Work methods, work systems, and work programs

Abstract

To provide a work method, a work system, and a work program capable of easily setting a work width of a work machine and improving work efficiency.SOLUTION: An automatic travel system 1 includes a control information generation processing unit 215 that sets a work width in a right and left direction with respect to a travel direction of a work vehicle 10 in a work machine 14 on the basis of a travel position of the work vehicle 10 in a field F.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a work method, a work system, and a work program for causing a work vehicle to execute a predetermined work.

Background Art

[0002] Conventionally, a tractor equipped with a working machine (sprayer) for spraying a spraying material is known. In the tractor, an operator can switch the spraying mode of the sprayer. For example, the operator can switch between a right-side spraying mode, a left-side spraying mode, a both-sides spraying mode, an overall spraying mode, and a spraying stop mode (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology, since the operator has to switch the spraying mode while checking the position of the work object, the position of the work vehicle, etc., there arise problems such as a burden on the operator and a decrease in work efficiency.

[0005] An object of the present invention is to provide a work method, a work system, and a work program capable of easily setting the working width of a working machine and improving work efficiency.

Means for Solving the Problems

[0006] The work method according to the present invention is a work method performed on a work vehicle equipped with a work implement, and is a work method that performs the following: setting the working width of the work implement in the left-right direction with respect to the direction of travel of the work vehicle, based on the travel position of the work vehicle within the work area.

[0007] The work system according to the present invention is a work system for performing work on a work vehicle equipped with a work machine, and includes a setting processing unit that sets the working width of the work machine in the left-right direction with respect to the direction of travel of the work vehicle, based on the travel position of the work vehicle within the work area.

[0008] The work program according to the present invention is a work program executed in a work vehicle equipped with a work machine, and is a work program that causes one or more processors to set the working width in the left-right direction with respect to the direction of travel of the work vehicle, based on the travel position of the work vehicle within the work area. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a work method, a work system, and a work program that enable easy setting of the working width of a work machine and improve work efficiency. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a block diagram showing the configuration of an automated driving system according to an embodiment of the present invention. [Figure 2] Figure 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 3] Figure 3 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 4A] Figure 4A shows an example of a spray pattern (left-side spray pattern) according to an embodiment of the present invention. [Figure 4B] Figure 4B shows an example of a spray pattern (right-side spray pattern) according to an embodiment of the present invention. [Figure 4C] Figure 4C shows an example of a spray pattern (overall spray pattern) according to an embodiment of the present invention. [Figure 4D] Figure 4D shows an example of a spraying pattern (spraying stop pattern) according to an embodiment of the present invention. [Figure 5] Figure 5 shows an example of a target path for a work vehicle in the outer region according to an embodiment of the present invention. [Figure 6] Figure 6 shows an example of a target path for a work vehicle in the inner region according to an embodiment of the present invention. [Figure 7] Figure 7 shows an example of control information according to an embodiment of the present invention. [Figure 8] Figure 8 is a flowchart showing an example of the procedure for an automated driving process performed in an automated driving system according to an embodiment of the present invention. [Figure 9] Figure 9 is a flowchart showing an example of the procedure for an automated driving process performed in an automated driving system according to an embodiment of the present invention. [Figure 10] Figure 10 shows an example of another target path according to an embodiment of the present invention. [Figure 11] Figure 11 shows an example of another target path according to an embodiment of the present invention. [Figure 12] Figure 12 shows another example of a sprayer according to an embodiment of the present invention. [Modes for carrying out the invention]

[0011] The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

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

[0013] In the present embodiment, the case where the work vehicle 10 is a tractor will be described as an example. As another embodiment, the work vehicle 10 may be a rice transplanter, a combine, a construction machine, a snow removal vehicle, or the like. The work vehicle 10 is configured to be able to automatically drive (autonomously drive) along a preset target path R within the farm field F (see FIGS. 5 and 6). Also, the work vehicle 10 can perform a predetermined operation while automatically driving within the farm field F. For example, the work vehicle 10 performs a predetermined operation while automatically driving along a preset target path R within the farm field F based on the position information of the current position of the work vehicle 10 calculated by the positioning device 16. In the present embodiment, the work vehicle 10 includes a working machine 14 that sprays a spraying material such as a chemical solution or water, and performs a spraying operation of spraying the spraying material on a work object (crop, soil, etc.).

[0014] For example, as shown in FIG. 5, the work vehicle 10 performs a spraying operation while automatically driving along a preset target path R (outer target path R2) in the outer region F2 (F2a to F2d) of the outer peripheral portion within the farm field F. The outer target path R2 includes linear working paths R2a to R2d that surround the inner region F1. The working path R2a is connected to the work start position S. The work vehicle 10 performs a spraying operation while circulating in the outer region F2 along the outer target path R2. The outer region F2 is an example of the second work area of the present invention.

[0015] In addition, as shown in FIG. 6, the work vehicle 10 performs spraying work while automatically traveling along a preset target path R (inner target path R1) in the inner region F1 of the central portion within the farm field F. The inner target path R1 includes linear work paths R11 to R14 arranged in a plurality of rows and movement paths R21 to R25 (non-work paths) connecting the respective work paths. The movement path R25 is connected to the work end position G. The work vehicle 10 performs spraying work while reciprocating in the inner region F1 along the work paths R11 to R14. The inner region F1 is an example of the first work region of the present invention.

[0016] In the examples shown in FIGS. 5 and 6, for example, the work vehicle 10 starts traveling from the work start position S and performs spraying work on the work paths R2a to R2d in order in the outer region F2. When the work vehicle 10 finishes the spraying work on the work path R2d (see FIG. 5), it travels along the movement path R21 (see FIG. 6), enters the inner region F1, performs spraying work on the work path R11, travels along the movement path R22, moves to the next work path R12, performs spraying work on the work path R12, then travels along the movement path R23, moves to the next work path R13, performs spraying work on the work path R13, then travels along the movement path R24, moves to the next work path R14, performs spraying work on the work path R14, and then travels along the movement path R25 to move to the work end position G.

[0017] In this way, the work vehicle 10 sequentially performs spraying work on the outer region F2 and the inner region F1 while automatically traveling along the target path R. Note that the work vehicle 10 may perform spraying work on the inner region F1 first and then perform spraying work on the outer region F2. Also, the work vehicle 10 performs spraying work in accordance with the direction of a crop row including a plurality of crops arranged linearly. For example, in the example shown in FIG. 5, when the work vehicle 10 travels in the Y direction in the outer regions F2a and F2c, it performs spraying work on the crop rows (vertical ridges) in the Y direction, and when it travels in the X direction in the outer regions F2b and F2d, it performs spraying work on the crop rows (horizontal ridges) in the X direction. Also, in the example shown in FIG. 6, when the work vehicle 10 travels in the Y direction in the inner region F1, it performs spraying work on the crop rows (vertical ridges) in the Y direction.

