Setup method, automatic driving method, setup system, and setup program

Abstract

To provide a setting method, self-driving method, setting system and setting program, which improve efficiency of work done by multiple work vehicles in a work area.SOLUTION: A setting processing unit 211 allocates a first task to a work vehicle 10a configured to self-drive in a field, and allocates a second task to a work vehicle 10b configured to self-drive in the field. A generation processing unit 212 generates a target route R1 for having the work vehicle 10a self-drive thereon and a target route R2 for having the work vehicle 10b self-drive thereon on the basis of task information of the first task and the second task.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a setting method for setting a target route for automatically driving a work vehicle, etc.

Background Art

[0002] In order to improve the work efficiency in a field, a system for causing a plurality of work vehicles to perform work while automatically traveling in a single field is known. For example, a system for controlling the travel of a child work vehicle based on information of a parent work vehicle and information of the child work vehicle is known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, for example, when the first work vehicle among two work vehicles performs the first work and then the second work vehicle performs the second work, different work implements may be attached to each of the first work vehicle and the second work vehicle. When different work implements are attached to each work vehicle, since the work start position, work end position, work width, etc. are different, there may be a difference in the work range in which each work vehicle performs work. In this case, for example, there may be a region in the field where the first work has been performed and the second work is not performed, or the second work may be performed in a region where the first work has not been performed in the field, resulting in a problem that the cooperation between the first work and the second work is not properly performed and the work efficiency is reduced.

[0005] An object of the present invention is to provide a setting method, an automatic driving method, a setting system, and a setting program capable of improving the work efficiency of work by a plurality of work vehicles in a work area.

Means for Solving the Problems

[0006] The setting method according to the present invention is a method that performs the following actions: setting a first task for a first work vehicle that automatically travels within a work area; setting a second task for a second work vehicle that automatically travels within the work area; and generating a first target route for the first work vehicle to automatically travel and a second target route for the second work vehicle to automatically travel, based on the work information of the first and second tasks, respectively.

[0007] The automatic driving method according to the present invention is a method that performs the following steps: automatically driving the first work vehicle in the work area according to the first target route set by the setting method, and after starting the automatic driving of the first work vehicle, automatically driving the second work vehicle in the work area according to the second target route set by the setting method.

[0008] The setting system according to the present invention comprises a setting processing unit and a generation processing unit. The setting processing unit sets a first task for a first work vehicle that automatically travels within a work area, and sets a second task for a second work vehicle that automatically travels within the work area. The generation processing unit generates a first target route for the first work vehicle to automatically travel and a second target route for the second work vehicle to automatically travel, based on the work information for the first task and the second task, respectively.

[0009] The setting program according to the present invention is a program that causes one or more processors to execute the following: setting a first task for a first work vehicle that automatically travels within a work area; setting a second task for a second work vehicle that automatically travels within the work area; and generating a first target route for the first work vehicle to automatically travel and a second target route for the second work vehicle to automatically travel, based on the work information of the first and second tasks, respectively. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a setting method, an automatic driving method, a setting system, and a setting program that can improve the work efficiency of work performed by multiple work vehicles in a work area. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a 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 shows an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of a target route for another work vehicle according to an embodiment of the present invention. [Figure 5] Figure 5 shows an example of the working range corresponding to each work vehicle according to the embodiment of the present invention. [Figure 6] Figure 6 shows an example of a settings screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 7] Figure 7 shows an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 8] Figure 8 shows an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 9] Figure 9 shows an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 10] Figure 10 is a flowchart showing an example of the procedure for setting up the system performed by the automated driving system according to an embodiment of the present invention. [Figure 11A] Figure 11A shows an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 11B] Figure 11B shows an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 12A] Figure 12A shows an example of a discharge position according to an embodiment of the present invention. [Figure 12B]FIG. 12B is a diagram showing an example of a discharge area according to an embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of the work order (working time) of one work vehicle according to an embodiment of the present invention. [Figure 14] FIG. 14 is a diagram showing an example of the work order (working time) of another work vehicle according to an embodiment of the present invention. [Figure 15A] FIG. 15A is a diagram showing an example of an outer peripheral work range and an inner peripheral work range according to an embodiment of the present invention. [Figure 15B] FIG. 15B is a diagram showing an example of an outer peripheral work range and an inner peripheral work range according to an embodiment of the present invention.

