural efficiency or preserving agricultural products, and includes herbicides, fungicides, mildew-proof agents, insecticides, herbicides, rodenticides, growth promoters for the crop V1, germination inhibitors, and the like.

[0018] The crops V1 are arranged in a plurality of rows at a predetermined interval in the field F1. Specifically, as shown in FIG. 3, the plurality of crops V̅1 are planted in a straight line in the longitudinal direction A1 in a plan view. The plurality of crops V1 arranged in a straight line in the longitudinal direction A1 constitute a crop row Vr1. FIG. 3 illustrates three crop rows Vr1 each including six crops V1 arranged in the longitudinal direction A1. Each crop row Vr1 is arranged at a predetermined pitch W1 in the width direction A2. As a result, a working passage having a width W2 (<W1) corresponding to the interval between the crop rows Vr1 is formed between adjacent crop rows Vr1, and the spraying machine 1 sprays the sprayed material (chemical solution) on the crop V1 while moving (traveling) in the longitudinal direction A1 through this working passage.

[0019] As will be explained in more detail later, the sprayer 1 that travels across field F1 is equipped with a gate-shaped body 10. Specifically, the body 10 has a first block 10L and a second block 10R arranged side by side in the left-right direction D2, and a connecting part 10C that connects the upper ends of the first block 10L and the second block 10R. As a result, the body 10, with the first block 10L, the second block 10R and the connecting part 10C, forms a gate-shaped structure that surrounds space Sp1 on the left, right, and top. In other words, a space Sp1 that is open in the front-rear direction D3 is formed inside the body 10.

[0020] Furthermore, the sprayer 1 includes a running section 11 that includes a pair of crawlers 111L and 111R arranged in the left-right direction D2. The pair of crawlers 111L and 111R are located at the bottom of the first block 10L and the second block 10R, respectively, and are positioned on both sides in the left-right direction D2 with respect to the space Sp1.

[0021] As shown in Figure 2, the sprayer 1 can travel in a gantry-shaped configuration, straddling one crop row Vr1, and spraying the crop V1 of that crop row Vr1, as well as the crop V1 of adjacent crop rows Vr1. In other words, the sprayer 1 can travel in such a way that the crop V1, which is the target of spraying (the work target), passes through the space Sp1 inside the gantry-shaped configuration of the machine body 10. That is, as illustrated in Figure 2, if there are three crop rows Vr11, Vr12, and Vr13 arranged in the left-right direction D2, the sprayer 1 can travel straddling any of these three crop rows Vr11, Vr12, and Vr13 with its machine body 10.

[0022] If the machine 10 straddles the central crop row Vr12, the first block 10L travels along the work passage between the leftmost crop row Vr11 and crop row Vr12, and the second block 10R travels along the work passage between the rightmost crop row Vr13 and crop row Vr12. The sprayer 1 can then simultaneously spray the substance (chemical solution) onto crop V11 in crop row Vr11, crop V12 in crop row Vr12, and crop V13 in crop row Vr13. Thus, the sprayer 1 according to this embodiment can simultaneously spray the substance (chemical solution) onto three rows of target objects (crops V1) while traveling, resulting in better spraying efficiency compared to a configuration that sprays one row at a time.

[0023] Furthermore, in this embodiment, as an example, the sprayer 1 is an unmanned aircraft that operates automatically without human (operator) operation (including remote operation). Therefore, as shown in Figures 4 and 5, the sprayer 1, together with the first operation terminal 210, the second operation terminal 220, the server 201, the base station 202, and the satellite 203, constitutes the automated work system 200. In other words, the automated work system 200 includes the sprayer 1, the first operation terminal 210, the second operation terminal 220, the server 201, the base station 202, and the satellite 203. However, at least one of the first operation terminal 210, the second operation terminal 220, the server 201, the base station 202, and the satellite 203 does not have to be included as a component of the automated work system 200. For example, the automated work system 200 does not have to include the server 201, the base station 202, and the satellite 203.

[0024] The sprayer 1, the first operating terminal 210, the second operating terminal 220, and the server 201 are all able to communicate with each other. In this disclosure, "communicable" means that information can be exchanged directly or indirectly via a communication network N1 or a repeater, etc., using an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). For example, the sprayer 1 and the first operating terminal 210 can communicate via a communication network N1 such as the Internet, LAN (Local Area Network), WAN (Wide Area Network), public telephone line, mobile phone network, packet network, or wireless LAN. Here, the sprayer 1 and the first operating terminal 210 are each wirelessly connected to the communication network N1. Therefore, communication between the sprayer 1 and the first operating terminal 210 includes at least wireless communication. Furthermore, the server 201 can also communicate wirelessly with each of the sprayer 1 and the first operating terminal 210 via the communication network N1.

[0025] Satellite 203 is a positioning satellite that constitutes a satellite positioning system such as GNSS (Global Navigation Satellite System), and transmits GNSS signals (satellite signals). Base station 202 is a reference point (reference station) that constitutes a satellite positioning system. Base station 202 transmits correction information to the sprayer 1 to calculate the current position of the sprayer 1, etc.

[0026] The sprayer 1 according to this embodiment is equipped with a positioning device 2 that detects the current position (latitude, longitude, altitude, etc.) and current direction of the aircraft 10. The positioning device 2 uses GNSS signals transmitted from satellite 203 to perform positioning processing to determine (calculate) the current position and current direction of the aircraft 10. The positioning device 2 employs a relatively high-precision positioning method such as RTK (Real Time Kinematic) positioning, which performs positioning based on positioning information (GNSS signals, etc.) received by two receivers (base station 202 and antenna 21) and correction information generated by base station 202.

[0027] The first operating terminal 210 is a general-purpose information processing device that can be carried by the operator, such as a smartphone or tablet. The first operating terminal 210 is configured to enable remote control of the sprayer 1 by outputting (transmitting) a stop instruction (pause instruction) to the sprayer 1 in response to the operator's operation, which is at least a stop instruction to stop the automatic movement of the sprayer 1. Here, the first operating terminal 210 communicates wirelessly with the sprayer 1 via the communication network N1, so that the sprayer 1 can be controlled even at a distance from the sprayer 1, i.e., at a remote location in the field F1, as long as there is an environment where it can connect to (communicate with) the communication network N1.

[0028] As shown in Figure 5, the first operating terminal 210 includes a display unit 211 that displays various information and an operating unit 212 that receives operations. The display unit 211 includes, for example, a liquid crystal display or an organic EL display. The operating unit 212 includes, for example, a touch panel, physical switches, a mouse or a keyboard. In this embodiment, as an example, the display unit 211, which is a liquid crystal display, and the operating unit 212, which is a touch panel, are integrated to form a touch panel display. Therefore, the operator can operate the operating unit 212 on the operation screen displayed on the display unit 211 to output, for example, a stop command (pause command) to the sprayer 1 from the first operating terminal 210.

[0029] Furthermore, the first operating terminal 210 has a function for setting (registering) various information related to the control of the sprayer 1, such as the target route for the automatic operation of the sprayer 1. In other words, the operator can set the target route, etc., by operating the operating unit 212 on the operation screen displayed on the display unit 211. The information such as the target route set here is transmitted to the sprayer 1 directly or indirectly via the server 201, etc., and is used for the automatic operation of the sprayer 1.

[0030] Furthermore, the first operating terminal 210 can display various information related to the operation of the sprayer 1, such as the current position, current direction, and (spraying) work status of the sprayer 1, on the display unit 211 while the sprayer 1 is automatically traveling. For example, the first operating terminal 210 can display a monitoring screen on the display unit 211 that shows the current position of the sprayer 1 along with the target route on a map that simulates field F1, making it easier for the operator to visually grasp the status of the sprayer 1. Preferably, the monitoring screen also displays information such as the remaining amount of chemical solution to be sprayed, the remaining amount of fuel, and the remaining battery level.

[0031] The second operating terminal 220 is a dedicated wireless communication terminal that can be carried by the operator. The second operating terminal 220 is configured to enable remote control of the sprayer 1 by outputting (transmitting) a stop instruction (pause instruction) to the sprayer 1 in response to the operator's operation, thereby stopping the automatic movement of the sprayer 1. Here, the second operating terminal 220 is configured to communicate with the sprayer 1 via a separate communication system from the first operating terminal 210.

[0032] Specifically, the second operating terminal 220 communicates directly with the sprayer 1 wirelessly without going through the communication network N1, allowing the sprayer 1 to be operated from a distance, provided that the environment allows for connection (communication) with the sprayer 1. However, the range in which the second operating terminal 220 can connect with the sprayer 1 is limited to a range that is closer to the sprayer 1 compared to the first operating terminal 210, such as within or around field F1. Therefore, the operator can control the sprayer 1 by operating the second operating terminal 220, as long as the sprayer 1 is visible from that location.

[0033] As shown in Figures 4 and 5, the second operating terminal 220 includes a first operating unit 221, a second operating unit 222, and a third operating unit 223, each of which receives operations individually. Each of the first operating unit 221, the second operating unit 222, and the third operating unit 223 includes, for example, a physical switch, a touch panel, a mouse, or a keyboard. In this embodiment, as an example, the first operating unit 221, the second operating unit 222, and the third operating unit 223 are each composed of momentary push-button switches, which are physical switches (mechanical switches). Therefore, by operating each of the first operating unit 221, the second operating unit 222, and the third operating unit 223, the operator can output, for example, a stop instruction (temporary stop instruction and emergency stop instruction) to the sprayer 1 from the second operating terminal 220.

[0034] Here, the first operation unit 221, the second operation unit 222, and the third operation unit 223 are each assigned different functions. Therefore, depending on which of the first, second, or third operation units 221 the operator presses (operates), the second operation terminal 220 outputs (transmits) different instructions to the sprayer 1. Specifically, the first operation unit 221 is assigned to "pause," the second operation unit 222 to "emergency stop," and the third operation unit 223 to "start driving." For example, if the operator operates the first operation unit 221, the second operation terminal 220 outputs a pause instruction, which is a type of stop instruction to stop the automatic driving of the sprayer 1.

[0035] Thus, in this embodiment, the sprayer 1 is capable of wireless communication with a plurality of operating terminals, including at least a first operating terminal 210 and a second operating terminal 220, and is controlled according to instructions from each of these plurality of operating terminals. In other words, the first operating terminal 210 and the second operating terminal 220 each constitute a remote control device (remote controller) that can remotely control the sprayer 1, and the operator can stop the automatic operation of the sprayer 1 even when located away from the sprayer 1.

[0036] Server 201 is an information processing device such as a server. Server 201 transmits information such as the target route for automatic movement of the sprayer 1 to the sprayer 1.

[0037] Furthermore, in this embodiment, for the sake of explanation, as shown in Figure 1, the vertical direction when the sprayer 1 is in a usable state is defined as the up-down direction D1. In addition, the left-right direction D2 and the front-back direction D3 are defined based on the direction viewed from the center point of the sprayer 1 in a plan view. That is, when the sprayer 1 is moving forward, the direction of travel of the sprayer 1 is forward in the front-back direction D3, and when the sprayer 1 is moving backward, the direction of travel of the sprayer 1 is backward in the front-back direction D3. However, these directions are not intended to limit the direction of use (direction during use) of the sprayer 1.

[0038] [2] Details of the sprayer Next, the configuration of the sprayer 1 will be described in more detail with reference to Figures 1, 2, 5 to 11. Figure 1 is an external view of the sprayer 1 seen from the front left, and Figure 2 is an external view of the rear of the sprayer 1 seen from the rear side. Figure 5 is a schematic block diagram showing the main components of the sprayer 1. Figure 6 is an external view of the left side of the sprayer 1 seen from the left side, Figure 7 is an external view of the right side of the sprayer 1 seen from the right side, and Figure 8 is an external view of the top of the sprayer 1 seen from above. Figure 9 is an external view of the rear of the sprayer 1 seen from the rear side. Figure 10 is a schematic diagram showing the sprayer 1 seen from the diagonal rear, with a partially enlarged view inside the discharge port. Figure 11 is an enlarged view of area Z1 in Figure 7, with an external view of the manual operation device 8 inside the discharge port.

[0039] The sprayer 1 comprises a body 10, a travel unit 11, a support frame 3, and a spraying device 4. In this embodiment, as shown in Figure 5, the sprayer 1 further comprises a positioning device 2, a control device 7, a manual operation device 8, an airflow generating unit 5, a communication device 60, a user interface 61, an obstacle detection device 62, a power source 63, a tank 64 (see Figure 7), a display 65, and a sensor device 66, etc. The sprayer 1 also further comprises a fuel tank and a battery, etc. In this embodiment, the structure of the sprayer 1, such as the body 10 and the support frame 3, is basically made of metal, and the material is selected according to the required strength and weather resistance, etc. However, the structure of the sprayer 1 is not limited to metal, and for example, resin or wood may be used as appropriate.