[0018] In conventional technology, the operator of a work vehicle performing spraying operations must set the spraying mode while confirming the position of the work object and the position of the work vehicle, which can lead to problems such as increased burden on the operator and decreased work efficiency. In contrast, the automated driving system 1 according to this embodiment makes it possible to easily set the working width of the work machine 14 and improve work efficiency, as shown below.

[0019] [Work Vehicle 10] As shown in Figures 1 and 2, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a running device 13, a work machine 14, a work control device 14A, a communication unit 15, a positioning device 16, and the like. The vehicle control device 11 is electrically connected to the storage unit 12, the running device 13, the work machine 14, the work control device 14A, the positioning device 16, and the like. The vehicle control device 11 and the positioning device 16 may be capable of wireless communication.

[0020] The communication unit 15 is a communication interface for connecting the work vehicle 10 to the communication network N1 by wire or wireless connection and for performing data communication with external devices such as the operation terminal 20 via the communication network N1 in accordance with a predetermined communication protocol.

[0021] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program that causes the vehicle control device 11 to execute the automatic driving process described later (see Figures 8 and 9). For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may also be downloaded from a server (not shown) to the work vehicle 10 via a communication network N1 and stored in the storage unit 12. The storage unit 12 may also store route data including the target route R and control information E1 (see Figure 7) generated in the operation terminal 20.

[0022] The running gear 13 is the drive unit that moves the work vehicle 10. As shown in Figure 2, the running gear 13 includes an engine 131, front wheels 132, rear wheels 133, transmission 134, front axle 135, rear axle 136, steering wheel 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. Furthermore, the running gear 13 is not limited to a wheel type with front wheels 132 and rear wheels 133, but may also be a crawler type with crawlers provided on the left and right sides of the work vehicle 10.

[0023] The engine 131 is a power source such as a diesel engine or gasoline engine that is driven using fuel supplied to a fuel tank (not shown). The running gear 13 may be equipped with an electric motor as a power source together with the engine 131, or in place of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery installed on the work vehicle 10. The battery is charged by the power supplied from the generator. The vehicle control device 11 and electrical components such as the positioning device 16 installed on the work vehicle 10 can be driven by the power supplied from the battery even after the engine 131 is stopped.

[0024] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and front axle 135, and to the rear wheels 133 via the transmission 134 and rear axle 136. The driving force of the engine 131 is also transmitted to the work equipment 14 via the PTO shaft (not shown). When the work vehicle 10 is driving automatically, the travel device 13 performs driving operations according to the commands of the vehicle control device 11.

[0025] The implement 14 may be, for example, a sprayer, a seed planter, or a fertilizer spreader, and may be detachable from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the implements 14. In this embodiment, the case where the implement 14 is a sprayer will be used as an example. Hereafter, the implement 14 will be referred to as "sprayer 14" as appropriate.

[0026] The steering wheel 137 is an operating unit operated by an operator or a vehicle control device 11. For example, in the travel device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to the operation of the steering wheel 137 by the vehicle control device 11, thereby changing the direction of travel of the work vehicle 10.

[0027] In addition to the steering wheel 137, the running gear 13 is equipped with a shift lever (not shown), accelerator, brakes, etc., which are operated by the vehicle control device 11. In the running gear 13, the gears of the transmission 134 are switched to forward gear or reverse gear, etc., in response to the operation of the shift lever by the vehicle control device 11, and the driving mode of the work vehicle 10 is switched to forward or reverse, etc. The vehicle control device 11 also controls the rotational speed of the engine 131 by operating the accelerator. The vehicle control device 11 also controls the rotation of the front wheels 132 and rear wheels 133 using electromagnetic brakes by operating the brakes.

[0028] The positioning device 16 is a communication device comprising a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164. For example, as shown in Figure 2, the positioning device 16 is installed on top of the cabin 138 where the operator sits. However, the installation location of the positioning device 16 is not limited to the cabin 138. Furthermore, the positioning control unit 161, memory unit 162, communication unit 163, and positioning antenna 164 of the positioning device 16 may be distributed and arranged at different locations on the work vehicle 10. As mentioned above, the positioning device 16 is connected to the battery, and the positioning device 16 can operate even when the engine 131 is stopped. In addition, the positioning device 16 may be replaced with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0029] The positioning control unit 161 is a computer system comprising one or more processors and storage memory such as non-volatile memory and RAM. The storage unit 162 is a non-volatile memory that stores a program for causing the positioning control unit 161 to perform positioning processing, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Alternatively, the program may be downloaded from a server (not shown) to the positioning device 16 via a communication network N1 and stored in the storage unit 162.

[0030] The communication unit 163 is a communication interface for connecting the positioning device 16 to the communication network N1 by wire or wireless connection, and for performing data communication with external devices such as base stations (not shown) via the communication network N1 in accordance with a predetermined communication protocol.

[0031] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0032] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the work vehicle 10 is automatically driving in field F, the positioning antenna 164 receives radio waves (transmission time, orbital information, etc.) transmitted from each of several satellites. The positioning control unit 161 then calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. Alternatively, the positioning control unit 161 may perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)) which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 automatically drives using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or it may be a position shifted from the positioning position.

[0033] Each of the vehicle control device 11 and the work control device 14A has control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various calculations. The ROM is a non-volatile memory that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various calculations. The RAM is a volatile or non-volatile memory that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The vehicle control device 11 controls the work vehicle 10 by executing various control programs that have been stored in advance in the ROM or memory unit 12 using the CPU. The work control device 14A controls the work machine 14 by executing various control programs that have been stored in advance in the ROM or memory unit 12 using the CPU.

[0034] The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. The vehicle control device 11 also performs automatic driving processing for the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a pre-set target route.

[0035] The vehicle control device 11 functions as various processing units by executing various processes in accordance with the automatic driving program using the CPU. Furthermore, some or all of the processing units may be composed of electronic circuits. The automatic driving program may also be a program that causes multiple processors to function as processing units.

[0036] Specifically, when the vehicle control device 11 receives a start-to-drive instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10. For example, when an operator presses the start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a start-to-drive instruction to the work vehicle 10. When the vehicle control device 11 receives the start-to-drive instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10 according to the target route R. As a result, for example, the work vehicle 10 starts to drive automatically within the field F according to the target route R.

[0037] The work control device 14A controls the operation of the sprayer 14 based on the spraying pattern corresponding to the control information E1 (see Figure 7) generated at the operation terminal 20. The work control device 14A also causes the sprayer 14 to perform the spraying process based on the current position of the work vehicle 10 calculated by the positioning device 16 and the control information E1. As a result, the work vehicle 10 automatically travels along the target route R in the field F and performs spraying work according to a predetermined spraying pattern based on the control information E1.

[0038] Furthermore, when the vehicle control device 11 and the work control device 14A receive a stop command from the operation terminal 20, they stop the automatic driving and spraying operations of the work vehicle 10. For example, when an operator presses the stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a stop command to the work vehicle 10.