Mode for Carrying Out the Invention

[0012] The following embodiments are an example of embodying the present invention and do not limit the technical scope of the present invention.

[0013] 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 automatic driving system 1 includes a plurality of work vehicles 10. Each work vehicle 10 and the operation terminal 20 can communicate via a communication network N1. For example, each work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN. In this embodiment, the operation terminal 20 is a device that sets and manages work information regarding a plurality of work vehicles 10 and may be configured by, for example, a management device, a server device, a cloud server, etc. As another embodiment, the operation terminal 20 may be arranged for each work vehicle 10, and one operation terminal 20 may be configured to be able to operate one work vehicle 10.

[0014] In this embodiment, the case where the work vehicle 10 is a tractor will be used as an example for explanation. In other embodiments, the work vehicle 10 may be a rice transplanter, a combine harvester, construction machinery, or a snowplow. The work vehicle 10 is configured to automatically travel (autonomously travel) within the field, which is the work area, according to a pre-set target route. Furthermore, the work vehicle 10 can perform predetermined tasks while automatically traveling within the field. For example, each work vehicle 10 performs predetermined tasks while automatically traveling within the field according to a pre-set target route, based on the position information of the work vehicle 10's current position calculated by the positioning device 16.

[0015] For example, the work vehicle 10a performs grass cutting work in field F shown in Figure 3, automatically traveling along a pre-set target path R1. The work vehicle 10a is equipped with a work implement 14 (grass cutter) at a position offset to one side (the right side in Figure 3) relative to the center in the left-right direction. The target path R1 includes multiple rows of straight work paths R11 to R16, and turning paths R1a and R1b connecting the work paths R11 to R16. The work vehicle 10a performs grass cutting work in field F, traveling in a spiral pattern from the outer perimeter to the inner perimeter, following the target path R1. For example, as shown in Figure 3, the work vehicle 10a travels along work paths R11, R12, R13, R14, R15, and R16 in order. In Figure 3, the symbol A1 indicates the working range (grass cutting range) of the work vehicle 10a. Code A11 indicates a completed area where work is performed when the work vehicle 10a travels along the work path R11, and code A12 indicates a completed area where work is performed when the work vehicle 10a travels along the work path R12. Similarly, codes A13 to A16 indicate completed areas corresponding to the work paths R13 to R16.

[0016] For example, in field F shown in Figure 4, the work vehicle 10b performs grass collection work while automatically traveling according to a pre-set target path R2. The work vehicle 10b gathers the grass cut by work vehicle 10a at a central position. The work vehicle 10b is equipped with a work implement 14 (rake) for collecting the cut grass. The target path R2 includes multiple rows of straight work paths R21 to R24 and turning paths R2a and R2b connecting work paths R21 to R24. Following the target path R2, the work vehicle 10b performs grass collection work while traveling in a spiral pattern from the outer perimeter to the inner perimeter in field F. For example, as shown in Figure 4, the work vehicle 10b travels along work paths R21, R22, R23, and R24 in order. In Figure 4, the symbol A2 indicates the working range (grass collection range) of the work vehicle 10b. Code A21 indicates a completed area where work is performed when the work vehicle 10b travels along the work path R21, and code A22 indicates a completed area where work is performed when the work vehicle 10b travels along the work path R22. Similarly, codes A23 and A24 indicate completed areas corresponding to the work paths R23 and R24.

[0017] In this way, work vehicles 10a and 10b work in coordination in the same field F. For example, work vehicle 10a starts work (grass cutting) first, and work vehicle 10b starts work (grass gathering) after work vehicle 10a has started.