[0040] The aircraft body 10 is the main body of the sprayer 1 and supports most of the components of the sprayer 1, such as the positioning device 2 and the support frame 3. The aircraft body 10 has a frame 101 (see Figure 2) and a cover 102. The frame 101 is a component that constitutes the skeleton of the aircraft body 10 and supports heavy objects such as the power source 63 and the tank 64. The cover 102 is a component that constitutes the outer shell of the aircraft body 10 and is attached to the frame 101 so as to cover the frame 101 and at least a portion of the components mounted on the frame 101. On the rear (back) and a portion of the right side of the aircraft body 10, the frame 101 is not covered by the cover 102 and the frame 101 is exposed. The cover 102 is divided into multiple parts, and these multiple parts are configured to be individually removable from the frame 101. Therefore, the cover 102 can be removed only in parts corresponding to certain devices (components), such as the power source 63, thereby exposing certain devices (components), such as the power source 63.

[0041] As described above, the aircraft body 10 has a first block 10L and a second block 10R arranged side by side in the left-right direction D2. The first block 10L and the second block 10R face each other in the left-right direction D2 with a distance of a certain value or more between them. In this embodiment, as an example, the first block 10L is located on the left side and the second block 10R is located on the right side. Therefore, the left side of the aircraft body 10 is composed of the first block 10L, and the right side of the aircraft body 10 is composed of the second block 10R. Furthermore, the aircraft body 10 has a connecting part 10C that connects the first block 10L and the second block 10R. In a front view (viewed from the front), the connecting part 10C has a length along the left-right direction D2, and the first block 10L and the second block 10R each have a length along the up-down direction D1.

[0042] Here, the connecting section 10C connects the upper ends of the first block 10L and the second block 10R. In other words, the first block 10L and the second block 10R each protrude downward from both ends (in the left-right direction D2) of the connecting section 10C. As a result, the aircraft body 10, with the first block 10L, the second block 10R and the connecting section 10C, forms a gate-like shape that is open to both sides in the front-rear direction D3 as well as downwards. Inside the aircraft body 10, a space Sp1 is formed that is enclosed on three sides by the first block 10L, the second block 10R and the connecting section 10C, and is open in the front-rear direction D3.

[0043] In short, as shown in Figure 2, the machine body 10 forms a space Sp1 between the first block 10L and the second block 10R through which the crop V1 (object to be worked on) that is the target of the spraying operation by the spraying device 4 (working unit) can pass. Specifically, the dimensions of each part of the machine body 10 are set so as to form a space Sp1 that is taller and wider than the standard size of the crop V1 that is the object to be sprayed. Therefore, if the crop V1 is of standard size, the machine body 10 can straddle the crop V1 and allow the crop V1 to pass through space Sp1 with a distance of a predetermined value or more so that the crop V1 does not come into contact with the machine body 10. While the crop V1 is passing through space Sp1, the first block 10L is located to the left of the crop V1, the second block 10R is located to the right of the crop V1, and the connecting part 10C is located above the crop V1.

[0044] More specifically, in this embodiment, the machine body 10 is configured to be substantially symmetrical in the left-right direction D2. The first block 10L and the second block 10R are formed in a rectangular shape that is substantially the same size and shape when viewed from the side. The first block 10L and the second block 10R each have a flattened shape in the left-right direction D2, where the dimension in the left-right direction D2 is the smallest among the vertical direction D1, left-right direction D2, and front-rear direction D3. Furthermore, the first block 10L and the second block 10R each have a tapered shape in the vertical direction D1, where the portion above the center is tapered, with the dimension in the left-right direction D2 decreasing towards the upper end. The connecting portion 10C is formed in a rectangular shape such that the dimension in the front-rear direction D3 is larger than the dimension in the left-right direction D2 when viewed from above. The connecting portion 10C has a flattened shape in the vertical direction D1, where the dimension in the vertical direction D1 is the smallest among the vertical direction D1, left-right direction D2, and front-rear direction D3.

[0045] Thus, the aircraft body 10 can be broadly divided into three parts (blocks): the first block 10L, the second block 10R, and the connecting section 10C. Each of the first block 10L, the second block 10R, and the connecting section 10C has a frame 101 and a cover 102. In other words, each of the first block 10L and the second block 10R has a frame 101 and a cover 102. Furthermore, most of the components of the sprayer 1, such as the positioning device 2 and the support frame 3, are distributed and provided in the first block 10L, the second block 10R, and the connecting section 10C.

[0046] The traveling unit 11 is a traveling device (vehicle body) that moves the sprayer 1, and is located at the bottom of the machine body 10. The traveling unit 11 allows the machine body 10 to move within the field F1 in the left-right direction D2 and the front-back direction D3 by traveling on the ground (including turning). With such a traveling unit 11 provided on the machine body 10, the sprayer 1 can perform work (spraying work) while moving within the field F1.

[0047] The running section 11 includes a pair of crawlers (tracks) 111L and 111R arranged in the left-right direction D2 (see Figure 1). The pair of crawlers 111L and 111R are positioned at a constant distance apart in the left-right direction D2, and a space Sp1 is formed between these two crawlers 111L and 111R for the crop V1, which is the target of spraying, to pass through. In other words, the left crawler 111L, located to the left of space Sp1, and the right crawler 111R, located to the right of space Sp1, face each other across space Sp1. When there is no particular distinction between the left crawler 111L and the right crawler 111R, each crawler 111L and 111R is simply called "crawler 111". The running section 11 is also equipped with a motor 112 (see Figure 1) that drives the crawlers 111. In other words, the running unit 11 is a crawler-type (continuous track type) running device that drives the spreader 1 by driving an endless strip-shaped crawler 111 with a motor 112.

[0048] Here, at least two motors 112 are provided, corresponding to a pair of crawlers 111L and 111R. The left motor 112 that drives the left crawler 111L and the right motor 112 that drives the right crawler 111R can individually drive the crawlers 111. In this embodiment, as an example, the motor 112 is a hydraulic motor (hydraulic actuator), and the crawler 111 is driven by hydraulic fluid supplied from a hydraulic pump. With this configuration, the machine 10 can travel relatively stably even when the road surface of field F1 is rough.

[0049] Here, the crawler 111 and motor 112 are located at the lower part of the first block 10L and the second block 10R, respectively. That is, the first block 10L has the left crawler 111L and the motor 112 that drives the crawler 111L, and the second block 10R has the right crawler 111R and the motor 112 that drives the crawler 111R. In this embodiment, the pair of crawlers 111L, 111R and the pair of motors 112 are configured to be substantially symmetrical in the left-right direction D2. In this way, because the pair of running parts 11 are arranged separated in the left-right direction D2 by the amount of space Sp1, the spreader 1 can travel in a relatively stable posture on various road surface conditions of the field F1, including slopes with a lateral incline where one of the left-right directions D2 is lower.

[0050] Here, the pair of crawlers 111L and 111R are driven by power from the power source 63 in a state where independent speed changes are possible using a hydrostatic continuously variable transmission. As a result, the machine body 10 moves in a forward state when the pair of crawlers 111L and 111R are driven at a constant speed in the forward direction, and moves in a reverse state when the pair of crawlers 111L and 111R are driven at a constant speed in the reverse direction. Furthermore, the machine body 10 moves in a forward-turning state when the pair of crawlers 111L and 111R are driven at an uneven speed in the forward direction, and moves in a reverse-turning state when the pair of crawlers 111L and 111R are driven at an uneven speed in the reverse direction, and moves in a reverse-turning state when the pair of crawlers 111L and 111R are driven at an uneven speed in the reverse direction. Furthermore, the machine 10 enters a pivot turn (pivot turn) state when one of the pair of crawlers 111L and 111R is deactivated while the other is activated, and enters a spin turn (super pivot turn) state when the pair of crawlers 111L and 111R are driven at equal speed in the forward and reverse directions. Also, the machine 10 enters a stop state when the pair of crawlers 111L and 111R are deactivated.

[0051] Furthermore, the first block 10L is equipped with a power source 63, etc., and the second block 10R is equipped with a tank 64, etc. In this way, the components of the sprayer 1 are distributed and arranged in the first block 10L and the second block 10R of the machine body 10, thereby achieving balance in the left-right direction D2 and lowering the center of gravity of the sprayer 1. As a result, the sprayer 1 can travel stably on slopes and other surfaces of the field F1.

[0052] As described above, positioning device 2 is a device that detects the current position and current bearing of the aircraft 10. Positioning device 2 has at least an antenna 21. Antenna 21 receives GNSS signals transmitted from satellite 203. In other words, antenna 21 includes a positioning antenna for determining the position of the aircraft 10. Here, antenna 21 is positioned on the top surface (ceiling) of the aircraft 10 to facilitate reception of signals (GNSS signals) from satellite 203. In other words, antenna 21 is positioned even higher than the highest point on the aircraft 10. Furthermore, positioning device 2 includes an attitude detection unit for detecting the attitude of the aircraft 10.

[0053] In this embodiment, the positioning device 2 has a second antenna, antenna 22, in addition to the first antenna, antenna 21. The positioning device 2 receives GNSS signals, etc., with each of these two antennas 21 and 22. Here, antenna 22 (second antenna) is arranged to be aligned with antenna 21 (first antenna) in the front-rear direction D3. As a result, the positioning device 2 can transmit and receive signals (GNSS signals, etc.) with each of the antennas 21 and 22. In particular, if antennas 21 and 22 are position-determining antennas, the current position can be determined at both the front and rear of the aircraft 10, making it possible to determine the orientation (current bearing) of the aircraft 10 as well.

[0054] The support frame 3 is attached to one end of the machine body 10 in the front-rear direction D3 and is a member that supports the spray nozzle 41 of the spraying device 4, which will be described later. In this embodiment, the support frame 3 is attached to the rear end of the machine body 10. The support frame 3, like the machine body 10, has a gate-like shape and is positioned to overlap with the machine body 10 when viewed from the rear. In other words, the support frame 3 has vertical frames 3L (first vertical frame) and vertical frame 3R (second vertical frame) arranged side by side in the left-right direction D2, and a horizontal frame 3C that connects the upper ends of the vertical frames 3L and 3R. As a result, the support frame 3, with the vertical frames 3L, 3R and 3C, forms a gate-like shape that surrounds the left, right and top sides of the space Sp1.

[0055] Specifically, the support frame 3 has vertical frames 3L and 3R arranged side by side in the left-right direction D2. Vertical frames 3L and 3R face each other in the left-right direction D2 with a distance of a certain value or more between them. In this embodiment, as an example, vertical frame 3L is located on the left side and vertical frame 3R is located on the right side. Therefore, vertical frame 3L is located behind the first block 10L of the aircraft body 10, and vertical frame 3R is located behind the second block 10R of the aircraft body 10. When viewed from the rear, the horizontal frame 3C has a length along the left-right direction D2, and vertical frames 3L and 3R each have a length along the up-down direction D1.

[0056] Here, the horizontal frame 3C connects the upper ends of the vertical frames 3L and 3R. In other words, the vertical frames 3L and 3R each protrude downward from both ends of the horizontal frame 3C (in the left-right direction D2). Thus, the support frame 3 includes a horizontal frame 3C that has length along the left-right direction D2, and a pair of vertical frames 3L and 3R that each have length along the up-down direction D1 and protrude downward from both ends of the horizontal frame 3C. As a result, the support frame 3, with its vertical frames 3L, 3R and horizontal frame 3C, forms a gate-like shape that is open on both sides in the front-rear direction D3 as well as downwards. Inside the support frame 3, a space Sp1 is formed that is enclosed on three sides by the vertical frames 3L, 3R and horizontal frame 3C and is open in the front-rear direction D3.

[0057] In short, as shown in Figure 2, the support frame 3 forms a space Sp1 between a pair of vertical frames 3L and 3R that allows the crop V1 (object to be worked on, object to be sprayed) to pass through the spraying device 4 (working unit). Specifically, the dimensions of each part of the support frame 3 are set to form a space Sp1 that is taller and wider than the standard size of the crop V1, which is the object to be sprayed. Therefore, for a crop V1 of standard size, the support frame 3 can straddle the crop V1, leaving a gap of a predetermined value or more so that the crop V1 does not come into contact with the support frame 3, and allowing the crop V1 to pass through the space Sp1. While the crop V1 is passing through the space Sp1, the vertical frame 3L is located to the left of the crop V1, the vertical frame 3R is located to the right of the crop V1, and the horizontal frame 3C is located above the crop V1.

[0058] More specifically, in this embodiment, the support frame 3 is configured to be substantially symmetrical in the left-right direction D2. The vertical frames 3L and 3R have a cylindrical shape with a circular cross-section. In this embodiment, as an example, the vertical frames 3L and 3R are each composed of two cylindrical members arranged side by side. The horizontal frame 3C has a rectangular tubular shape with a rectangular cross-section. Here, the vertical frames 3L and 3R are firmly fixed to the horizontal frame 3C by appropriate fixing means such as connecting fittings, bracing fittings, or welding. Therefore, the vertical frames 3L and 3R maintain a state perpendicular to the horizontal frame 3C. In other words, in a rear view, the corners between the vertical frame 3L and the horizontal frame 3C, and the corners between the vertical frame 3R and the horizontal frame 3C, are right angles.