[0039] Next, the specific configuration of the sprayer 14 will be explained using Figures 2 and 3. The sprayer 14 is mounted on the rear of the work vehicle 10. A PTO shaft (not shown) for outputting the driving force of the engine 131 to the sprayer 14 is located at the rear of the vehicle body. The driving force of the engine 131 is transmitted to the PTO shaft via the transmission 134.

[0040] The sprayer 14 includes a storage tank 30 for storing the material to be sprayed (such as a chemical solution), a boom unit 41 for spraying the material in the storage tank 30, and a pump 42 that is driven by a driving force transmitted from the PTO shaft and pressurizes the material in the storage tank 30 to the boom unit 41.

[0041] The boom unit 41 includes a rear boom 43 that sprays material to the rear of the vehicle body, and a pair of lateral booms 44 (left boom 44L, right boom 44R) that spray material to both sides of the vehicle body, respectively. In other words, the sprayer 14 is composed of three booms (units). The rear boom 43 extends in the vehicle width direction (left-right direction) perpendicular to the direction of travel of the work vehicle 10. The rear boom 43 is provided with a plurality of rear nozzles 45 at equal intervals in the direction in which the rear boom 43 extends. The plurality of rear nozzles 45 discharge material downwards.

[0042] The left boom 44L is connected to the left end of the rear boom 43, and the right boom 44R is connected to the right end of the rear boom 43. Each lateral boom 44 is provided with multiple lateral nozzles 46 at equal intervals in the direction in which the lateral boom 44 extends. The multiple lateral nozzles 46 discharge the material downwards. The left boom 44L sprays the material on the left side of the vehicle body, and the right boom 44R sprays the material on the right side of the vehicle body.

[0043] The left boom 44L is rotatable around a predetermined vertical axis near the connection point between the left boom 44L and the rear boom 43. By rotating, the left boom 44L moves between a standby position (shown by the solid line in Figure 3) where the tip of the left boom 44L is close to the vehicle body so that the direction in which the left boom 44L extends is approximately the direction of travel, and a working position (shown by the dashed line in Figure 3) where the tip of the left boom 44L is away from the vehicle body so that the direction in which the left boom 44L extends is approximately the width direction of the vehicle. In other words, the left boom 44L changes its posture between the posture of the standby position and the posture of the working position.

[0044] Similarly, the right boom 44R is rotatable around a predetermined vertical axis near the connection point between the right boom 44R and the rear boom 43. By rotating, the right boom 44R moves between a standby position (shown by the solid line in Figure 3) where the tip of the right boom 44R is close to the vehicle body so that the direction in which the right boom 44R extends is approximately the direction of travel, and a working position (shown by the dashed line in Figure 3) where the tip of the right boom 44R is away from the vehicle body so that the direction in which the right boom 44R extends is approximately the width direction of the vehicle. In other words, the right boom 44R changes its posture between the posture of the standby position and the posture of the working position. The left boom 44L is an example of the left working section of the present invention, and the right boom 44R is an example of the right working section of the present invention.

[0045] The sprayer 14 further includes a pair of boom rotation cylinders 47 (see Figure 3) that rotate each of the pair of lateral booms 44, and a boom lifting cylinder 40 (see Figure 2) that raises and lowers the rear boom 43 and the pair of lateral booms 44. The boom rotation cylinders 47 rotate the corresponding lateral booms 44 around a predetermined pivot point by extending and retracting the cylinder rods.

[0046] The boom lifting cylinder 40 raises and lowers the rear boom 43 and the pair of lateral booms 44 simultaneously by extending and retracting the cylinder rod. The pair of lateral booms 44 move between a lower position where they extend horizontally and an upper position where they are tilted horizontally.

[0047] The sprayer 14 includes a rear valve (not shown) that controls the discharge of spray material from multiple rear nozzles 45 of the rear boom 43, a left valve (not shown) that controls the discharge of spray material from multiple lateral nozzles 46 of the left boom 44L, and a right valve (not shown) that controls the discharge of spray material from multiple lateral nozzles 46 of the right boom 44R.

[0048] When the rear valve is opened while the pump 42 is running, the spray material is discharged from multiple rear nozzles 45 on the rear boom 43. When the left valve is opened while the pump 42 is running, the spray material is discharged from multiple lateral nozzles 46 on the left boom 44L. When the right valve is opened while the pump 42 is running, the spray material is discharged from multiple lateral nozzles 46 on the right boom 44R.

[0049] The work control device 14A switches the spraying pattern based on the control information E1 set for the target path R. Examples of spraying patterns include a left-side spraying pattern in which spraying is performed from the left boom 44L and the rear boom 43 (see Figure 4A), a right-side spraying pattern in which spraying is performed from the right boom 44R and the rear boom 43 (see Figure 4B), a full-body spraying pattern in which spraying is performed from the left boom 44L, the rear boom 43, and the right boom 44R (see Figure 4C), and a spraying stop pattern in which spraying from the left boom 44L, the rear boom 43, and the right boom 44R is stopped (see Figure 4D). The spraying patterns are not limited to these, and may include, for example, a spraying pattern in which spraying is performed only from the left boom 44L and the right boom 44R, a spraying pattern in which spraying is performed only from the left boom 44L, a spraying pattern in which spraying is performed only from the right boom 44R, and a spraying pattern in which spraying is performed only from the rear boom 43.

[0050] The working width in the left-right direction relative to the direction of travel of the work vehicle 10 is set according to the spraying pattern. For example, in the overall spraying pattern (see Figure 4C), the working width is set to the first working width (maximum working width) that extends left-right at the rear of the vehicle body; in the left-side spraying pattern (see Figure 4A), the working width is set to the second working width that extends left-right at the rear and left side of the vehicle body; and in the right-side spraying pattern (see Figure 4B), the working width is set to the third working width that extends left-right at the rear and right side of the vehicle body. Furthermore, the second and third working widths are the same width and are set to be smaller than the first working width.

[0051] For example, when the spraying pattern is set to the left-side spraying pattern, the work control device 14A moves the pair of lateral booms 44 to the lower position, moves the left boom 44L to the operating position, and opens the left valve (see Figure 4A). In addition, in the left-side spraying pattern, the work control device 14A maintains the right boom 44R in the standby position.

[0052] For example, when the spraying pattern is set to the right-side spraying pattern, the work control device 14A moves the pair of lateral booms 44 to the lower position, moves the right boom 44R to the operating position, and opens the right valve (see Figure 4B). Also, in the right-side spraying pattern, the work control device 14A maintains the left boom 44L in the standby position.

[0053] For example, when the work control device 14A sets the spraying pattern to the overall spraying pattern, it moves the pair of lateral booms 44 to the lower position, moves the left boom 44L and the right boom 44R to the operating position, and opens the rear valve, the left valve, and the right valve (see Figure 4C).