[0018] Here, if work vehicles 10a and 10b are equipped with different implements 14, the starting position, ending position, and working width will differ, which may result in differences in the working range performed by each work vehicle. For example, as shown in Figure 5, if a brush cutter is attached to work vehicle 10a and a grass collector (rake) is attached to work vehicle 10b, the size (width) of the rake and the size (width) of the brush cutter are different, which may result in differences between the working range (working area) A2 set for work vehicle 10b and the working range A1 set for work vehicle 10a. As a result, in conventional technology, problems arise such as areas where work vehicle 10b does not work (unworked area B1) within the area worked by work vehicle 10a, or wasted work area being created when work vehicle 10b works in an area not worked by work vehicle 10a, thus reducing work efficiency. In contrast, the automatic driving system 1 according to this embodiment makes it possible to improve the work efficiency of work performed by multiple work vehicles 10 in a field F, as shown below.

[0019] The automated driving system 1 may include three or more work vehicles 10. For example, work vehicle 10c may perform a predetermined task in the same field F. For example, work vehicle 10c is equipped with a work machine 14 (roll baler) and performs the task of taking in the grass collected by work vehicle 10b, forming it into a roll, and discharging it (forming operation). The automated driving system 1 including work vehicle 10c will be described later (see Figure 11A, etc.).

[0020] [Work Vehicle 10] As shown in Figures 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a running device 13, a work machine 14, a communication unit 15, a positioning device 16, and the like. The vehicle control device 11 is electrically connected to the memory unit 12, the running device 13, the work machine 14, the positioning device 16, and the like. The vehicle control device 11 and the positioning device 16 may be capable of wireless communication. When describing a configuration common to work vehicle 10a and work vehicle 10b, it will be referred to as "work vehicle 10".

[0021] The communication unit 15 is a communication interface that connects the work vehicle 10 to the communication network N1 by wire or wireless connection and performs data communication with external devices such as the operation terminal 20 via the communication network N1 in accordance with a predetermined communication protocol. The work vehicle 10 can communicate wirelessly with each of the operation terminals 20 via the communication unit 15.

[0022] 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 automatic driving processing. 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. In addition, the storage unit 12 may store route data of the target route generated at the operation terminal 20.

[0023] The running gear 13 is the drive unit that propels the work vehicle 10. As shown in Figure 2, the running gear 13 includes an engine 131 (drive source), 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.

[0024] 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.

[0025] 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.

[0026] The implements 14 are, for example, a lawnmower, tiller, seed planter, plow, fertilizer spreader, or sprayer, and are detachable from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the implements 14. Figure 2 shows the case where the implement 14 is a lawnmower.

[0027] The steering wheel 137 is an operating part that is 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, and the direction of travel of the work vehicle 10 is changed. When an operator performs a teaching operation, for example, the operator operates the steering wheel 137 to manually drive the work vehicle 10.

[0028] Furthermore, in addition to the steering wheel 137, the running gear 13 includes 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 operates the brakes to brake the rotation of the front wheels 132 and rear wheels 133 using electromagnetic brakes. The vehicle control device 11 may also brake the rotation of the front wheels 132 and rear wheels 133 using other well-known braking systems instead of electromagnetic brakes.

[0029] The positioning device 16 is a device that includes 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 in different locations on the work vehicle 10. As mentioned above, the battery is connected to the positioning device 16, 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.

[0030] 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.

[0031] 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.

[0032] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0033] 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.

[0034] The vehicle control device 11 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 vehicle control device 11 controls the work vehicle 10 by executing various control programs stored in advance in the ROM or memory unit 12 using the CPU.

[0035] 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.

[0036] 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.

[0037] 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 a start-to-drive instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10. As a result, for example, work vehicle 10a starts automatic driving within field F according to the target route R1 (see Figure 3) and starts work with the implement 14 (e.g., mowing). Similarly, work vehicle 10b starts automatic driving within field F according to the target route R2 (see Figure 4) and starts work with the implement 14 (e.g., grass gathering). Note that work vehicle 10b may start automatic driving at a predetermined timing after work vehicle 10a has started automatic driving in response to the operator's start-to-drive instruction.