[0059] Furthermore, in this embodiment, the support frame 3 is supported on the machine body 10 so as to be rotatable about a rotation axis Ax1 (see Figures 8 and 9) while maintaining the relative positional relationship between the pair of vertical frames 3L, 3R and the horizontal frame 3C. The rotation axis Ax1 is an axis that passes through a pivot point 31 provided on the horizontal frame 3C and is aligned in the front-rear direction D3. In other words, the support frame 3 that supports the work unit (spray nozzle 41) is supported on the machine body 10 so as to be rotatable about a rotation axis Ax1 aligned in the front-rear direction D3. Here, the term "rotation axis" in this disclosure means a virtual axis (straight line) that is the center of the rotational motion of the rotating body. In other words, the rotation axis Ax1 is a virtual axis without a physical body. However, the rotation axis Ax1 may be a physical member, such as a pivot pin.

[0060] The spraying device 4 has spraying nozzles 41, etc. The spraying device 4 performs the spraying operation by spraying the chemical solution, which is the spraying material stored in the tank 64, onto the crop V1, which is the target object. The spraying nozzles 41 are supported by the support frame 3 and are the parts that spray the material. In this embodiment, as an example, the spraying nozzles 41 are the discharge ports (spraying parts) that actually serve as the outlets for the spraying material (chemical solution). The spraying device 4 has a plurality of spraying nozzles 41 (in this embodiment, as an example, there are 12).

[0061] The spraying device 4 includes a spray nozzle 41, a spray pipe 42, a pump 43 (see Figure 7), a valve 44 (see Figure 7), and spraying piping, etc. The spray nozzle 41 is an example of a work unit that performs the work (spraying work) and is supported by a support frame 3. Since the support frame 3 is supported by the machine body 10, the spray nozzle 41 (work unit) is indirectly supported by the machine body 10. In this embodiment, the spray nozzle 41 is attached to the spray pipe 42. The spray pipe 42 is connected to the pump 43 via the valve 44 through the spraying piping. The pump 43 pumps the spray material (chemical solution) stored in the tank 64 into the spray pipe 42. The valve 44 is an electronically controlled valve unit such as an electromagnetic valve that changes the pressure (spray pressure) and spraying pattern when spraying the spray material. As a result, the chemical solution in the tank 64 is supplied by the pump 43 to the spray nozzle 41 via the valve 44 and spray pipe 42, and sprayed from the spray nozzle 41. Here, the chemical solution is discharged (sprayed) in a mist form from the spray nozzle 41.

[0062] More specifically, as shown in Figures 9 and 10, the spray pipes 42 are pipes having a length in the vertical direction D1, and two are attached to each of the vertical frames 3L and 3R of the support frame 3. In other words, in this embodiment, the spraying device 4 has a total of four spray pipes 42. The two (pair) spray pipes 42 attached to each of the vertical frames 3L and 3R are arranged side by side in the left-right direction D2. Each spray pipe 42 allows the chemical solution, which is injected from its upper end, to flow downward through the pipe and is discharged from three spray nozzles 41. Three spray nozzles 41 are attached to each spray pipe 42, so the spraying device 4 has a total of 12 spray nozzles 41.

[0063] Each spray nozzle 41 is mounted on the corresponding spray pipe 42 so as to be adjustable in the vertical direction D1. This allows each spray nozzle 41 to change its spacing from adjacent spray nozzles 41 and its height relative to the spray pipe 42 according to the object being sprayed (crop V1). Furthermore, each spray nozzle 41 is mounted so as to be adjustable in the vertical direction D1 and the horizontal direction D2, as well as its orientation (angle) relative to the machine body 10, according to the object being sprayed. However, in the spraying device 4, the number of spray nozzles 41 provided on each spray pipe 42 can be appropriately changed according to the type of object being sprayed (crop V1) or the length of each spray pipe 42.

[0064] The airflow generating unit 5 generates an airflow that transports the spray material (chemical solution) discharged from the spray nozzle 41. The airflow generating unit 5 is supported by the support frame 3 together with the spray nozzle 41. In other words, the sprayer 1 according to this embodiment is an air-assisted sprayer that sprays the spray material (chemical solution) using the airflow generated by the airflow generating unit 5. As a result, the sprayer 1 can efficiently spray the spray material (chemical solution) even on targets (crops V1) that are located relatively far from the spray nozzle 41.

[0065] The airflow generating unit 5 includes a duct 51 and a blower 52. The duct 51 forms a flow path through which air flows along the vertical direction D1. The blower 52 blows air into the duct 51. The airflow generating unit 5 generates an airflow from the air blown out of the outlet 511 (see Figure 10) formed in the duct 51. In short, the airflow generating unit 5 generates an airflow (flow of air) that flows outward from the outlet 511 by blowing the air that the blower 52 sends into the duct 51 through the flow path in the duct 51 and out of the outlet 511. With this configuration, a stable airflow can be generated over a relatively wide area. Furthermore, the airflow generating unit 5 can adjust the airflow volume by controlling the blower 52. By adjusting the airflow volume, the airflow generating unit 5 can adjust the transport distance of the sprayed material, and the greater the airflow volume, the further the sprayed material can be transported. Therefore, in the sprayer 1 according to this embodiment, the spraying range of the material sprayed by the spraying device 4 can be adjusted.

[0066] More specifically, the duct 51 is a pipe having a length in the vertical direction D1, and one duct 51 is attached to each of the vertical frames 3L and 3R of the support frame 3. In other words, in this embodiment, the airflow generating unit 5 has a total of two ducts 51. Each duct 51 has multiple outlet holes 511 formed on each of its left and right sides, arranged in a line along the vertical direction D1. Furthermore, two spraying pipes 42 of the spraying device 4 are fixed to the rear side of each duct 51.

[0067] Here, the duct 51, the two spray pipes 42 attached thereto, and the six spray nozzles 41 attached to these two spray pipes 42 are arranged symmetrically in the left-right direction D2. Of the two spray pipes 42, the three spray nozzles 41 on the left spray pipe 42 discharge the spray material (chemical solution) towards the left front, and the three spray nozzles 41 on the right spray pipe 42 discharge the spray material (chemical solution) towards the right front. Therefore, the mist spray material discharged from the left spray nozzles 41 is carried to the left by the airflow blown out to the left from the duct 51, and the mist spray material discharged from the right spray nozzles 41 is carried to the right by the airflow blown out to the right from the duct 51.

[0068] Therefore, of the multiple (12) spray nozzles 41, the three spray nozzles 41 located on the leftmost spray pipe 42 spray the chemical solution to the left toward the crop V1 located to the left outside of the machine body 10. Of the multiple spray nozzles 41, the three spray nozzles 41 located on the left inner spray pipe 42 adjacent to the leftmost spray pipe 42 spray the chemical solution to the right toward the crop V1 located in the inner space Sp1 of the machine body 10. Of the multiple spray nozzles 41, the three spray nozzles 41 located on the rightmost spray pipe 42 spray the chemical solution to the right toward the crop V1 located to the right outside of the machine body 10. Of the multiple spray nozzles 41, the three spray nozzles 41 located on the right inner spray pipe 42 adjacent to the rightmost spray pipe 42 spray the chemical solution to the left toward the crop V1 located in the inner space Sp1 of the machine body 10.

[0069] With the above configuration, in the spraying device 4, the two spray pipes 42 and six spray nozzles 41 provided on the vertical frame 3L of the support frame 3 function as the left spraying unit. In addition, the two spray pipes 42 and six spray nozzles 41 provided on the vertical frame 3R of the support frame 3 function as the right spraying unit. The pair of left and right spraying units are positioned at the rear of the machine body 10, with a gap (space Sp1) between them that allows crops V1 to pass through, enabling spraying in the left-right direction D2.

[0070] Furthermore, the spraying device 4 has multiple (12) spray nozzles 41 divided into multiple systems, and each system is configured to be controllable. In this embodiment, as an example, the six spray nozzles 41 provided in the two inner spraying pipes 42 in the left-right direction D2 of the four spraying pipes 42 are classified as the first system, the three spray nozzles 41 provided in the leftmost spraying pipe 42 are classified as the second system, and the three spray nozzles 41 provided in the rightmost spraying pipe 42 are classified as the third system. Therefore, the spraying patterns of the spraying device 4 include a full spraying pattern in which the spraying material (chemical solution) is sprayed from all spraying nozzles 41, and a limited spraying pattern in which the spraying direction is limited. The limited spraying patterns include a first spraying pattern that sprays only the six spray nozzles 41 of the first system, a second spraying pattern that sprays only the three spray nozzles 41 of the second system, and a third spraying pattern that sprays only the three spray nozzles 41 of the third system. Furthermore, the limited spraying patterns include a fourth spraying pattern that sprays only the nine spray nozzles 41 of the first and second systems, a fifth spraying pattern that sprays only the nine spray nozzles 41 of the first and third systems, and a sixth spraying pattern that sprays only the six spray nozzles 41 of the second and third systems.

[0071] The spraying device 4 is controlled by the control device 7, and the above-mentioned multiple spraying patterns (a total of 6 patterns: the full spraying pattern and 6 limited spraying patterns) are switched as appropriate. At least one valve 44 of the spraying device 4 is provided for each system of multiple spraying nozzles 41, and in this embodiment, three valves 44 are provided to correspond to three systems (the first system, the second system, and the third system). These multiple (in this case, three) valves 44 are individually controlled by the control device 7 to change the spraying pattern. In addition, the spraying device 4 can also change the spraying range of the sprayed material by changing the pressure (spray pressure) when spraying the material for each system. Furthermore, in this embodiment, the spraying range of the sprayed material can also be adjusted by adjusting the airflow rate of the airflow generating unit 5, so a wider variety of spraying ranges can be achieved depending on the target object (crop V1) or the sprayed material (chemical solution).

[0072] Incidentally, in this embodiment, as described above, the support frame 3 is not fixed relative to the machine body 10, but is configured to be rotatable around the rotation axis Ax1. As the support frame 3 rotates, the multiple spray nozzles 41 supported by the support frame 3 also rotate around the rotation axis Ax1.

[0073] Furthermore, the sprayer 1 according to this embodiment does not have an actuator or the like to actively rotate the support frame 3. Therefore, the support frame 3 will only rotate when an external force acts on it. For example, when the machine 10 travels on a laterally inclined slope, the support frame 3 rotates due to its own weight, that is, gravity acting on it. Here, if the support frame 3 and the components supported by the support frame 3 (spray nozzle 41, spray pipe 42, and airflow generating unit 5, etc.) have a weight balance that is symmetrical in the left-right direction D2, the support frame 3 will be maintained in a neutral position as long as the machine 10 is kept horizontal.

[0074] As described above, the rotatable support frame 3 makes it less likely for uneven application of the spraying material (chemical solution) by the spray nozzle 41 to occur when the machine 10 is traveling on a laterally inclined slope, for example, because the support frame 3 rotates. In short, if the support frame 3 were fixedly supported by the machine 10, the machine 10 might tilt when traveling on a laterally inclined slope. In this case, for crops V1 (objects to be sprayed) that extend straight vertically from the ground (field F1), the distance from the spray nozzle 41 will differ between the upper and lower parts, which may result in uneven application of the spraying material. In contrast, in the sprayer 1 according to this embodiment, the support frame 3 rotates, allowing the support frame 3 and the spray nozzle 41 supported by the support frame 3 to maintain the same posture as when traveling on a horizontal plane. Therefore, even with crops V1 (target of spraying) that extend straight vertically from the ground (field F1), the distance from the spray nozzle 41 to the upper and lower parts of the crop becomes less likely to vary, making it easier to suppress unevenness in the amount of sprayed material.

[0075] As shown in Figure 5, the communication device 60 includes a first communication unit 601 and a second communication unit 602. The first communication unit 601 and the second communication unit 602 can each operate independently and communicate using different protocols, serving as communication interfaces for performing data communication with external devices such as the server 201, the first operation terminal 210, and the second operation terminal 220 according to a predetermined communication protocol. In other words, the communication device 60 is configured to enable communication on multiple communication channels (frequency bands, etc.), including communication by the first communication unit 601 and communication by the second communication unit 602.

[0076] The first communication unit 601, for example, employs wireless communication using 2.4GHz band radio waves compliant with standards such as Wi-Fi (registered trademark) as the communication medium in order to transmit and receive large amounts of data, such as image data, at high speed. The first communication unit 601 can connect to the communication network N1 via wireless communication. Therefore, the first communication unit 601 can communicate with the first operating terminal 210 and the server 201, etc., via the communication network N1. Here, the first communication unit 601 is capable of bidirectional communication with at least the first operating terminal 210 and the server 201, etc.