[0054] For example, when the work control device 14A sets the spraying pattern to the spraying stop pattern, it moves the pair of lateral booms 44 to the upper position, moves the left boom 44L and the right boom 44R to the standby position, and closes the rear valve, the left valve, and the right valve (see Figure 4D).

[0055] As described above, in the work vehicle 10, the vehicle control device 11 automatically drives the work vehicle 10 according to the target path R, and the work control device 14A switches the spraying pattern according to the target path R and control information E1 to execute the spraying work. In addition, in the work vehicle 10, the tractor and the implement 14 work together to temporarily stop at the starting point of each work path, and after the implement 14 changes to the posture of the set spraying pattern, work on the work path begins. Specifically, when the work vehicle 10 reaches the starting point of the work path, the vehicle control device 11 temporarily stops the work vehicle 10, and the work control device 14A changes the posture of the implement 14 to the posture of the spraying pattern corresponding to that work path. Once the posture change of the implement 14 is complete, the vehicle control device 11 resumes driving the work vehicle 10, and the work control device 14A starts the spraying process on the implement 14.

[0056] [Operating terminal 20] As shown in Figure 1, the operating terminal 20 is an information processing device comprising an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24, etc. The operating terminal 20 may be composed of a mobile device such as a tablet or a smartphone.

[0057] The communication unit 24 is a communication interface for connecting the operating terminal 20 to the communication network N1 by wire or wireless connection and for performing data communication with one or more external devices such as work vehicles 10 via the communication network N1 in accordance with a predetermined communication protocol.

[0058] The operation display unit 23 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can register various information (such as work vehicle information, field information, and work information described later) by operating the operation unit on the operation screen displayed on the display unit. The operator can also issue automatic driving instructions to the work vehicle 10 by operating the operation unit. Furthermore, the operator can understand the driving status of the work vehicle 10 as it automatically travels within field F according to the target route R by observing the driving trajectory displayed on the operation terminal 20 from a location away from the work vehicle 10.

[0059] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 22 stores control programs, such as an automatic driving program, which causes the operation control unit 21 to execute the automatic driving process described later (see Figures 8 and 9). For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) provided on the operation terminal 20 and stored in the storage unit 22. Alternatively, the automatic driving program may be downloaded from a server (not shown) to the operation terminal 20 via a communication network N1 and stored in the storage unit 22. The storage unit 22 may also store work information transmitted from the work vehicle 10.

[0060] Furthermore, a dedicated application for automatically driving the work vehicle 10 is installed in the memory unit 22. The operation control unit 21 starts the dedicated application and performs various processing tasks related to the work vehicle 10, such as setting various information, generating the target path R for the work vehicle 10, setting the spraying pattern and working width of the work machine 14 (generation of control information E1), and issuing start and stop commands to the work vehicle 10.

[0061] The operation control unit 21 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to allow the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The operation control unit 21 controls the operation terminal 20 by executing various control programs stored in advance in the ROM or memory unit 22 using the CPU.

[0062] As shown in Figure 1, the operation control unit 21 includes various processing units such as a vehicle setting processing unit 211, a field setting processing unit 212, a work setting processing unit 213, a route generation processing unit 214, a control information generation processing unit 215, and an output processing unit 216. The operation control unit 21 functions as these various processing units by executing various processes according to the control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The control program may be a program that causes multiple processors to function as processing units.

[0063] The vehicle setting processing unit 211 sets information related to the work vehicle 10 (hereinafter referred to as "work vehicle information"). The vehicle setting processing unit 211 sets information such as the model of the work vehicle 10, the location on which the positioning antenna 164 is attached to the work vehicle 10, the type of work machine 14 (in this case, a sprayer), the size and shape of the work machine 14, and the position of the work machine 14 relative to the work vehicle 10, by having the operator perform an operation to register this information on the operation terminal 20.

[0064] The field setting processing unit 212 sets information related to field F (hereinafter referred to as field information). The field setting processing unit 212 sets information such as the location and shape of field F, the work start position S where work begins, the work end position G where work ends, and the work direction by performing an operation to register this information on the operation terminal 20. The work direction refers to the direction in which the work vehicle 10 is driven while the sprayer 14 is performing the spraying work within the work area of ​​field F.

[0065] Information on the location and shape of field F can be automatically acquired, for example, by having an operator ride in the work vehicle 10 and drive it in a circle along the outside of field F, while recording the changes in the position information of the positioning antenna 164 during that time. Alternatively, the location and shape of field F can also be acquired based on a polygon obtained by having an operator operate the operation terminal 20 to specify multiple points on the map displayed on the terminal. The area identified by the acquired location and shape of field F is the area in which the work vehicle 10 can travel (driving area).

[0066] The work setting processing unit 213 sets information regarding how the work will be performed (hereinafter referred to as work information). The work setting processing unit 213 is configured to set, as work information, whether or not there is coordinated work between the work vehicle 10 (unmanned tractor) and the manned work vehicle 10, the number of skips which is the number of work paths to be skipped when the work vehicle 10 turns in the headland area, the width of the headland area, and the width of the non-work area.

[0067] The route generation processing unit 214 generates a target route R, which is a route for the work vehicle 10 to travel automatically, based on the setting information. In this embodiment, the target route R includes an outer target route R2 (work routes R2a to R2d) (see Figure 5) for automatically traveling through the outer area F2, and an inner target route R1 (work routes R11 to R14, movement routes R21 to R25) (see Figure 6) for automatically traveling through the inner area F1. The route generation processing unit 214 generates the target route R (outer target route R2, inner target route R1) for the work vehicle 10 based on the setting information set by the vehicle setting processing unit 211, the field setting processing unit 212, and the work setting processing unit 213. Alternatively, for example, the route generation processing unit 214 may generate the work routes R2a to R2d and the movement routes R21 to R25 at positions that overlap each other.

[0068] The control information generation processing unit 215 generates control information E1 that controls the method (spreading pattern) of spreading the material onto the target object by the spreader 14 installed on the work vehicle 10. Specifically, the control information generation processing unit 215 generates control information E1 that switches the spreading pattern based on the position of the endpoint of each crop row. For example, the spreading pattern includes the left-side spreading pattern (see Figure 4A), the right-side spreading pattern (see Figure 4B), the overall spreading pattern (see Figure 4C), and the spreading stop pattern (see Figure 4D). In other words, the control information generation processing unit 215 sets the working width in the left-right direction relative to the travel direction of the work vehicle 10 in the spreader 14. The control information generation processing unit 215 is an example of a setting processing unit of the present invention.

[0069] Figure 7 shows the control information E1 set for the target paths R (inner target path R1, outer target path R2) of field F shown in Figures 5 and 6. Here, the control information E1 is shown when the work vehicle 10 travels through the outer area F2 according to the outer target path R2 and then travels through the inner area F1 according to the inner target path R1.