[0038] The target route R1, on which work vehicle 10a will automatically travel, and the target route R2, on which work vehicle 10b will automatically travel, are generated, for example, in the operation terminal 20. Work vehicle 10a obtains route data corresponding to target route R1 from the operation terminal 20 and automatically travels according to target route R1, and work vehicle 10b obtains route data corresponding to target route R2 from the operation terminal 20 and automatically travels according to target route R2.

[0039] Furthermore, when the vehicle control device 11 receives a stop command from the operation terminal 20, it stops the automatic movement 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.

[0040] [Operating terminal 20] As shown in Figure 1, the operating terminal 20 is an information processing device comprising a control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operating terminal 20 may be a management device located in an office that manages field F, or it may be a server located in a remote location (e.g., a cloud server). The operating terminal 20 may also consist of a mobile device such as a tablet or smartphone.

[0041] The communication unit 24 is a communication interface that connects the operating terminal 20 to the communication network N1 by wire or wireless connection and performs data communication with multiple external devices such as work vehicles 10 via the communication network N1 in accordance with a predetermined communication protocol.

[0042] 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 (user) 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 commands to start driving and stop driving 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 drives along a target route in field F by looking at the driving trajectory displayed on the operation terminal 20, even when the operator is away from the work vehicle 10.

[0043] 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 a setting program, which causes the control unit 21 to execute the setting process described later (see Figure 10). For example, the setting program is downloaded from a server (not shown) to the operation terminal 20 via a communication network N1 (e.g., the Internet) and stored in the storage unit 22. Alternatively, the setting program may be non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and read by a reading device (not shown) such as a CD drive or DVD drive provided in the operation terminal 20 and stored in the storage unit 22.

[0044] Furthermore, a dedicated application for automating the operation of the work vehicle 10 is installed in the memory unit 22. The control unit 21 starts the dedicated application and performs various processing tasks such as setting information related to the work vehicle 10, generating a target route for the work vehicle 10, and issuing automatic driving instructions to the work vehicle 10.

[0045] As shown in Figure 1, the control unit 21 includes various processing units such as a setting processing unit 211, a generation processing unit 212, and an output processing unit 213. The control unit 21 functions as these various processing units by executing various processes according to the setting program using the CPU. Some or all of these processing units may be composed of electronic circuits. The setting program may be a program that causes multiple processors to function as processing units.

[0046] The setting processing unit 211 sets information related to the work vehicle 10 (tractor) (hereinafter referred to as "work vehicle information"). Specifically, the 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 implement 14, the size and shape of the implement 14, the position of the implement 14 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 during operation, and the vehicle speed and engine speed of the work vehicle 10 while turning, by having the operator perform an operation to register this information on the operation terminal 20.

[0047] For example, when an operator performs an operation on the setting screen to input the work vehicle 10a, the work to be performed by the work vehicle 10a, the type of work implement 14 to be attached to the work vehicle 10a, and information about the work implement 14 (work width, overlap width, etc.), the setting processing unit 211 sets the information of the work vehicle 10a according to that operation.

[0048] Similarly, for example, when an operator performs an operation on the setting screen to input the work vehicle 10b, the work to be performed by the work vehicle 10b, the type of implement 14 to be attached to the work vehicle 10b, and information about the implement 14 (work width, overlap width, etc.), the setting processing unit 211 sets the information for the work vehicle 10b according to that operation. In this case, the setting processing unit 211 sets the work vehicle 10a to perform grass cutting work with a brush cutter and the work vehicle 10b to perform grass collection work with a rake.

[0049] Furthermore, the setting processing unit 211 sets information related to field F and the work area (work range) (hereinafter referred to as field information). The setting processing unit 211 sets information such as the location and shape of field F, the location and shape of the work range, and the desired start and end positions for automatic driving by having the operator register this information on the operation terminal 20.