[0077] The second communication unit 602, in order to handle the transmission and reception of smaller amounts of data compared to the first communication unit 601, employs wireless communication using radio waves in the 400MHz or 920MHz band as the communication medium, for example, in accordance with standards such as low-power radio (specified low-power radio) that do not require a license. The second communication unit 602 can connect to the second operating terminal 220 via wireless communication. Therefore, the second communication unit 602 can communicate directly with the second operating terminal 220. Here, the second communication unit 602 is capable of bidirectional communication with at least the second operating terminal 220.

[0078] The user interface 61 is a device that performs at least one of the following: outputting information to the user and receiving operations. Here, as shown in Figure 7, the user interface 61 has a display unit 611, such as a liquid crystal display or an organic EL display, which displays various information, and an operation unit 612, such as a touch panel, knob, or push-button switch, which receives operations. An operator, which is an example of a user, can perform various settings by operating the operation unit 612 according to the operation screen displayed on the display unit 611. Specifically, the operator operates the operation unit 612 of the user interface 61 to set the operating conditions of the spraying device 4. An example of the operating conditions of the spraying device 4 is the pressure (injection pressure) and flow rate when spraying material from the spraying nozzle 41.

[0079] The obstacle detection device 62 includes a first sensor 621, a second sensor 622, a third sensor 623, and a fourth sensor 624. The first to fourth sensors 624 are all positioned facing forward of the aircraft body 10. The first sensor 621 is positioned at the left front end of the upper surface of the aircraft body 10, the second sensor 622 is positioned at the right front end of the upper surface of the aircraft body 10, the third sensor 623 is positioned at the front of the first block 10L, and the fourth sensor 624 is positioned at the front of the second block 10R. The obstacle detection device 62 also includes a fifth sensor 625 (see Figure 6) and a sixth sensor 626 (see Figure 7). The fifth sensor 625 and the sixth sensor 626 are both positioned facing rearward of the aircraft body 10. The fifth sensor 625 is mounted on the vertical frame 3L, and the sixth sensor 626 is mounted on the vertical frame 3R.

[0080] Each of the first to sixth sensors 621 to 626 includes, for example, an image sensor (camera), a sonar sensor, radar, or LiDAR (Light Detection and Ranging), and detects the surrounding conditions of the aircraft 10. In this embodiment, as an example, each of the first to sixth sensors 626 is a three-dimensional sensor that measures the distance to each distance measurement point (object to be measured) within the measurement range using the TOF (Time Of Flight) method, which measures the distance to the distance measurement point based on the round-trip time it takes for light or sound to reach the distance measurement point and return. The surrounding conditions of the aircraft 10 include, for example, the presence or absence of objects (obstacles, etc.) in front of the aircraft 10 in the direction of travel, and the position (distance and direction) of the objects.

[0081] Furthermore, the obstacle detection device 62 also includes a front contact sensor 627 and a rear contact sensor 628. The front contact sensors 627 are arranged in pairs on the left and right sides at the front of the aircraft body 10, and the rear contact sensors 628 are arranged in pairs on the left and right sides at the rear of the aircraft body 10. Each of the front contact sensors 627 and the rear contact sensors 628 detects an obstacle when it comes into contact with it. When an obstacle is detected, each sensor transmits a detection signal to the control device 7.

[0082] The power source 63 is a drive source that supplies power to at least the running unit 11. The power source 63 has an engine, such as a diesel engine. The power source 63 drives a hydraulic pump and drives the running unit 11 by supplying hydraulic fluid from the hydraulic pump to the motor 112, etc. of the running unit 11. Electronic devices such as the positioning device 2, control device 7 and communication device 60 are connected to a battery and can operate even when the power source 63 is stopped.

[0083] Tank 64 stores the spraying material, such as chemical solution. The spraying material stored in Tank 64 is supplied to the spraying device 4 and sprayed from the spraying nozzle 41 of the spraying device 4. The chemical solution, which is the spraying material, can be replenished in Tank 64 from the outside. The capacity of Tank 64 is approximately 200L, for example.

[0084] The display unit 65 is located on the upper surface of the machine body 10. For example, the display unit 65 is formed in a cylindrical shape with a length in the vertical direction D1. The display unit 65 changes its illumination state according to the operating status of the sprayer 1 (such as its driving status and the status of its spraying work). This makes the operating status of the sprayer 1 visible even from the surrounding area.

[0085] The sensor device 66 includes, for example, a remaining amount sensor that detects the remaining amount of chemical solution to be sprayed and the remaining amount of fuel. As an example, the sensor device 66 detects the remaining amount of chemical solution from the amount of chemical solution in the tank 64. Similarly, the sensor device 66 detects the remaining amount of fuel from the amount of fuel in the fuel tank.

[0086] The control device 7 primarily consists of a computer system having, for example, one or more processors such as a CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory), and performs various processes (information processing). In this embodiment, the control device 7 is an integrated controller that controls the entire sprayer 1, and consists of, for example, an electronic control unit (ECU). However, the control device 7 may be provided separately from the integrated controller, or it may primarily consist of one processor or multiple processors.

[0087] As shown in Figure 5, the control device 7 includes an acquisition processing unit 71, an automatic driving processing unit 72, a manual driving processing unit 73, a notification processing unit 74, an output processing unit 75, and a dispensing processing unit 76. In this embodiment, as an example, the control device 7 mainly consists of a computer system having one or more processors, so these multiple functional units (acquisition processing unit 71, etc.) are realized by one or more processors executing a control program. These multiple functional units included in the control device 7 may be distributed across multiple housings or may be provided in a single housing.

[0088] The control device 7 is configured to communicate with devices provided on various parts of the aircraft body 10. Specifically, the control device 7 is connected to at least the driving unit 11, positioning device 2, spraying device 4, airflow generating unit 5, communication device 60, user interface 61, obstacle detection device 62, power source 63, and display 65. This allows the control device 7 to control the driving unit 11 and spraying device 4, and to acquire electrical signals from the positioning device 2, communication device 60, and obstacle detection device 62. The control device 7 may exchange various types of information (data) directly with each device, or indirectly via a relay or the like.

[0089] In addition to the above-mentioned functional units, the control device 7 further includes an engine control unit and an HST (Hydro-Static Transmission) control unit that controls the hydrostatic continuously variable transmission. The engine control unit controls the engine (power source 63). The HST control unit controls the hydrostatic continuously variable transmission.

[0090] The acquisition processing unit 71 performs an acquisition process to acquire electrical signals (including data) from each device. In this embodiment, the acquisition processing unit 71 acquires operation signals such as stop instructions from at least the first operation terminal 210 and the second operation terminal 220. Furthermore, the acquisition processing unit 71 acquires operation signals from the manual operation device 8, which will be described later. As a result, the control device 7 can acquire operation signals corresponding to the operations of the first operation terminal 210, the second operation terminal 220, and the manual operation device 8 at the acquisition processing unit 71. Furthermore, the acquisition processing unit 71 acquires information (data) such as the remaining amount of chemical solution to be sprayed and the remaining amount of fuel from the sensor device 66.

[0091] The automatic driving processing unit 72 automatically drives the machine 10 along the target path in field F1 based on positioning information acquired from the positioning device 2. Specifically, the automatic driving processing unit 72 automatically drives the driving unit 11 along the target path based on positioning information, including the position and orientation of the machine 10, which is measured by the positioning device 2. For example, when the positioning information becomes capable of RTK positioning and the operator operates (for example, long-presses) the third operation unit 223 of the second operation terminal 220, the second operation terminal 220 outputs a driving start instruction (work start instruction) to the sprayer 1. When the automatic driving processing unit 72 receives the driving start instruction from the second operation terminal 220, it starts the automatic driving of the sprayer 1 based on the positioning information of the machine 10, which is measured by the positioning device 2. As a result, the sprayer 1 starts to drive automatically along the target path and starts the spraying operation by the spraying device 4.

[0092] The manual driving processing unit 73 executes a driving control process that controls the driving unit 11 according to the operation signals from the manual operating device 8 acquired by the acquisition processing unit 71. In other words, the control device 7 controls the driving unit 11 with the manual driving processing unit 73, thereby controlling the driving unit 11 in response to the operation of the manual operating device 8 by the operator, and thus enabling manual operation of the driving unit 11.

[0093] The notification processing unit 74 controls the display unit 65 and the sound output unit, etc., to perform notification processing. For example, the notification processing unit 74 changes the lighting state of the display unit 65 according to the operating state of the sprayer 1 (driving state, spraying work execution state, etc.), thereby providing notification to people around the sprayer 1 according to the operating state of the sprayer 1.

[0094] The output processing unit 75 performs output processing to output information to the first operation terminal 210, etc. For example, by outputting various information to the first operation terminal 210, the output processing unit 75 can cause various information to be displayed on the display unit 211 of the first operation terminal 210.

[0095] The spraying processing unit 76 performs spraying control processing related to the operation (spraying work) of the spraying device 4 and the airflow generating unit 5. Specifically, when the sprayer 1 starts automatic driving at the work start position, the spraying processing unit 76 outputs a switching signal to the spraying device 4 to switch the spraying pattern based on control information included in a predetermined target path. When the spraying device 4 receives the switching signal, it performs the spraying work with the predetermined spraying pattern.

[0096] The manual control device 8 is a device for manually controlling the sprayer 1. The sprayer 1 receives the operation signals output by the manual control device 8 in response to the operator's actions via the control device 7 (acquisition processing unit 71).

[0097] In this embodiment, the manual control device 8 is connected to the control device 7 of the sprayer 1 by a cable of sufficient length, and communicates with the control device 7 via wired connection. Therefore, the operator can manually operate the sprayer 1 using the manual control device 8 without boarding the sprayer 1's body 10, for example, while standing around the body 10. Here, the manual control device 8 may also communicate with the sprayer 1 (control device 7) by wireless communication using radio waves or light, and even in this case, the operator can manually operate the sprayer 1 using the manual control device 8 from outside the body 10. In short, the manual control device 8 can be operated from outside the body 10. Therefore, for example, when loading or unloading the sprayer 1 onto a transport vehicle, the operator can manually operate the sprayer 1 from a safe location outside the body 10.

[0098] Furthermore, in this embodiment, as shown in Figure 11, the machine body 10 is provided with a storage compartment 80 capable of housing the manual control device 8. The automatic driving processing unit 72 of the control device 7 starts the automatic driving of the sprayer 1 (work vehicle) only when the manual control device 8 is stored in the storage compartment 80. In other words, when the manual control device 8 is not in use, such as when the sprayer 1 is in automatic driving mode, it is possible to store the manual control device 8 in the storage compartment 80 of the machine body 10, which helps prevent the loss of the manual control device 8. Also, since the sprayer 1 will not start automatic driving when the manual control device 8 is not stored in the storage compartment 80, it is possible to instill in the operator the habit of storing the manual control device 8 in the storage compartment 80 of the machine body 10 when not in use.

[0099] Specifically, the storage compartment 80 is located on the second block 10R side, just like the user interface 61. The user interface 61 includes an operation unit 612 that accepts operations for adjustments related to the work (spraying work), and a display unit 611 that displays information related to the operation. For example, the display unit 611, which is made of liquid crystal display, is located near the front end on the outer surface (right side) of the second block 10R, and below the display unit 611 are knobs or push-button switches, etc., which serve as the operation unit 612. The storage compartment 80 is located further below the operation unit 612 on the outer surface (right side) of the second block 10R. The storage compartment 80 consists of a recess large enough to house the manual operating device 8.

[0100] Inside the storage compartment 80, there is a contact-type or non-contact-type sensor (including a switch), and the sensor detects whether or not the manual operating device 8 is stored in the storage compartment 80. The detection result of the sensor is acquired by the control device 7 (specifically, the acquisition processing unit 71). The automatic driving processing unit 72 starts the automatic driving of the sprayer 1 only when the detection result of the sensor indicates that the manual operating device 8 is stored in the storage compartment 80, and when it receives a driving start instruction from the second operation terminal 220. In other words, if the detection result of the sensor indicates that the manual operating device 8 is not stored in the storage compartment 80, the automatic driving processing unit 72 will not start the automatic driving of the sprayer 1, even if it receives a driving start instruction from the second operation terminal 220.

[0101] As shown in Figure 5, the manual operation device 8 includes a first travel operation unit 81, a second travel operation unit 82, a switching operation unit 83, and an indicator light 84. In this embodiment, as an example, as shown in the outlet of Figure 11, the first travel operation unit 81, the second travel operation unit 82, and the switching operation unit 83 each consist of various types of mechanical switches such as lever switches, slide switches, joysticks, seesaw switches, or push-button switches. The manual operation device 8 has a circuit board inside and, upon receiving an operation from the operator to the first travel operation unit 81, the second travel operation unit 82, or the switching operation unit 83, outputs an operation signal (electrical signal) corresponding to that operation. For example, when the operator operates the first travel operation unit 81 upward, the manual operation device 8 outputs an operation signal indicating that the first travel operation unit 81 has been operated upward.