[0070] Specifically, the control information E1 shown in Figure 7 includes control information that, when the work vehicle 10 reaches the starting point (work start position S) of the work path R2a (see Figure 5), the left boom 44L, the rear boom 43, and the right boom 44R are turned ON (corresponding to the overall spraying pattern in Figure 4C); when the work vehicle 10 reaches the starting point (end point of work path R2b) of the work path R2b, the left boom 44L and the rear boom 43 are turned ON and the right boom 44R is turned OFF (corresponding to the left-side spraying pattern in Figure 4A); when the work vehicle 10 reaches the starting point (end point of work path R2b) of the work path R2c, the left boom 44L, the rear boom 43, and the right boom 44R are turned ON (corresponding to the overall spraying pattern); and when the work vehicle 10 reaches the starting point (end point of work path R2c) of the work path R2d, the left boom 44L and the rear boom 43 are turned ON and the right boom 44R is turned OFF (corresponding to the left-side spraying pattern).

[0071] Furthermore, control information E1 includes the following settings: when the work vehicle 10 reaches the starting point of the movement path R21 (see Figure 6), the left boom 44L, rear boom 43, and right boom 44R are turned OFF (corresponding to the spraying stop pattern in Figure 4D); when the work vehicle 10 reaches the starting point of the work path R11 (end point of the movement path R21), the left boom 44L, rear boom 43, and right boom 44R are turned ON (corresponding to the overall spraying pattern); when the work vehicle 10 reaches the starting point of the movement path R22 (end point of the work path R11), the left boom 44L, rear boom 43, and right boom 44R are turned OFF (corresponding to the spraying stop pattern); when the work vehicle 10 reaches the starting point of the work path R12 (end point of the movement path R22), the left boom 44L, rear boom 43, and right boom 44R are turned ON (corresponding to the overall spraying pattern); and when the work vehicle 10 reaches the starting point of the movement path R23 (end point of the work path R12), the left boom... The control information includes setting the 44L, rear boom 43, and right boom 44R to the OFF state (corresponding to the spraying stop pattern), setting the left boom 44L, rear boom 43, and right boom 44R to the ON state (corresponding to the overall spraying pattern) when the work vehicle 10 reaches the start point of work path R13 (end point of movement path R23), setting the left boom 44L, rear boom 43, and right boom 44R to the OFF state (corresponding to the spraying stop pattern) when the work vehicle 10 reaches the start point of movement path R24 (end point of work path R13), setting the left boom 44L, rear boom 43, and right boom 44R to the ON state (corresponding to the overall spraying pattern) when the work vehicle 10 reaches the start point of work path R14 (end point of movement path R24), and setting the left boom 44L, rear boom 43, and right boom 44R to the OFF state (corresponding to the spraying stop pattern) when the work vehicle 10 reaches the start point of movement path R25 (end point of work path R14).

[0072] Furthermore, the ON / OFF control timing for each boom 44L, 43, and 44R in the control information E1 is set according to the position of the work vehicle 10.

[0073] Specifically, the control information generation processing unit 215 calculates the distance between the center position of the positioned work vehicle 10 and the work start position, and calculates the control timing for each boom 44L, 43, and 44R from the set travel speed. In addition, since each boom 44L, 43, and 44R requires the motor to be turned ON and OFF, and each nozzle to be opened and closed, the control information generation processing unit 215 also takes these operating times into consideration when calculating the control timing. As a result, in the control information E1, the control timing is set such that, for example, the spray material is sprayed onto the work target or the spraying of the spray material is stopped when each boom 44L, 43, and 44R reaches the work start position.

[0074] The output processing unit 216 outputs route data to the work vehicle 10, which includes the target route R information generated by the route generation processing unit 214 and the control information E1 (see Figure 7) generated by the control information generation processing unit 215.

[0075] In addition, the operation control unit 21 receives instructions from the operator to start work (work start instruction operation) and instructions to stop work of the automatically moving work vehicle 10 (work stop instruction operation). When the operation control unit 21 receives the work start instruction operation, it outputs the work start instruction to the work vehicle 10.

[0076] When the vehicle control device 11 of the work vehicle 10 receives a work start instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10 and makes it drive automatically according to the target path R. Also, when the work control device 14A receives a work start instruction from the operation terminal 20, it starts the spraying operation of the work vehicle 10 and executes the spraying process by switching the spraying pattern by controlling the ON / OFF of each boom 44L, 43, and 44R according to the current position of the work vehicle 10 based on the control information E1. Furthermore, when the vehicle control device 11 and the work control device 14A receive a driving stop instruction from the operation terminal 20, they stop the automatic driving and spraying operation of the work vehicle 10.

[0077] Furthermore, the operating terminal 20 may be able to access the website (agricultural support site) of the agricultural support service provided by the server via the communication network N1. In this case, the operating terminal 20 can function as an operating terminal for the server by having a browser program executed by the operation control unit 21.

[0078] [Automatic driving process] Hereinafter, with reference to Figures 8 and 9, an example of the automatic driving process performed by the vehicle control device 11 and work control device 14A of the work vehicle 10 and the operation control unit 21 of the operation terminal 20 will be described.

[0079] Furthermore, the present invention can be understood as an invention of an automated driving method that performs one or more steps included in the automated driving process described herein. The one or more steps included in the automated driving process described herein may be omitted as appropriate. The execution order of each step in the automated driving process may differ to the extent that similar effects are produced. Furthermore, although the vehicle control device 11, the work control device 14A, and the operation control unit 21 are used as examples in this description, an automated driving method in which one or more processors distribute and execute each step in the automated driving process can also be considered as another embodiment. The automated driving method also includes the work method of the present invention.

[0080] In step S1, the operation control unit 21 of the operation terminal 20 registers various setting information. Specifically, the operation control unit 21 sets and registers information related to the work vehicle 10 (work vehicle information), information related to field F (field information), and information related to the work (work information) based on the operator's setting operations.

[0081] Next, in step S2, the operation control unit 21 generates a target path R based on the setting information. For example, the operation control unit 21 generates a target path R based on the positions where work objects such as crops are placed in field F. Specifically, it generates an outer target path R2 based on the positions of crops placed in the outer region F2 shown in Figure 5, and generates an inner target path R1 based on the positions of crops placed in the inner region F1 shown in Figure 6. The outer target path R2 includes work paths R2a and R2c for crop rows (vertical ridges) in the Y direction, and work paths R2b and R2d for crop rows (horizontal ridges) in the X direction. The inner target path R1 includes work paths R11 to R14 for crop rows (vertical ridges) in the Y direction, and non-work path movement paths R21 to R25.

[0082] Furthermore, the operation control unit 21 generates control information E1 (see Figure 7) to switch the spraying pattern based on the aforementioned setting information and target path R. Specifically, the operation control unit 21 sets the working width in the left-right direction relative to the travel direction of the work vehicle 10 in the sprayer 14.