[0050] 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 around the perimeter 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 the operator specify multiple points on the map by operating the operation terminal 20 while the map is displayed on the operation terminal 20.

[0051] Furthermore, the setting processing unit 211 sets the working range based on information from the implement 14. For example, the setting processing unit 211 sets the working range A1 (inner working range) for field F based on information such as the working width and overlap width (overlapping width between adjacent working widths) of the implement 14 (grass cutter) attached to the work vehicle 10a, and the turning radius in the headland area (outer working range) (see Figure 3). Similarly, the setting processing unit 211 sets the working range A2 (inner working range) for field F based on information such as the working width and overlap width of the implement 14 (rake) attached to the work vehicle 10b, and the turning radius in the headland area (see Figure 4).

[0052] The generation processing unit 212 generates target routes for the work vehicle 10 to automatically travel in field F based on the aforementioned setting information. Specifically, the generation processing unit 212 generates target route R1 (see Figure 3) based on work information such as the work area A1, work width, start position, and end position of the work vehicle 10a within field F. The generation processing unit 212 also generates target route R2 (see Figure 4) based on work information such as the work area A2, work width, start position, and end position of the work vehicle 10b within field F.

[0053] Here, if the sizes (areas) of work areas A1 and A2 are different (see Figure 5), an unworked area B1 may be created. Therefore, the setting processing unit 211 executes a process to adjust (reset) the multiple work areas when the sizes of the multiple work areas are different.

[0054] Specifically, the setting processing unit 211 adjusts the larger of the two work ranges A1 and A2, work range A1, to match the smaller of the two work ranges, work range A2. In other words, the setting processing unit 211 sets the work range A2 of work vehicle 10b for work vehicle 10a. In this case, the generation processing unit 212 generates the target route R1 based on work range A2.

[0055] Thus, when the size of work area A2 is smaller than the size of work area A1, and the position of work area A2 is located within work area A1, the work areas are set so that the position of work area A1 matches the position of work area A2, and target paths R1 and R2 are generated.

[0056] Furthermore, for example, if a work range A2 is set for a work vehicle 10a, the width (horizontal width) of the work range A2 may not be divisible by the working width of the implement 14 (grass trimmer). In this case, the setting processing unit 211 sets the reference point for the target path R1 (work path) corresponding to the work range A2 to either of the two ends of the work range A2 (the two ends in the direction in which multiple work rows are lined up). Alternatively, the setting processing unit 211 adjusts the amount of lateral offset of the implement 14 relative to the body of the work vehicle 10 so that the width (horizontal width) of the work range A2 is divisible by the working width of the implement 14 (grass trimmer).

[0057] For example, the setting processing unit 211 receives an operation from the operator to select whether to use side A (left side: first end side) of the work range A2 as the basis for generating the target path R1 of the work vehicle 10a, side B (right side: second end side) of the work range A2 as the basis, or adjust the offset amount of the work machine 14. Based on this operation, the work range A1 of the work vehicle 10a is set, and the generation processing unit 212 generates the target path R1 of the set work range A1. For example, the operator selects one of the following on the setting screen D1 shown in Figure 6: selection button K1 for the first setting method (a method of aligning work ranges A1 and A2 based on side A), selection button K2 for the second setting method (a method of aligning work ranges A1 and A2 based on side B), or selection button K3 for the third setting method (a method of aligning work ranges A1 and A2 by adjusting the offset amount).

[0058] When the operator selects the selection button K1 on the setting screen D1, the generation processing unit 212 generates a target path R1, which includes work paths R11, R12, R13, R14, R15, R16, ... based on side A (left side) of the work area A2, as shown in Figure 7.

[0059] Furthermore, when the operator selects the selection button K2 on the setting screen D1, the generation processing unit 212 generates a target path R1, which includes work paths R11, R12, R13, R14, R15, R16, ..., based on side B (right side) of the work area A2, as shown in Figure 8.