[0102] The first travel control unit 81, the second travel control unit 82, and the switching control unit 83 are each assigned the following operations: The first travel control unit 81, which consists of a lever switch that can be operated vertically (up and down) from the operator's perspective, is assigned the operation to move the machine 10 forward and backward. The second travel control unit 82, which consists of a lever switch that can be operated horizontally (left and right) from the operator's perspective, is assigned the operation to turn the machine 10 left and right. The switching control unit 83, which consists of a push-button switch, is assigned the operation to activate the manual travel mode, which allows the travel unit 11 to be manually driven. The indicator light 84 is, for example, an LED and lights up when the manual travel mode is enabled.

[0103] In this embodiment, both the first travel control unit 81 and the second travel control unit 82 are lever-type (stick-type) operating devices. For example, the first travel control unit 81 can accept operations to move between the "neutral position" and the "forward position," or between the "neutral position" and the "reverse position." Similarly, the second travel control unit 82 can accept operations to move between the "neutral position" and the "right turn position," or between the "neutral position" and the "left turn position." Here, the "neutral position" is the neutral position, and when the operator is not touching the first travel control unit 81 and the second travel control unit 82, both the first travel control unit 81 and the second travel control unit 82 return to the "neutral position." The "forward position" of the first travel control unit 81 is the upper limit of movement as seen from the operator, and the "reverse position" is the lower limit of movement as seen from the operator. The "right turn position" of the second travel control unit 82 is the limit of movement on the right side as viewed from the operator, and the "left turn position" is the limit of movement on the left side as viewed from the operator. Therefore, when the manual control device 8 receives an operation from the operator that involves moving the first travel control unit 81 from the "neutral position" to the "forward position" side (i.e., upward), it outputs an operation signal corresponding to the amount of that operation (amount of movement of the first travel control unit 81).

[0104] [3] Automatic driving method The following describes the control method for the automatic driving of the work vehicle (sprayer 1), which is mainly performed by the control device 7, with reference to Figures 12 to 17.

[0105] The automatic driving method according to this embodiment is executed by a control device 7, which mainly consists of a computer system; in other words, it is embodied in an automatic driving program for the work vehicle (spreader 1) (hereinafter simply referred to as the "automatic driving program"). That is, the automatic driving program according to this embodiment is a computer program that causes one or more processors to execute each process related to the automatic driving method. Such an automatic driving program may be executed in cooperation with, for example, the control device 7 and the first operation terminal 210.

[0106] The control device 7, which executes the automatic driving method, together with the positioning device 2 and the communication device 60, as shown in Figure 5, constitutes the automatic driving system 100. The automatic driving system 100 is a system that executes processing related to the automatic driving of the work vehicle (spreader 1). In other words, the automatic driving system 100 according to this embodiment includes a control device 7 including an automatic driving processing unit 72, a positioning device 2, and a communication device 60. However, at least one of the positioning device 2 and the communication device 60 does not have to be included as a component of the automatic driving system 100; for example, the automatic driving system 100 does not have to include the positioning device 2.

[0107] As described above, the automatic driving system 100 according to this embodiment includes at least an automatic driving processing unit 72 (of the control device 7). The automatic driving processing unit 72 controls the driving unit 11 to automatically drive the work vehicle (spreader 1) according to a target route in the work area (field F1). The control device 7 is mounted on the body 10 of the spreader 1 and is part of the components of the spreader 1. Therefore, the automatic driving system 100, together with the driving unit 11 and the spreading device 4, etc., constitutes the spreader 1 as a work vehicle. In other words, the work vehicle (spreader 1) according to this embodiment includes an automatic driving system 100 and a driving unit 11 controlled by the automatic driving system 100.

[0108] [3.1] Basic operation First, we will explain the basic operation when the sprayer 1, as a work vehicle, automatically travels within the field F1, which is the work area, by executing the automatic driving processing unit 72.

[0109] The automatic driving processing unit 72 starts the automatic driving of the sprayer 1 when the acquisition processing unit 71 acquires an automatic driving start instruction while the predetermined automatic driving conditions are met. The automatic driving conditions include, for example, that the target route R10 (see Figure 12) is set, that the key switch (engine key switch) for starting the engine (power source 63) of the sprayer 1 is in the ON state, and that the sprayer 1 is positioned at the work start position Ps1 (see Figure 12). That is, when the target route R10 is set and the engine is running, the automatic driving conditions are met when the sprayer 1 is moved to the work start position Ps1 of the target route R10 by manual operation using the manual operation device 8. In this state, for example, when an operator operates the third operation unit 223 of the second operation terminal 220 and an automatic driving start instruction is output from the second operation terminal 220 to the sprayer 1, the automatic driving processing unit 72 starts the automatic driving of the sprayer 1.

[0110] Here, as an example, we assume that field F1, which has seven crop rows Vr11 to Vr17 as shown in Figure 12, is the work area. This field F1 includes a work area F11 (shaded area in Figure 12) where crop rows Vr11 to Vr17 are formed, and a non-work area F12 which is a headland area formed around the work area F11 so as to surround the work area F11. The work area F11 is the area of ​​field F1 where spraying work is performed by the sprayer 1. The non-work area F12 is the area where spraying work is not performed by the sprayer 1. In other words, the work area (field F1) includes a work area F11 where work is performed by the work vehicle (sprayer 1) and a non-work area F12 where work is not performed by the work vehicle (sprayer 1).

[0111] The sprayer 1 can then automatically travel (autonomously) through such a field F1 along a pre-set target path R10. For example, the sprayer 1 automatically travels along the target path R10, which includes multiple work paths R1 and multiple movement paths R2, from the work start position Ps1 to the work end position Pg1. Each of the multiple work paths R1 is a straight path in which the sprayer 1 performs work (spraying) on ​​the target object (target object) crop V1, and each of the multiple movement paths R2 is a path (non-work path) in which the sprayer 1 moves between crop rows Vr1 without performing spraying work, and may include turning paths and straight paths.

[0112] In the example in Figure 12, the target path R10 includes four work paths R11 to R14, each formed along the longitudinal direction A1, which is the longitudinal direction of the crop row Vr1 (i.e., the direction in which multiple crops V1 are lined up) within the work area F11. Here, as an example, work path R11 is set on crop row Vr11, work path R12 is set on crop row Vr13, work path R13 is set on crop row Vr15, and work path R14 is set on crop row Vr17. The travel path R2 is formed in the non-work area F12, located on both sides of the longitudinal direction A1 as viewed from the work area F11, to connect the work paths R11 to R14 that are adjacent in the width direction A2. In other words, basically, of the target path R10, work path R1 is formed in the work area F11 of the work site (field F1), and travel path R2 is formed in the non-work area F12.

[0113] According to the target path R10 described above, the sprayer 1 travels from the work start position Ps1 along the work path R11 in the direction of one side of the vertical direction A1 (upwards in Figure 12), and then travels along the movement path R2 in the non-working area F12 towards the start of the next work path R12. Then, the sprayer 1 travels along the work path R12 in the direction of the other side of the vertical direction A1 (downwards in Figure 12), and then travels along the movement path R2 in the non-working area F12 towards the start of the next work path R13. Then, the sprayer 1 travels along the work path R13 in the direction of one side of the vertical direction A1, and then travels along the movement path R2 in the non-working area F12 towards the start of the next work path R14. Finally, the sprayer 1 travels along the work path R14 in the direction of the other side of the vertical direction A1 to the work end position Pg1.

[0114] Here, the current position of the sprayer 1 is determined by the position of the antenna 21 located at the center of the left-right direction D2 at the rear of the machine body 10 in a plan view. Therefore, when the sprayer 1 automatically travels along the target path R10, the center of the left-right direction D2 at the rear of the machine body 10 will pass over the target path R10. Furthermore, as described above, the sprayer 1 travels in a gantry-type machine body 10 straddling one crop row Vr1, and sprays the material (chemical solution) onto the crops V1 of this crop row Vr1 and the crops V1 of adjacent crop rows Vr1.

[0115] Therefore, for example, as shown in Figure 12, when the sprayer 1 is traveling along the work path R13 set on the crop row Vr15, the machine body 10 travels across the crop row Vr15. At this time, the first block 10L travels along the work passage between crop row Vr14 and crop row Vr15, and the second block 10R travels along the work passage between crop row Vr15 and crop row Vr16. Furthermore, at this time, the sprayer 1 can simultaneously spray the crop V1 of crop row Vr15, the crop V1 of crop row Vr14 located on the left, and the crop V1 of crop row Vr16 located on the right.

[0116] Furthermore, the sprayer 1 automatically travels in a predetermined row order. In the example shown in Figure 12, the work path R1 is set to alternate rows in the order of the crop rows Vr1, such as Vr11, Vr13, Vr15, and Vr17. Therefore, the sprayer 1 automatically travels through multiple crop rows Vr1, alternating between rows. While traveling through multiple crop rows Vr1, the sprayer 1 simultaneously sprays the target material (chemical solution) on three adjacent rows of target objects (crops V1) in the width direction A2, thereby enabling spraying of all target objects. However, this setting of the work path R1 is merely an example; the sprayer 1 may travel through one row at a time in the order of the crop rows Vr1, or it may travel through multiple rows at a time.

[0117] Here, sprayer 1 performs spraying while traveling along work path R1, and does not perform spraying while traveling along travel path R2. Therefore, sprayer 1 starts spraying when it begins traveling along work path R1, and stops spraying when it reaches the end of work path R1. Then, sprayer 1 travels along travel path R2 with spraying stopped, and resumes spraying when it reaches the beginning of the next work path R1. As a result, sprayer 1 performs spraying while traveling in work area F11, and does not perform spraying while traveling in non-work area F12.

[0118] In the example shown in Figure 12, the movement path R2 includes a turning path for a right or left turn in a gentle turn, but the turning mode for changing the direction of the sprayer 1 is not limited to a "gentle turn," and may also include, for example, a "pivot turn" and a "super pivot turn." Furthermore, the turning mode of the sprayer 1 may include turning modes such as a so-called "fishtail turn," in which the machine 10 is turned while switching between forward and reverse movement in order to enable the machine 10 to turn within a limited space.

[0119] Furthermore, the target route R10 is generated based on information such as work vehicle information (sprayer 1), field information (field F1), and work information (in this case, spraying work). The work vehicle information includes, for example, the model of sprayer 1, the position of the antenna 21 of sprayer 1, the type of implement (in this case, spraying device 4), the size and shape of the implement, the position of the spraying device 4 relative to the machine body 10, and the vehicle speed and engine speed of the machine body 10 during operation. The field information includes information such as the position and shape of field F1, the work start position Ps1, the work end position Pg1, and the work direction. The work direction here refers to the direction in which the sprayer 1 is driven while performing spraying work in the work area F11, which is the area from field F1 excluding non-working areas F12 such as headlands. The work information includes information such as the number of skips, which is the number of work paths R1 that are skipped when the sprayer 1 turns in the non-work area F12, and the width of the non-work area F12.

[0120] These work vehicle information, field information, and work information may be manually set, for example, by the operator performing a registration operation on the first operation terminal 210. Alternatively, information such as the location and shape of field F1 may be automatically acquired by the operator manually operating the sprayer 1 to make a circular motion along the outer perimeter of field F1 and recording the changes in the position information of the antenna 21 during that time.

[0121] The generated target route R10 is stored in the memory (storage unit) of the control device of the sprayer 1 and used for automatic driving by the automatic driving processing unit 72. The target route R10 can also be displayed on the display unit 211 of the first operation terminal 210, etc.

[0122] [3.2] Stopping automatic driving Next, the process related to "stopping automatic driving" in the automatic driving processing unit 72, which stops the sprayer 1 as a work vehicle while it is driving automatically, will be explained.

[0123] In other words, the automatic driving method according to this embodiment includes a process for stopping the sprayer 1 while it is automatically driving. For example, if the remaining amount of chemical solution to be sprayed falls below a threshold, or if the remaining amount of fuel falls below a threshold, the sprayer 1 must be stopped so that the operator can replenish the chemical solution or fuel. Also, if an error occurs that hinders the continuation of automatic driving, such as the sprayer 1 deviating from the target path R10 during automatic driving, the sprayer 1 must be stopped. In such cases where it becomes necessary to stop the sprayer 1 while it is automatically driving, the automatic driving processing unit 72 can interrupt (cancel) the automatic driving process of the sprayer 1 and stop the sprayer 1.

[0124] In this disclosure, "stopping a work vehicle while it is automatically moving" means stopping the operation of the drive unit 11 of the work vehicle (sprayer 1) while it is automatically moving, and bringing the work vehicle (sprayer 1) to a stop at a certain position, that is, bringing it to a stationary state. Furthermore, if the work vehicle (sprayer 1) is performing work (in this case, spraying work) while it is automatically moving, the operation of the spraying device 4 and the airflow generating unit 5 will also stop as the work vehicle stops while it is automatically moving, and the work will also stop (interrupt).