[0083] Next, in step S3, the operation control unit 21 determines whether or not it has received a work start instruction from the operator. For example, when the operator presses the start button on the operation terminal 20, the operation control unit 21 receives a work start instruction. If the operation control unit 21 receives a work start instruction (S3: Yes), the process proceeds to step S4. The operation control unit 21 waits until it receives a work start instruction (S3: No).

[0084] Next, in step S4, the operation control unit 21 outputs route data including the generated target route R and control information E1 to the work vehicle 10.

[0085] Next, in step S5, when the vehicle control device 11 receives a work start instruction and route data from the operation terminal 20, it automatically starts driving along the target route R corresponding to the route data.

[0086] Next, in step S6, the work control device 14A causes the sprayer 14 to execute a spray control process. Figure 9 shows an example of the spray control process. The spray control process shown in Figure 9 corresponds to the spray process shown in control information E1 in Figure 7, and shows an example of the spray process for field F and target path R shown in Figures 5 and 6.

[0087] Specifically, when the work vehicle 10 reaches the starting point of the work path R2a (see Figure 5) (step S21 in Figure 9: Yes), in step S22, the work control device 14A turns on the left boom 44L (side nozzle 46), the rear boom 43 (rear nozzle 45), and the right boom 44R (side nozzle 46) to set the work width to the maximum work width and performs spraying according to the overall spraying pattern (see Figure 4C). The work vehicle 10 performs the spraying operation according to the overall spraying pattern while automatically traveling along the work path R2a.

[0088] Next, when the work vehicle 10 reaches the starting point of work path R2b (the ending point of work path R2a) (S23: Yes), in step S24, the work control device 14A sets the left boom 44L and the rear boom 43 to ON and the right boom 44R to OFF, setting the work width to approximately half of the maximum work width, and performs spraying using the left-side spraying pattern (see Figure 4A). The work vehicle 10 automatically travels along work path R2b and performs spraying using the left-side spraying pattern.

[0089] Next, when the work vehicle 10 reaches the starting point of work path R2c (the ending point of work path R2b) (S25: Yes), in step S26, the work control device 14A turns on the left boom 44L, the rear boom 43, and the right boom 44R to set the work width to the maximum work width and performs spraying according to the overall spraying pattern (see Figure 4C). The work vehicle 10 performs the spraying operation according to the overall spraying pattern while automatically traveling along work path R2c.

[0090] Next, when the work vehicle 10 reaches the starting point of work path R2d (the ending point of work path R2c) (S27: Yes), in step S28, the work control device 14A turns on the left boom 44L and the rear boom 43 and turns off the right boom 44R, setting the work width to approximately half of the maximum work width, and performs spraying using the left-side spraying pattern (see Figure 4A). The work vehicle 10 automatically travels along work path R2d and performs spraying using the left-side spraying pattern. As a result, the work vehicle 10 completes the spraying work in the outer area F2.

[0091] Next, when the work vehicle 10 reaches the starting point of the movement path R21 (see Figure 6) (the ending point of the work path R2d) (S29: Yes), in step S30, the work control device 14A turns off the left boom 44L, the rear boom 43, and the right boom 44R, stopping the spraying (see Figure 4D). The work vehicle 10 automatically travels along the movement path R21 with the spraying operation stopped. If the work vehicle 10 does not reach the starting point of the movement path R21 (S29: No), the process proceeds to step S33.

[0092] Next, when the work vehicle 10 reaches the starting point of the work path R11 (the ending point of the travel path R21) (S31: Yes), in step S32, the work control device 14A turns on the left boom 44L, the rear boom 43, and the right boom 44R to set the work width to the maximum work width and performs spraying according to the overall spraying pattern (see Figure 4C). The work vehicle 10 performs the spraying operation according to the overall spraying pattern while automatically traveling along the work path R11.

[0093] If the work vehicle 10 has not reached the end point of the work path (the end point of work path R14 in Figure 6) (S33: No), the process returns to step S29. For example, when the work vehicle 10 reaches the start point of the travel path R22 (the end point of work path R11) (S29: Yes), in step S30, the work control device 14A turns off the left boom 44L, the rear boom 43, and the right boom 44R to stop spraying (see Figure 4D). The work vehicle 10 then automatically travels along the travel path R22 with the spraying operation stopped.

[0094] Next, when the work vehicle 10 reaches the starting point of the work path R12 (the end point of the travel path R22) (S31: Yes), in step S32, the work control device 14A turns on the left boom 44L, the rear boom 43, and the right boom 44R and performs spraying according to the overall spraying pattern (see Figure 4C). The work vehicle 10 performs the spraying operation according to the overall spraying pattern while automatically traveling along the work path R12. In this way, the work vehicle 10 repeats the process from steps S29 to S32 until it reaches the end point of the work path (the end point of the work path R14).

[0095] When the work vehicle 10 reaches the end point of the work path (the end point of work path R14) (S33: Yes), the work control device 14A turns off the left boom 44L, the rear boom 43, and the right boom 44R, stopping the spraying (see Figure 4D). The work vehicle 10 then automatically travels along the travel path R25 while the spraying operation is stopped. Note that the travel paths R21 to R25 may be set to overlap with the work paths R2a to R2d. This allows the work vehicle 10 to travel in the same location during work in the inner area F1 as it did during work in the outer area F2.

[0096] As described above, the work control device 14A executes spray control processing (S21~S34) based on the position information and control information E1 of the work vehicle 10.

[0097] Returning to Figure 8, in step S7, the vehicle control device 11 determines whether the work vehicle 10 has finished its work. The vehicle control device 11 determines that the work has finished if the position of the work vehicle 10 coincides with the work completion position G. If the work vehicle 10 has finished its work (S7: Yes), the automatic driving process ends. The vehicle control device 11 and the work control device 14A continue automatic driving by repeating the spraying control process in step S6 until the work vehicle 10 has finished its work.

[0098] Note that the processes in steps S1 and S2 and the processes in steps S3 to S7 may be executed independently. For example, the automated driving system 1 executes the processes in steps S1 and S2 during the initial setup phase when the work vehicle 10 is introduced. The automated driving system 1 also executes the processes in steps S3 to S7 when the operator performs work using the work vehicle 10.

[0099] As described above, the automatic driving system 1 according to this embodiment sets the working width of the implement 14 (spreader 14) in the left-right direction relative to the driving direction (direction of travel) of the work vehicle 10, based on the driving position of the work vehicle 10 within the field F.

[0100] Specifically, the automated driving system 1 causes the work vehicle 10 to automatically travel along a target path R set in the field F, and sets a work width for each of the multiple work paths included in the target path R. The field F includes an inner area F1 where the work vehicle 10 works while traveling in a first direction (Y direction), and an outer area F2 surrounding the inner area F1. The automated driving system 1 sets the work width in the outer area F2 based on the direction in which the work vehicle 10 travels in the outer area F2.