[0060] Furthermore, when the operator selects the selection button K3 on the setting screen D1, the generation processing unit 212 adjusts the offset amount so that the working range of the work vehicle 10a matches the working range A2, as shown in Figure 9, and generates a target path R1 that includes the working paths R11, R12, R13, R14, R15, R16, ... The setting processing unit 211 may adjust the overlap width instead of the offset amount.

[0061] In this way, the control unit 21 generates target route R1 for work vehicle 10a and target route R2 for work vehicle 10b based on the work information for the first and second tasks, respectively. Specifically, the control unit 21 generates target route R1 and target route R2 based on the work range A1 of the first task and the work range A2 of the second task. For example, if the work range A1 of work vehicle 10a and the work range A2 of work vehicle 10b are different, the control unit 21 sets the work ranges and generates target routes R1 and R2 such that at least one of the edges (the edge in the direction in which multiple work rows are lined up) of work ranges A1 and A2 coincides. In addition, the control unit 21 sets work range A1 such that the edge in work range A1 in the direction in which multiple work rows are lined up coincides with the edge (edge ​​A or edge B) in work range A2 in the direction in which multiple work rows are lined up.

[0062] Furthermore, the setting processing unit 211 receives an operation to select whether to make edges A in each of the work ranges A1 and A2 coincide with each other, or to make edges B in each of the work ranges A1 and A2 coincide with each other, or to make edges A and edges B in each of the work ranges A1 and A2 coincide with each other, and the generation processing unit 212 generates target paths R1 and R2 based on the operation.

[0063] Furthermore, if the first working width of each working row of the work vehicle 10a and the second working width of each working row of the work vehicle 10b are different, the setting processing unit 211 may set the intervals of the working paths included in the target path R1 and the intervals of the working paths included in the target path R2 based on the first working width and the second working width. For example, the setting processing unit 211 may adjust the offset amount, overlap width, etc., to set the intervals and thereby make the sizes of each working range the same.

[0064] In another embodiment, the setting processing unit 211 may accept an operation to select a method for setting the work ranges A1 and A2. For example, the setting processing unit 211 accepts an operation from the operator to select whether to make the edges A (left edge: first end edge) in each of the work ranges A1 and A2 coincide with each other (first setting method), whether to make the edges B (right edge: second end edge) in each of the work ranges A1 and A2 coincide with each other (second setting method), or whether to make the edges A and B in each of the work ranges A1 and A2 coincide with each other (third setting method), and sets the work ranges A1 and A2 based on this operation. In this case, the generation processing unit 212 generates a target path R1 for the set work range A1 and generates a target path R2 for the set work range A2.

[0065] The output processing unit 213 outputs the route data of the target route generated by the generation processing unit 212 to the work vehicle 10. Specifically, the output processing unit 213 outputs the route data of target route R1 to the work vehicle 10a and the route data of target route R2 to the work vehicle 10b.

[0066] When route data generated at the operation terminal 20 is transferred to each work vehicle 10, the route data is stored in the storage unit 12. The work vehicle 10 detects its current position using the positioning antenna 164 and performs automatic driving processing based on the route data.

[0067] For example, if the current position of work vehicle 10a coincides with the starting position for travel in field F, and the operator presses the start button on the operation screen to give a command to start travel, the vehicle control device 11 of work vehicle 10a will automatically start traveling according to the target route R1. Similarly, if the current position of work vehicle 10b coincides with the starting position for travel in field F, and the operator presses the start button on the operation screen to give a command to start travel, the vehicle control device 11 of work vehicle 10b will automatically start traveling according to the target route R2. Alternatively, work vehicle 10a and work vehicle 10b may each start automatically traveling at a predetermined timing based on a single command to start travel from the operator.

[0068] In this embodiment, the automatic driving system 1 automatically drives the work vehicle 10a in field F according to the target route R1, and after starting the automatic driving of the work vehicle 10a, it automatically drives the work vehicle 10b according to the target route R2. Furthermore, in field F, after starting the automatic driving of the work vehicle 10a, the automatic driving system 1 starts the automatic driving of the work vehicle 10b based on the working position of the work vehicle 10a.