[0125] In this context, there are two main types of stopping for the sprayer 1: "temporary stop" and "emergency stop." In this disclosure, "temporary stop" means stopping the work vehicle (sprayer 1) in a manner that allows it to resume operation. In this disclosure, "emergency stop" means stopping the work vehicle (sprayer 1) in a manner that makes it impossible to resume operation.

[0126] Specifically, when the sprayer 1 is temporarily stopped, the engine (power source 63) remains running, and the driving unit 11 is temporarily stopped until a driving start instruction is given. Therefore, in the case of a temporarily stopped sprayer 1, for example, when the acquisition processing unit 71 receives a driving start instruction from the second operation terminal 220, the automatic driving processing unit 72 restarts (starts) automatic driving of the stopped sprayer 1. On the other hand, when the sprayer 1 is emergency stopped, the engine (power source 63) is stopped. Therefore, in the case of an emergency stopped sprayer 1, for example, even if the acquisition processing unit 71 receives a driving start instruction from the second operation terminal 220, the automatic driving processing unit 72 cannot restart (start) automatic driving of the stopped sprayer 1. In other words, to restart an emergency stopped sprayer 1, remote operation from the second operation terminal 220 alone is not enough; it is necessary to restart the engine by turning on the key switch that starts the engine of the sprayer 1.

[0127] In this embodiment, the automatic driving processing unit 72 is configured to execute at least two types of processes for "temporarily stopping" the sprayer 1 in a manner that allows it to resume driving: a temporary stop process and a stop reservation process. The "temporarily stopping process" is a process that stops the sprayer 1 in a manner that allows it to resume driving by fulfilling temporary stop conditions while the sprayer 1 is automatically driving. The "stop reservation process" is a process that stops the sprayer 1 in a manner that allows it to resume driving after it has been driven by fulfilling stop reservation conditions while the sprayer 1 is automatically driving.

[0128] In other words, both the temporary stop process and the scheduled stop process are processes for stopping (i.e., temporarily stopping) the sprayer 1, as a work vehicle, in a manner that allows it to resume operation. In the temporary stop process, the sprayer 1 is stopped at a position that satisfies the temporary stop conditions, whereas in the scheduled stop process, it is possible to move the sprayer 1 from a position that satisfies the scheduled stop conditions before stopping the sprayer 1. In other words, the temporary stop process is a process that immediately stops the sprayer 1, while the scheduled stop process is a process that does not immediately stop the sprayer 1 but rather makes a reservation for a future temporary stop.

[0129] In other words, both the temporary stop process and the scheduled stop process are processes for stopping (i.e., temporarily stopping) the sprayer 1, as a work vehicle, in a manner that allows it to resume operation. In the temporary stop process, the sprayer 1 is stopped at a position that satisfies the temporary stop conditions, whereas in the scheduled stop process, it is possible to move the sprayer 1 from a position that satisfies the scheduled stop conditions before stopping the sprayer 1. In other words, the temporary stop process is a process that immediately stops the sprayer 1, while the scheduled stop process is a process that does not immediately stop the sprayer 1 but rather makes a reservation for a future temporary stop.

[0130] Therefore, for example, assuming a scenario where the sprayer 1 is automatically traveling along the work path R13 as shown in Figure 13, the temporary stop process will cause the sprayer 1 to stop at position P1 (i.e., the current location) on the work path R13 where the temporary stop condition is met. On the other hand, the stop reservation process will allow the sprayer 1 to travel for a while from position P21 on the work path R13 where the stop reservation condition is met, and then stop at position P22, which is away from position P21. In either the temporary stop process or the stop reservation process, the sprayer 1 can resume travel from the stopped positions P1 and P22. In Figure 13, the upper section shows the operation of the sprayer 1 with the temporary stop process, and the lower section shows the operation of the sprayer 1 with the stop reservation process.

[0131] As described above, the automated driving method according to this embodiment includes: automatically driving the work vehicle (sprayer 1) in the work area (field F1) according to the target route R10; performing a temporary stop process; and performing a stop reservation process. The temporary stop process is a process that stops the work vehicle (sprayer 1) in a manner that allows it to resume driving by fulfilling the temporary stop conditions while the work vehicle (sprayer 1) is automatically driving. The stop reservation process is a process that stops the work vehicle (sprayer 1) in a manner that allows it to resume driving after it has been driven by fulfilling the stop reservation conditions while the work vehicle (sprayer 1) is automatically driving.

[0132] This allows the vehicle (sprayer 1) to continue driving for a while before stopping, even if it meets the stop reservation conditions while spraying chemicals or other materials within the work area F11 of the work site (field F1). For example, if the vehicle (sprayer 1) stops outside the work area F11, the operator does not need to enter the work area F11 where the material has been sprayed, even if they approach the stopped vehicle (sprayer 1), and there is no need to take measures to prevent the operator from being exposed to the sprayed material. As a result, it is possible to avoid measures that would lead to a decrease in work efficiency, such as the need for the operator to take measures to prevent exposure to the sprayed material, and to provide an automated driving method that is less likely to reduce work efficiency.

[0133] In this embodiment, the above-described temporary pause processing and stop reservation processing can be performed by the automatic driving processing unit 72 in the automatic driving system 100. In other words, the automatic driving system 100 includes an automatic driving processing unit 72 that automatically drives the work vehicle (spreader 1) according to the target route R10 in the work area (field F1), and the automatic driving processing unit 72 can perform temporary pause processing and stop reservation processing.

[0134] This configuration makes it possible to avoid measures that would lead to a decrease in work efficiency, such as taking measures to prevent the operator from being exposed to the sprayed material, and to provide an automated driving system 100 and a work vehicle (sprayer 1) equipped therewith that are less likely to experience a decrease in work efficiency.

[0135] Furthermore, the automated driving method according to this embodiment further includes executing an emergency stop process that stops the work vehicle (sprayer 1) in a manner that makes it impossible to resume driving if an emergency stop condition is met while the work vehicle (sprayer 1) is driving automatically. In the emergency stop process, similar to the temporary stop process, the sprayer 1 is stopped at the location (the spot) where the emergency stop condition is met. In other words, the emergency stop process, similar to the temporary stop process, is a process that immediately stops the sprayer 1.

[0136] Unlike temporary stop processing and scheduled stop processing, which allow the sprayer 1 to be stopped in a manner that makes it possible to resume operation (i.e., emergency stop), this type of emergency stop processing makes it possible to stop the sprayer 1 in a manner that makes it impossible to resume operation (i.e., emergency stop). In order to restart automatic operation of the emergency-stopped sprayer 1, the operator must directly operate the sprayer 1, for example, to restart the engine of the sprayer 1. Therefore, if there is a relatively urgent obstacle to the automatic operation of the sprayer 1, such as a person being near the sprayer 1, the emergency stop processing can be used to reliably stop the sprayer 1 and prevent it from easily resuming operation.

[0137] Here, the "temporary stop condition" is the condition for the automatic driving processing unit 72 to execute a temporary stop process, and if the temporary stop condition is met, the temporary stop process is executed. The "stop reservation condition" is the condition for the automatic driving processing unit 72 to execute a stop reservation process, and if the stop reservation condition is met, the stop reservation process is executed. The "emergency stop condition" is the condition for the automatic driving processing unit 72 to execute an emergency stop process, and if the emergency stop condition is met, the emergency stop process is executed. Different conditions are set for the temporary stop condition, stop reservation condition, and emergency stop condition.

[0138] In this embodiment, as an example, the temporary stop condition includes the acquisition processing unit 71 acquiring a temporary stop instruction from the second operation terminal 220. On the other hand, the stop reservation condition includes the acquisition processing unit 71 acquiring a temporary stop instruction from the first operation terminal 210 (hereinafter referred to as the "first condition"). Furthermore, the stop reservation condition includes, for example, the remaining amount of a replenishment target such as a chemical solution or fuel used as a spraying material falling below a threshold (hereinafter referred to as the "second condition"). Thus, the stop reservation condition includes multiple conditions, and the stop reservation condition is satisfied if any of these multiple conditions (the first condition and the second condition) are met. The emergency stop condition includes the acquisition processing unit 71 acquiring an emergency stop instruction from the second operation terminal 220. In this embodiment, the first operation terminal 210 is not capable of outputting an emergency stop instruction.

[0139] If the above conditions are met, for example, when an operator operates the first operation unit 221 and a stop command is output to the sprayer 1 from the second operation terminal 220, the automatic driving processing unit 72 determines that the stop condition is met and executes a stop process to stop the sprayer 1 on the spot.

[0140] On the other hand, when the operator operates the operation unit 212 on the operation screen displayed on the display unit 211, and a temporary stop instruction is output from the first operation terminal 210 to the sprayer 1, the automatic driving processing unit 72 determines that the first condition of the stop reservation conditions is met and executes a stop reservation process to stop the sprayer 1 after it has been running for a while. Furthermore, when the remaining amount of the chemical solution to be sprayed falls below a threshold, or when the remaining amount of fuel falls below a threshold, the automatic driving processing unit 72 determines that the second condition of the stop reservation conditions is met and executes a stop reservation process to stop the sprayer 1 after it has been running for a while.

[0141] Furthermore, when the operator operates the second control unit 222 and an emergency stop instruction is output to the sprayer 1 from the second control terminal 220, the automatic driving processing unit 72 determines that the emergency stop conditions are met and executes an emergency stop process to stop the sprayer 1 on the spot.

[0142] This means that, for example, whether the operator performs a stop reservation process or a pause process depends on whether they use the first operation terminal 210 or the second operation terminal 220 to stop (i.e., temporarily pause) the sprayer 1 in a manner that allows it to resume operation. Therefore, the operator can decide, for example, whether to issue a pause instruction using the first operation terminal 210 or the second operation terminal 220, depending on the urgency. For example, in cases where operation can continue for a while, such as during a work break, priority is given to preventing the operator from entering the work area F11, and the stop reservation process allows the sprayer 1 to continue operating for a while without stopping it on the spot. On the other hand, if an error occurs that hinders the continuation of automatic operation, such as the sprayer 1 deviating from the target path R10 during automatic operation, the pause process allows the sprayer 1 to stop on the spot.

[0143] In this embodiment, the first operating terminal 210 communicates with the sprayer 1 via the communication network N1, which makes it more prone to communication lags compared to the second operating terminal 220, which communicates directly with the sprayer 1 via wireless communication. Therefore, even if a stop reservation process is executed in response to an operation to temporarily stop the sprayer 1 at the first operating terminal 210, causing the sprayer 1 to run for a while before stopping, the operator is less likely to feel any discomfort. On the other hand, in response to an operation to temporarily stop the sprayer 1 at the second operating terminal 220, which is operated from a location where the sprayer 1 is visible, a stop process is executed that immediately stops the sprayer 1, so the operator is less likely to feel any discomfort.

[0144] Furthermore, if the remaining amount of the chemical solution to be sprayed falls below a threshold, or if the remaining amount of fuel falls below a threshold, a stop reservation process is automatically executed, which causes the sprayer 1 to run for a while and then stop, without any operator intervention. Therefore, if replenishment of the chemical solution or fuel is necessary, the sprayer 1 can be reliably stopped before the remaining amount of the replenishment reaches zero (0).

[0145] The stop reservation process will be explained in more detail below. In this embodiment, as shown in the lower part of Figure 13, in the stop reservation process, when the stop reservation condition is met in the work area F11, the work vehicle (sprayer 1) is driven to the non-work area F12 before being stopped. In other words, in the example of Figure 13, the sprayer 1, which is traveling along the work path R13 set in the work area F11, will travel at least until it has left the work area F11 before stopping. The sprayer 1 only needs to stop after traveling to the non-work area F12; for example, it may stop immediately upon reaching the non-work area F12, or it may travel further through the non-work area F12 before stopping. Thus, according to the stop reservation process, the sprayer 1 will stop outside the work area F11, so even if an operator approaches the stopped sprayer 1, the operator does not need to enter the work area F11 where the sprayed material has been applied.

[0146] In this embodiment, when the sprayer 1 is to be driven after the stop reservation conditions are met during the stop reservation process, the automatic driving processing unit 72 will automatically drive the sprayer 1 according to the target path R10. That is, while the sprayer 1 is driving automatically, it continues to drive automatically along the target path R10 from the position where the stop reservation conditions are met until it is stopped by the stop reservation process. Therefore, in the example in Figure 13, when the stop reservation conditions are met at position P21 on the work path R13, the sprayer 1 will drive along the work path R13 from position P21 to the end of the work path R13, and then drive along the movement path R2, which is connected to the work path R14, until it stops at position P22. Moreover, since the sprayer 1 performs spraying work while driving automatically on the work path R1, it continues spraying work from position P21 to the end of the work path R13, and stops spraying work at the end of the work path R13.