[0101] For example, the automated driving system 1 sets the working width in the outer region F2 to the same first working width (maximum working width) as the working width in the inner region F1 when the working vehicle 10 is traveling in the first direction (Y direction) (see Figure 4C), and sets the working width in the second direction (X direction) when the working vehicle 10 is traveling in the second direction to a second working width smaller than the first working width (for example, approximately half the width of the maximum working width) (see Figures 4A and 4B).

[0102] With the above configuration, the spraying pattern is switched according to the position of the work vehicle 10 while the work vehicle 10 is automatically driving, so the working width of the implement 14 is changed according to the work path. Therefore, the operator's work of switching spraying patterns (spraying modes) can be eliminated, and the working width of the implement 14 can be easily set. In addition, since the optimal spraying pattern (working width) can be set according to the work path, work efficiency can be improved.

[0103] [Other embodiments] The present invention is not limited to the embodiments described above. Other embodiments of the present invention are described below.

[0104] In the above embodiment, the working width in the outer regions F2a and F2c (vertical ridges) is set to the first working width (maximum working width), and the working width in the outer regions F2b and F2d (horizontal ridges) is set to a second working width that is smaller than the first working width (see Figure 5). In another embodiment, the automatic driving system 1 may set the working width of each of the outer regions F2a to F2d to the first working width (maximum working width) or to the second working width.

[0105] Furthermore, the automated driving system 1 may set the working width of each of the outer regions F2a to F2d based on a user operation selecting either the first working width or the second working width. For example, the operation control unit 21 may accept an operation from the operator to select a spraying pattern for each work path on a setting screen (not shown), and set the spraying pattern (working width) according to that operation. Figure 10 shows the state in which the overall spraying pattern (maximum working width) has been set for each of the work paths R2a to R2d. In this case, the width of the inner region F1 in the Y direction is smaller compared to the example shown in Figure 5.

[0106] Furthermore, in the above-described embodiment, the automatic driving system 1 sets the working width of the inner area F1 and the working width of the outer area F2 so that the working range of the inner area F1 and the working range of the outer area F2 do not overlap. For example, as shown in Figures 5 and 6, the working path of the inner area F1 is set to the area obtained by subtracting the working width of the outer area F2 from the outer edge (edge) of the field F.

[0107] Furthermore, in the above-described embodiment, the start and end points of each work path in the inner region F1 are set at the ends of the work width in the outer region F2. As a result, the work vehicle 10 starts the spraying operation at the start point of work path R11, for example, and stops the spraying operation at the end of the work width in the outer region F2b (the end of the work range in the outer region F2b). Also, the work vehicle 10 starts the spraying operation of work path R12 at the end of the work width in the outer region F2b (the end of the work range in the outer region F2b).

[0108] In another embodiment of the present invention, the automatic driving system 1 may set the working width of the inner region F1 and the working width of the outer region F2 such that a portion of the working range of the inner region F1 and a portion of the working range of the outer region F2 overlap. For example, the start and end points of each work path in the inner region F1 may be set inside the working width of the outer region F2. As a result, the work vehicle 10 can, for example, start spraying at the start of work path R11 and stop spraying inside the working width of the outer region F2b (inside the working range of the outer region F2b). The work vehicle 10 can also start spraying work on work path R12 inside the working width of the outer region F2b (inside the working range of the outer region F2b). The operator may set the width (overlap amount) in which a portion of the working range of the inner region F1 and a portion of the working range of the outer region F2 overlap.

[0109] In another embodiment of the present invention, the work area may be set to only the inner region F1 within the field F. For example, as shown in Figure 11, straight work paths R11 to R16 are generated in the inner region F1 of field F. Outside the inner region F1, a headland region F3 is set where movement paths (straight path, turning path) are generated for the work vehicle 10 to move without performing any work. When the work vehicle 10 starts automatic driving from, for example, the work start position S, it performs spraying work along work path R11, then travels along movement path R31 to move to work path R12 and performs spraying work along work path R12. After that, the work vehicle 10 travels sequentially along movement path R32, work path R13, movement path R33, work path R14, movement path R34, work path R15, movement path R35, work path R16, and movement path R36 to reach the work end position G.

[0110] In the case of field F shown in Figure 11, the operation control unit 21 sets the area of ​​field F necessary for the work vehicle 10 to turn and move as the headland area F3, and sets the area excluding the headland area F3 as the work area (inner area F1). The operation control unit 21 also generates control information E1 to perform spraying work in the inner area F1 using the overall spraying pattern (see Figure 4C) and to drive in the headland area F3 using the spraying stop pattern (see Figure 4D).

[0111] In another embodiment of the present invention, the sprayer 14 may have multiple units in each of its left and right booms. For example, as shown in Figure 12, the sprayer 14 may include two left booms (left booms 44La, 44Lb) and two right booms (right booms 44Ra, 44Rb). In this case, the sprayer 14 is composed of five booms (units). The work control device 14A controls the ON / OFF status of each boom (unit) based on the target path R and control information E1 to switch between multiple spraying patterns and cause the sprayer 14 to perform the spraying process. In the present invention, the number of booms (units) of the sprayer 14 is not limited.

[0112] Furthermore, the right and left booms of the sprayer 14 may be foldable (see Figure 3) that can rotate in the front-to-back direction of the work vehicle 10, or they may be telescopic that can extend in the left-to-right direction of the work vehicle 10.

[0113] In the above-described embodiment, when the work vehicle 10 is not performing spraying work, that is, when the spraying pattern is set to the spraying stop pattern (see Figure 4D), the left boom 44L and the right boom 44R are maintained in the standby position (the position shown by the solid line in Figure 3). In another embodiment of the present invention, when the spraying pattern is set to the spraying stop pattern, the left boom 44L and the right boom 44R may be maintained in the working position (the position shown by the dashed line in Figure 3). In this case, the work control device 14A closes the nozzles and stops spraying while maintaining the positions of the left boom 44L and the right boom 44R in the working position. With this configuration, when the work vehicle 10 finishes spraying work on a work path and moves to the next work path, the rotation of the booms can be omitted, thus shortening the time from stopping the spraying work to restarting it.

[0114] Thus, the automatic driving system 1 may set the working width by changing the respective postures of the left boom 44L and the right boom 44R (see Figure 3) based on the driving position of the work vehicle 10, or it may set the working width by changing the respective drive states (turning the nozzle ON / OFF) of the left boom 44L and the right boom 44R based on the driving position of the work vehicle 10.

[0115] Furthermore, the operator may be able to set whether to return the boom to the standby position or maintain it in the working position when the work vehicle 10 moves through a non-working area.

[0116] The present invention can be applied to aircraft (helicopters, drones, etc.) flying over field F. For example, it can be applied to a spraying drone that sprays materials from above field F.

[0117] The setting system of the present invention may consist of the operation terminal 20 alone, or the work vehicle 10 and the operation terminal 20, or the work vehicle 10 alone. The automatic driving system may also consist of a server equipped with each processing unit included in the operation terminal 20.

[0118] [Notes on the invention] The following is an overview of the invention extracted from the embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0119] <Note 1> A work method performed on a work vehicle equipped with a work implement, Based on the travel position of the work vehicle within the work area, the working width of the work machine is set in the left-right direction relative to the travel direction of the work vehicle. The method for performing the task.

[0120] <Note 2> The work vehicle is made to automatically travel in the work area according to the target route set in the work area. The work width is set for each of the multiple work paths included in the target path. The procedure described in Appendix 1.

[0121] <Note 3> The work area includes a first work area where the work vehicle performs work while traveling in a first direction, and a second work area located closer to the edge of the work area than the first work area. Based on the direction of travel of the work vehicle in the second work area, the work width in the second work area is set. The procedure described in Appendix 1.

[0122] <Note 4> In the second work area, the work width is set to the same first work width as the work width in the first work area when the work vehicle is traveling in the first direction, and the work width is set to a second work width smaller than the first work width when the work vehicle is traveling in a second direction different from the first direction. The procedure described in Appendix 3.

[0123] <Note 5> The first working width is the maximum working width that the work machine can operate at. The second working width is a working width smaller than the maximum working width. The work procedure described in Appendix 4.

[0124] <Note 6> The working width in the second working area is set based on a user operation selecting either a first working width that is the same as the working width in the first working area, or a second working width that is smaller than the first working width. The procedure described in any of the appendices 3 to 6.

[0125] <Note 7> The working width of the first working area and the working width of the second working area are set so that the working range of the first working area and the working range of the second working area do not overlap. The procedure described in any of the appendices 3 to 6.

[0126] <Note 8> The work machine includes a left-side work section that works in the area to the left of the direction of travel of the work vehicle, and a right-side work section that works in the area to the right of the direction of travel of the work vehicle. The working width is set by changing the posture of the left working section and the right working section based on the travel position of the work vehicle. The procedure described in any of the appendices 1 to 7.

[0127] <Note 9> The work machine includes a left-side work section that works in the area to the left of the direction of travel of the work vehicle, and a right-side work section that works in the area to the right of the direction of travel of the work vehicle. The working width is set by changing the driving state of the left working section and the right working section, respectively, based on the driving position of the work vehicle. The procedure described in any of the appendices 1 to 7. [Explanation of symbols]

[0128] 1: Automated driving system 10: Work vehicles 11: Vehicle control system 12: Storage section 13: Running gear 14: Work equipment (spreader) 14A: Work control device 20: Operating terminal 21: Operation Control Unit 22: Storage section 41: Boom Unit 42: Pump 43: Rear boom 44L: Left-side boom (left-side working section) 44R: Right-side boom (right-side working section) 45: Rear nozzle 46: Side nozzle 211: Vehicle setting processing unit 212: Field setting processing unit 213: Work Setting Processing Unit 214: Route generation processing unit 215: Control information generation processing unit (setting processing unit) 216: Output Processing Unit E1: Control information F: Field (work area) F1: Inner area (1st work area) F2:Outer area (second work area) R: Target path R1: Inner target path R2 :Outer target path R11~R16: Work Route R21~R25: Travel Route R2a~R2d: Work Path

Claims

1. A work method performed on a work vehicle equipped with a work implement, One or more processors The aforementioned work vehicle is to be driven automatically according to a target path set in the work area, For each of the multiple work paths included in the target path, the working width of the work machine is set in the left-right direction relative to the travel direction of the work vehicle, based on the position of each of the multiple work paths in the work area. While the work vehicle is automatically driving, the operation of the work machine is controlled based on the work width set for each of the multiple work paths. The method for performing the task.

2. A work method performed on a work vehicle equipped with a work implement, One or more processors Based on the travel position of the work vehicle within the work area, the working width of the work machine is set in the left-right direction relative to the travel direction of the work vehicle. Execute, The work area includes a first work area where the work vehicle performs work while traveling in a first direction, and a second work area located closer to the edge of the work area than the first work area. A work method comprising setting the work width in the second work area based on the direction of travel of the work vehicle in the second work area.

3. In the second work area, the work width is set to the same first work width as the work width in the first work area when the work vehicle is traveling in the first direction, and the work width is set to a second work width smaller than the first work width when the work vehicle is traveling in a second direction different from the first direction. The work method described in claim 2.

4. The first working width is the maximum working width that the work machine can operate at. The second working width is a working width smaller than the maximum working width. The work method described in claim 3.

5. The working width in the second working area is set based on a user operation selecting either a first working width that is the same as the working width in the first working area, or a second working width that is smaller than the first working width. The work method described in claim 2.

6. The working width of the first working area and the working width of the second working area are set so that the working range of the first working area and the working range of the second working area do not overlap. The work method described in claim 2.

7. The work machine includes a left-side work section that works in the area to the left of the direction of travel of the work vehicle, and a right-side work section that works in the area to the right of the direction of travel of the work vehicle. The working width is set by changing the posture of the left working section and the right working section based on the travel position of the work vehicle. The work method according to any one of claims 1 to 6.

8. The work machine includes a left-side work section that works in the area to the left of the direction of travel of the work vehicle, and a right-side work section that works in the area to the right of the direction of travel of the work vehicle. The working width is set by changing the driving state of the left working section and the right working section, respectively, based on the driving position of the work vehicle. The work method according to any one of claims 1 to 6.

9. A work system for performing work on a work vehicle equipped with work implements, A driving processing unit that causes the aforementioned work vehicle to automatically drive according to a target path set in the work area, A setting processing unit sets the working width of the work machine in the left-right direction relative to the travel direction of the work vehicle, based on the position of each of the multiple work paths included in the target path within the work area. A control processing unit controls the operation of the work machine based on the work width set for each of the plurality of work paths while the work vehicle is automatically traveling, A work system equipped with the following features.

10. A work program executed in a work vehicle equipped with a work implement, The aforementioned work vehicle is to be driven automatically according to a target path set in the work area, For each of the multiple work paths included in the target path, the working width of the work machine is set in the left-right direction relative to the travel direction of the work vehicle, based on the position of each of the multiple work paths in the work area. While the work vehicle is automatically driving, the operation of the work machine is controlled based on the work width set for each of the multiple work paths. A task program that causes one or more processors to run.

11. A work system for performing work on a work vehicle equipped with work implements, The system includes a setting processing unit that sets the working width of the work machine in the left-right direction relative to the direction of travel of the work vehicle, based on the travel position of the work vehicle within the work area. The work area includes a first work area where the work vehicle performs work while traveling in a first direction, and a second work area located closer to the edge of the work area than the first work area. The setting processing unit sets the work width in the second work area based on the direction of travel of the work vehicle in the second work area.

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