[0147] Therefore, the threshold for the replenishment targets (spread material and fuel) as the second condition in the stop reservation conditions is set with sufficient margin to allow the sprayer 1 to continue driving and working (spraying) until it leaves the work area F11. In practice, after the sprayer 1 stops due to the stop reservation process, in order to replenish these replenishment targets, the operator manually moves the sprayer 1 to a replenishment location set around the field F1, for example. Therefore, the threshold for fuel in particular is set with sufficient margin to allow the sprayer 1 to continue driving until it reaches the replenishment location.

[0148] Furthermore, in the automated driving method according to this embodiment, the stopping position of the sprayer 1, determined by the stop reservation process, can be selected (specified) by the operator, for example, on the setting screen of the first operation terminal 210. As mentioned above, the operator may also select whether or not to set the stopping position within the non-working area F12.

[0149] One example of a selectable stopping position is, as shown in Figure 14, just before the work start (restart) position when travel resumes. That is, as shown in the upper part of Figure 14, when the stop reservation condition is met while the sprayer 1 is at position P21 on the work path R11, it is possible to set a stopping position (position P22) just before the next work path R12, as shown in the lower part of Figure 14. In the example in Figure 14, when the stop reservation condition is met at position P21 on the work path R11, the sprayer 1 travels along the work path R11 from position P21 to the end of the work path R11, and then travels along the movement path R2, which connects to the work path R12, until it stops at position P22. Here, position P22 is directly in front of the start of the work path R12, which is the work start (restart) position when travel resumes, in the direction of travel of the sprayer 1.

[0150] In short, in the example shown in Figure 14, when the stop reservation process involves driving the work vehicle (sprayer 1) to the non-working area F12 and then stopping the work vehicle (sprayer 1), the work vehicle (sprayer 1) is stopped at position P22, which corresponds to the work start position when driving resumes in the work area F11. By stopping the sprayer 1 at position P22, which corresponds to the work start position when driving resumes after a temporary stop, the operator can clearly identify the next crop row Vr1 to be worked on. Therefore, for example, even if the operator manually moves the sprayer 1 to the replenishment location after it has stopped due to the stop reservation process in order to replenish the items to be replenished (spraying material and fuel), the operator can easily understand where to return the sprayer 1 when automatic driving resumes. If necessary, the operator may mark the position P22 where the sprayer 1 is stopped when manually operating the sprayer 1.

[0151] In other words, in tasks such as spraying, where it is difficult to visually determine how much of the work has been completed, the starting position for resuming driving can be difficult for the operator to understand. However, in this embodiment, the starting position for driving becomes clear, making it easier to resume driving. For example, if a map including the target route R10 is displayed on the display unit 211 of the first operation terminal 210, the starting position for driving can also be confirmed, but checking such a map can be made unnecessary.

[0152] Another example of a selectable stopping position is, as shown in Figure 15, a position within the field F1 used as the work area, excluding an arbitrarily set no-stop zone F121. That is, the automatic driving method according to this embodiment further includes setting a no-stop zone F121 within the work area (field F1) where the work vehicle (sprayer 1) will not stop during the stop reservation process. By setting the no-stop zone F121, the sprayer 1 will stop at a position P22 within field F1 other than the no-stop zone F121 during the stop reservation process. The no-stop zone F121 can be arbitrarily set by the operator, for example, using the first operation terminal 210.

[0153] In the example in Figure 15, one side of the headland in the vertical direction A1 (the lower side in Figure 15) of the headland designated as the non-working area F12 is surrounded by a no-person entry area F13. Therefore, the headland on one side of the vertical direction A1 surrounded by the no-person entry area F13 is set as a no-stop area F121. In the example in Figure 15, when the stop reservation condition is met at position P21 on the work path R12, the sprayer 1 travels along the work path R12 from position P21 to the end of the work path R12, and then travels along the movement path R2 which connects to the work path R13. Here, since position P23 on the movement path R2 is included in the no-stop area F121, the sprayer 1 does not stop at position P23, but travels along the work path R13 to the end of the next work path R13. The sprayer 1 then travels along the movement path R2 until it stops at position P22 on the movement path R2 which connects to the work path R14. Here, since position P22 is included in the stoppable area F122, which is the headland on the other side of the vertical direction A1 (upper side of Figure 15) of the headland that is the non-working area F12, the sprayer 1 stops at position P22.

[0154] In this way, by setting a no-stop zone F121 in the work area (field F1), it is possible to avoid stopping the sprayer 1 due to the stop reservation process in areas that the operator cannot enter (without passing through work area F11), for example. As a result, by specifying areas where temporary stops are not permitted, it is possible to further improve work efficiency.

[0155] Furthermore, the automatic driving method according to this embodiment further includes providing notification in conjunction with the stop reservation process. Herein, "notification" means, for example, providing some kind of alarm or notification to the operator or other person, and includes notification by the display unit 65 and the sound output unit, etc. That is, when the automatic driving processing unit 72 executes the stop reservation process, the notification processing unit 74 controls the display unit 65 and the sound output unit, etc. to provide notification. This makes it possible to inform the operator or other person of the execution status of the stop reservation process, for example.

[0156] Specifically, the notification is given at at least one of the following: the first time point when the stop reservation conditions are met, the second time point when the work vehicle (sprayer 1) is stopped, and the period between the first and second time points. In other words, the notification related to the stop reservation process is given at at least one of the following: the first time point when the temporary suspension of sprayer 1 is reserved, the second time point when sprayer 1 is actually temporarily suspended, and the period in between.

[0157] In this embodiment, as an example, during the period from the first time point when the stop reservation conditions are met to the second time point when the sprayer 1 is actually stopped, the notification processing unit 74 controls the display unit 65 and sound output unit mounted on the machine body 10 to send a notification to the area around the machine body 10. This allows people in the vicinity to be informed that the sprayer 1 will soon stop. Furthermore, in this embodiment, at the second time point, the notification processing unit 74 transmits a notification signal to the first operation terminal 210, and the first operation terminal 210 notifies the operator that the sprayer 1 has stopped. This allows, for example, an operator located away from field F1 to be informed that the sprayer 1 has temporarily stopped.

[0158] Furthermore, the automated driving method according to this embodiment further includes outputting which of the multiple conditions included in the stop reservation conditions has been met. The forms of "output" here include, for example, transmission to an external terminal (first operation terminal 210, etc.) via communication, display, voice output, recording, and printing. In this embodiment, as an example, the output processing unit 75 transmits to the first operation terminal 210 whether it has received a stop instruction from the first operation terminal 210 (first condition), whether the remaining amount of the chemical solution as the spraying material has fallen below a threshold (second condition), or whether the remaining amount of fuel has fallen below a threshold (second condition). As a result, the first operation terminal 210 can present to the operator, by display or other means, the event that caused the stop reservation process to be executed. Therefore, the operator can quickly take necessary measures such as replenishing the spraying material or fuel to the sprayer 1 that has been temporarily stopped by the stop reservation process.

[0159] Figure 16 is a flowchart showing an example of the process related to stopping automatic driving in the automatic driving method according to this embodiment.

[0160] In other words, the automatic driving processing unit 72 determines whether or not it has received a stop instruction from the first operation terminal 210 while the sprayer 1, which is the work vehicle, is driving automatically (S1). If the operator performs a stop operation on the first operation terminal 210, the acquisition processing unit 71 receives a stop instruction from the first operation terminal 210 (S1: Yes), and the automatic driving processing unit 72 proceeds to step S3.

[0161] If the acquisition processing unit 71 does not receive a stop instruction from the first operation terminal 210 (S1: No), the automatic driving processing unit 72 determines whether the remaining amount of the spraying material (chemical solution) or fuel to be replenished has decreased (S2). If the remaining amount of the spraying material (chemical solution) or the remaining amount of fuel falls below a threshold, the automatic driving processing unit 72 determines that the remaining amount of the replenishment target has decreased (S2: Yes) and proceeds to step S3.

[0162] In step S3, the automatic driving processing unit 72 determines that the stop reservation conditions are met and starts the stop reservation process. When the stop reservation process starts, the automatic driving processing unit 72 does not stop the sprayer 1 in place, but automatically drives the sprayer 1 to an arbitrary stopping position (S4). When the sprayer 1 reaches the stopping position, the automatic driving processing unit 72 temporarily stops the sprayer 1 (S5) and proceeds to step S6.

[0163] In step S6, it is determined whether or not a start-driving instruction has been received from the second operation terminal 220. If the operator presses and holds the third operation unit 223 of the second operation terminal 220 to perform the restart operation (the same as the start-driving operation), the acquisition processing unit 71 receives the start-driving instruction from the second operation terminal 220 (S6: Yes), and the automatic driving processing unit 72 causes the sprayer 1 to resume automatic driving (S7).

[0164] Until the operator presses and holds the third operation unit 223 of the second operation terminal 220 to restart the operation, the second operation terminal 220 does not output a command to start driving (S6: No), so the automatic driving processing unit 72 repeatedly executes step S6. As a result, the automatic driving of the sprayer 1 is not restarted, and the sprayer 1 remains stopped.

[0165] On the other hand, if there is no pause instruction from the first operation terminal 210 (S1: No) and the remaining amount of the replenishment target has not decreased (S2: No), the automatic driving processing unit 72 determines whether or not it has received a pause instruction from the second operation terminal 220 (S8). If the operator presses the first operation unit 221 of the second operation terminal 220 to perform a pause operation, the acquisition processing unit 71 receives a pause instruction from the second operation terminal 220 (S8: Yes), and the automatic driving processing unit 72 proceeds to step S5. In other words, in this case, steps S3 and S4 are skipped, and the automatic driving processing unit 72 pauses the sprayer 1 at that location (S5).

[0166] Furthermore, if there is no pause instruction from the second operation terminal 220 (S8: No), the automatic driving processing unit 72 determines whether or not it has received an emergency stop instruction from the second operation terminal 220 (S9). If the operator presses the second operation unit 222 of the second operation terminal 220 to perform an emergency stop operation, the acquisition processing unit 71 receives an emergency stop instruction from the second operation terminal 220 (S9: Yes), and the automatic driving processing unit 72 immediately stops the sprayer 1 (S10). If there is no emergency stop instruction from the second operation terminal 220 (S9: No), the automatic driving processing unit 72 terminates the series of processes while continuing the automatic driving of the sprayer 1.

[0167] While the sprayer 1, which is the work vehicle, is automatically driving, the automatic driving processing unit 72 repeatedly executes the processes in steps S1 to S10. However, the flowchart shown in Figure 16 is merely an example, and processes may be added or omitted as appropriate, or the order of processes may be changed as appropriate.

[0168] [3.3] Other features The automatic driving method according to this embodiment includes the following processing related to the operation when the sprayer 1 enters the work path R1. As described above, the target path R10 includes the work path R1 and the movement path R2. Therefore, when the sprayer 1 automatically drives along the target path R10, it will travel from the movement path R2 to the work path R1, and at that time it will enter the new work path R1.

[0169] Then, as shown in Figure 17, for example, the target route R10 includes the work route R1 and the reserve route R3. The work route R1 is the route along which the work vehicle (sprayer 1) performs work on the target (crop row Vr1). The reserve route R3 is a route set from a reserve position P32, which is before the starting position P31 of the work route R1, to the starting position P31. The automatic driving method causes the work vehicle (sprayer 1) to start work on the reserve route R3. Figure 17 schematically shows the operation of the sprayer 1 when entering the work route R1.

[0170] In the example shown in Figure 17, a reserve position P32 is set at a predetermined distance upstream of the target path R10, at the starting position P31 of the work path R1, which is set on the boundary between the work area F11 and the non-work area F12 in the field F1, which is the work site. The automatic driving processing unit 72 then, for example, when the position of the antenna 21 located at the rear of the machine body 10 reaches the reserve position P32, which is the starting point of the reserve path R3, it causes the sprayer 1 to start work (spraying work).

[0171] In contrast, in the comparative example, when the sprayer 1 automatically travels along the target path R10, the sprayer 1 starts working when the position of the antenna 21 reaches the starting position P31 of the work path R1. In other words, in this comparative example, the sprayer 1 only starts working after it has moved from the non-work area F12 to the work area F11. Compared to such a comparative example, the automatic travel method according to this embodiment allows the start timing of the work by the sprayer 1 to be advanced by offsetting the starting position of the work by the sprayer 1 to the upstream side of the target path R10.

[0172] Therefore, in the automatic driving method according to this embodiment, even if there is a time lag between the start of operation of the spraying device 4 or the airflow generating unit 5 and its stable operation, it is possible to reduce (or eliminate) this time lag by advancing the start timing of the work by the sprayer 1. As a result, problems such as uneven spraying corresponding to the time lag are less likely to occur. In other words, it is possible to reduce unevenness in the work (spraying) by the sprayer 1 over the entire crop row Vr1 that is the target of the work. Here, it is preferable that the reserve position P32 is set considering the time required for the spraying device 4 and the airflow generating unit 5, etc. to stabilize operation so that the spraying work can be started before the crop row Vr1.

[0173] Furthermore, if the work area, field F1, is, for example, an orchard such as a vineyard, then wires (guy wires) W10 may be stretched diagonally from the stakes at both ends of the row of crops Vr1 (vertical direction A1) in order to secure the rows of crops Vr1 with stakes. In such cases, it is necessary to perform automatic driving while considering the position of the wires W10 in order to avoid contact between the wires W10 and the machine body 10.

[0174] Therefore, in this embodiment, as illustrated in Figure 17, the target path R10 further includes an introduction path R4 set between the end of the travel path R2 and the start of the work path R1. The introduction path R4 is a straight path extending from the end of the travel path R2 along the extension direction of the work path R1 (here, the vertical direction A1). The sprayer 1 does not perform any work while automatically traveling along the introduction path R4.

[0175] Specifically, in Figure 17, the target path R10 includes a work path R1, a travel path R2, a reserve path R3, and an introduction path R4. The introduction path R4 is set from position P33, which is its starting point (i.e., the end of the travel path R2), to the reserve position P32.

[0176] The target path R10 includes an introduction path R4, which is separate from both the work path R1 and the travel path R2. By having the sprayer 1 travel along the introduction path R4, the attitude (orientation) of the sprayer 1 when entering the work path R1 is stabilized, and the machine 10 straddles the wire W10, just like the crop row Vr1. This makes it less likely for the machine 10 to come into contact with the wire W10, thus preventing damage to both the machine 10 and the crop row Vr1.

[0177] Such actions upon entering the work path R1 can be applied not only when the sprayer 1 is automatically traveling along the target path R10, but also, for example, when the sprayer 1, which has temporarily stopped, resumes automatic travel.

[0178] [4] Modified form The following lists some modifications of Embodiment 1. The modifications described below can be combined and applied as appropriate.

[0179] The control device 7 in this disclosure includes a computer system. The computer system mainly consists of one or more processors and one or more memories as hardware. The functions of the control device 7 in this disclosure are realized by the execution of a program recorded in the memory of the computer system by the processor. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by the computer system. Furthermore, some or all of the functional parts included in the control device 7 may be composed of electronic circuits.

[0180] Furthermore, it is not essential for the control device 7 to have at least some of its functions integrated into a single enclosure; the components of the control device 7 may be distributed across multiple enclosures. Conversely, functions that are distributed across multiple devices (e.g., the control device 7 and the first operating terminal 210) may be integrated into a single enclosure. Moreover, at least some of the functions of the control device 7 may be implemented by the cloud (cloud computing), etc.

[0181] The sprayer 1 may be used not only in orchards such as vineyards or apple orchards, but also in other fields F1, or in work areas other than fields F1. Furthermore, the material sprayed by the sprayer 1 is not limited to chemical solutions, but may also be, for example, water, fertilizer, disinfectant, or other liquids, or powders. Similarly, the object to which the material is sprayed is not limited to grapevines, but may also be other crops, or objects other than crops (including inorganic materials). In addition, the sprayer 1 is not limited to an unmanned machine that operates by automatic driving, but may also be configured to be operated by a person (operator) (including remote control), for example, it may be a rideable type (manned machine) on which an operator can ride. Even in this case, the sprayer 1 is equipped with an antenna 21 or the like to determine its current position.

[0182] Furthermore, in the stop reservation process, when the sprayer 1 is to be driven after the stop reservation conditions have been met, it is not mandatory for the automatic driving processing unit 72 to automatically drive the sprayer 1 according to the target route R10. For example, when the sprayer 1 is to be driven after the stop reservation conditions have been met, the automatic driving processing unit 72 may drive the sprayer 1 according to a separate escape route set up in addition to the target route R10. The escape route is, for example, a route for moving the sprayer 1 to a replenishment location for the spraying material or a replenishment location for fuel.

[0183] Furthermore, the stop reservation process only requires that the sprayer 1 be driven and then stopped (temporarily paused) if the stop reservation conditions are met; it is not necessary to drive the sprayer 1 to the non-working area F12. In other words, the stop reservation process may, for example, involve driving the sprayer 1 for a predetermined time or distance from the point when the stop reservation conditions are met before stopping (temporarily pausing) the sprayer 1.

[0184] Furthermore, the support frame 3 only needs to be attached to one end of the aircraft body 10 in the front-rear direction D3, and may be attached to the front of the aircraft body 10. In this case, the working unit (spray nozzle 41) supported by the support frame 3 will also be positioned in front of the aircraft body 10 rather than at the rear.

[0185] Furthermore, the sprayer 1 may be equipped with a pair of spraying devices 4 arranged in the front-to-back direction D3. This allows the sprayer 1 to perform work (spraying work) with each of the pair of spraying devices 4 (working devices) arranged in the front-to-back direction D3, thereby improving work efficiency compared to when work is performed with only one of the spraying devices 4. In addition, the sprayer 1 may be further equipped with a rotary drive device that generates a rotational force to rotate the support frame 3 relative to the machine body 10 around the rotation axis Ax1.

[0186] Furthermore, the aircraft body 10 only needs to have a first block 10L and a second block 10R arranged in the left-right direction D2, and the first block 10L and the second block 10R may be reversed left and right. In other words, the first block 10L, which is equipped with the power source 63, etc., may be located on the right side, and the second block 10R, which is equipped with the user interface 61, etc., may be located on the left side.

[0187] Furthermore, the running gear 11 is not limited to a crawler-type running gear, but may also have, for example, one or more wheels and be driven by the rotation of the wheels. Also, the running gear 11 is not limited to being driven by a hydraulic motor, but may also be driven by, for example, an electric motor.

[0188] Furthermore, the sprayer 1 is not limited to an air-assisted sprayer as in Embodiment 1, but may also be an electrostatic sprayer, or a combination of an air-assisted sprayer and an electrostatic sprayer. If the sprayer 1 is an electrostatic sprayer, the airflow generating unit 5 can be omitted.

[0189] Furthermore, the power source 63 is not limited to an engine; for example, it may also have a motor (electric motor), or it may be a hybrid power source that includes both an engine and a motor.

[0190] Furthermore, the sprayer 1 may not have a gate-like shape, but rather the entire body 10 may travel between a pair of adjacent crop rows Vr1 (work passage). In this case, the sprayer 1 travels through each work passage without straddling the crop rows Vr1. In this case, the spraying device 4 performs the spraying operation by switching between a spraying pattern that sprays the chemical solution in both the left and right directions D2, a spraying pattern that sprays the chemical solution only to the left, and a spraying pattern that sprays the chemical solution only to the right.

[0191] Furthermore, antennas 21 and 22 are not limited to positioning antennas, but may also be antennas for wireless communication, for example. Moreover, antennas 21 and 22 are not limited to receiving, but may also be for transmitting, or for both receiving and transmitting.

[0192] Furthermore, the user interface 61 may have means to present information to the user, for example, by voice output, in addition to or instead of the display unit 611. In addition, at least one of the adjustment items (such as flow rate or pressure) may be automatically adjusted by the control device using the operation unit 612 of the user interface 61. In this case, the operation unit 612 can be omitted as appropriate, and the user interface 61 may simply display the adjustment result on the display unit 611.

[0193] Similarly, the first operation terminal 210 and the second operation terminal 220 are not limited to the configuration of Embodiment 1, but may also be configured to output pause instructions, etc., in response to pointing devices such as keyboards and mice, voice input, gesture input, or operation signals from other terminals.

[0194] Furthermore, while Embodiment 1 described a sprayer 1 as an example of a work vehicle, the work vehicle is not limited to a sprayer 1. For example, the work vehicle may be a pruning machine, in which case the pruning unit that performs the pruning work becomes an example of the work unit and is supported by the support frame 3.

[0195] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0196] <Note 1> The process involves automatically driving a work vehicle along a target route within the work area, When the aforementioned work vehicle is automatically driving, if the conditions for stopping are met, a temporary stop process is executed to stop the work vehicle at that location in a manner that allows it to resume driving. The system includes executing a stop reservation process to stop the work vehicle in a state where it can resume driving after it has been driven, by fulfilling the stop reservation conditions while the work vehicle is automatically driving. Automatic driving method.

[0197] <Note 2> The system further includes, when an emergency stop condition is met while the work vehicle is automatically driving, an emergency stop process is executed to stop the work vehicle at that location in a manner that prevents it from resuming driving. The automatic driving method described in Appendix 1.

[0198] <Note 3> The work area includes a work area where work is performed by the work vehicle and a non-work area where work is not performed by the work vehicle. In the stop reservation process, if the stop reservation condition is met in the work area, the work vehicle is driven to the non-work area and then stopped. The automatic driving method described in Appendix 1 or 2.

[0199] <Note 4> In the aforementioned stop reservation process, if the work vehicle is driven to the non-work area and then stopped, the work vehicle is stopped at a position corresponding to the work start position when driving is resumed within the work area. The automatic driving method described in Appendix 3.

[0200] <Note 5> The system further includes setting a no-stop zone within the work area in which the work vehicle is not allowed to stop during the stop reservation process. The automatic driving method described in any of the appendices 1 to 4.

[0201] <Note 6> The system further includes providing notification in conjunction with the aforementioned stop reservation process. The automatic driving method described in any of the appendices 1 to 5.

[0202] <Note 7> The notification is made at at least one of the following: the first time when the stop reservation conditions are met, the second time when the work vehicle is stopped, and the period from the first time to the second time. The automatic driving method described in Appendix 6.

[0203] <Note 8> The aforementioned stop reservation conditions include multiple conditions, The further function includes outputting which of the aforementioned multiple conditions has been met. The automatic driving method described in any of the appendices 1 to 7.

[0204] <Note 9> The target path includes a work path in which the work vehicle performs work on the work target, and a preliminary path set from a preliminary position prior to the starting position of the work path to the starting position. The work vehicle is instructed to begin work on the aforementioned auxiliary route. The automatic driving method described in any of the appendices 1 to 8.

[0205] <Note 10> The automatic driving method described in any of the appendices 1 to 9, An autonomous driving program designed to run on one or more processors. [Explanation of symbols]

[0206] 1. Sprayer (work vehicle) 11. Running section 72 Automated Driving Processing Unit 100 Autonomous Driving Systems F1 Field (Work Area) F11 work area F12 Non-work area F121 Stop prohibited area Ps1 Work start position R1 Work Route R3 Alternative Route R10 Target Route P31 Start position P32 Reserve Position

Claims

1. The process involves automatically driving a work vehicle along a target route within the work area, When the aforementioned work vehicle is automatically driving, if the conditions for stopping are met, a temporary stop process is executed to stop the work vehicle at that location in a manner that allows it to resume driving. By fulfilling stop reservation conditions, which include multiple conditions, while the aforementioned work vehicle is automatically driving, a stop reservation process is executed to stop the work vehicle in a state where it can resume driving after it has been driven. The system includes outputting which of the aforementioned multiple conditions is met, Automatic driving method.

2. The system further includes, when an emergency stop condition is met while the work vehicle is automatically driving, an emergency stop process is executed to stop the work vehicle at that location in a manner that prevents it from resuming driving. The automatic driving method according to claim 1.

3. The work area includes a work area where work is performed by the work vehicle and a non-work area where work is not performed by the work vehicle. In the stop reservation process, if the stop reservation condition is met in the work area, the work vehicle is driven to the non-work area and then stopped. The automatic driving method according to claim 1 or 2.

4. In the aforementioned stop reservation process, if the work vehicle is driven to the non-work area and then stopped, the work vehicle is stopped at a position corresponding to the work start position when driving is resumed within the work area. The automatic driving method according to claim 3.

5. The system further includes setting a no-stop zone within the work area in which the work vehicle is not allowed to stop during the stop reservation process. The automatic driving method according to claim 1 or 2.

6. The system further includes providing notification in conjunction with the aforementioned stop reservation process. The automatic driving method according to claim 1 or 2.

7. The notification is made at at least one of the following: the first time when the stop reservation conditions are met, the second time when the work vehicle is stopped, and the period from the first time to the second time. The automatic driving method according to claim 6.

8. The target path includes a work path in which the work vehicle performs work on the work target, and a preliminary path set from a preliminary position prior to the starting position of the work path to the starting position. The work vehicle is instructed to begin work on the aforementioned auxiliary route. The automatic driving method according to claim 1 or 2.

9. The automatic driving method according to claim 1 or 2, An automated driving program designed to be executed by one or more processors.

10. It is equipped with an automatic driving processing unit that automatically drives the work vehicle according to the target route at the work site. The aforementioned automatic driving processing unit, A temporary stop process is performed to stop the work vehicle at the location in a manner that allows it to resume driving, when the conditions for a temporary stop are met while the work vehicle is automatically driving. A stop reservation process that, when stop reservation conditions including multiple conditions are met while the work vehicle is automatically driving, stops the work vehicle in a state where it can resume driving after it has been driven, The system is configured to perform an output process that outputs which of the aforementioned multiple conditions has been met. Automated driving system.

11. The automatic driving system according to claim 10, The system comprises a driving unit controlled by the aforementioned automatic driving system, Work vehicle.

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