[0069] While the work vehicles 10a and 10b are moving automatically, the operator can monitor their movement status, work progress, and other information within field F using the control terminal 20.

[0070] Furthermore, one operation terminal 20 may be provided for each work vehicle 10. In this case, each operation terminal 20 may be able to access the agricultural support service website (agricultural support site) provided by the server via the communication network N1. In addition, the operation terminal 20 can function as an operation terminal for the server by having a browser program executed by the control unit 21. The server also includes the above-described processing units and executes each process. For example, the server sets work information for each work vehicle 10 and downloads the work information (such as route data) to the respective operation terminal 20 corresponding to each work vehicle 10.

[0071] [Setup Process] An example of the setting process performed by the control unit 21 of the operation terminal 20 will be described below with reference to Figure 10. For example, the setting process is started by the control unit 21 when it receives an instruction from the operator to generate a target route for the work vehicle 10.

[0072] Furthermore, the present invention may be considered as an invention of a setting method (an example of the setting method of the present invention) in which the control unit 21 performs part or all of the setting process, or as an invention of a setting program (an example of the setting program of the present invention) for causing the control unit 21 to perform part or all of the setting method. In addition, the setting process may be performed by one or more processors.

[0073] In step S1, the control unit 21 acquires various setting information for generating the target route. Specifically, the control unit 21 acquires the work vehicle information, field information, and work information registered by the operator. Here, the control unit 21 acquires work information corresponding to the work vehicle 10a that performs grass cutting work in field F, and setting information corresponding to the work vehicle 10b that collects the grass cut by the work vehicle 10a.

[0074] Next, in step S2, the control unit 21 sets the work range. Specifically, based on the setting information, the control unit 21 sets the work range A1 of the work vehicle 10a in field F (see Figure 3) and the work range A2 of the work vehicle 10b in field F (see Figure 4).

[0075] Next, in step S3, the control unit 21 determines whether the positions and sizes of the work areas A1 and A2 are different. If the positions and sizes of the work areas A1 and A2 are different (S3: Yes), the control unit 21 proceeds to step S4. On the other hand, if the positions and sizes of the work areas A1 and A2 are the same (S3: No), the control unit 21 proceeds to step S5.

[0076] In step S4, the control unit 21 receives an operation from the operator to select a criterion for generating the target path (or an operation to select a method for setting the work area). Specifically, regarding the criterion for generating the target path R1 of the work vehicle 10a that works in the larger work area A1, the control unit 21 receives an operation from the operator to select, on the setting screen D1 shown in Figure 6, whether to use side A (left side) of work area A2 as the criterion, side B (right side) of work area A2 as the criterion, or to adjust the offset amount of the work machine 14.

[0077] In step S5, the control unit 21 generates target paths. Here, the control unit 21 generates target path R1 for work vehicle 10a and target path R2 for work vehicle 10b.

[0078] For example, if the positions and sizes of work ranges A1 and A2 are the same (S3: No), the control unit 21 generates a target path R1 for work range A1 and a target path R2 for work range A2.

[0079] On the other hand, for example, if the positions and sizes of the work areas A1 and A2 are different (S3: Yes), the control unit 21 generates a target path R2 for the work area A2 and also generates a target path R1 for the work vehicle 10a based on the path generation criteria selected in step S4.

[0080] For example, when the operator selects the selection button K1 on the setting screen D1, the control unit 21 generates the target path R1 for the work vehicle 10a based on side A (left side) of the work area A2, as shown in Figure 7. Here, if the work vehicle 10a extends beyond field F when the work area A1 and target path R1 are set so that the left side of the work area A1 coincides with side A of the work area A2, the control unit 21 may adjust the size of the work area A1. For example, the control unit 21 may reduce the number of work paths in the target path R1, or adjust the offset amount of the implement 14. If the work vehicle 10a does not extend beyond field F when the work area A1 and target path R1 are set so that the left side of the work area A1 coincides with side A of the work area A2, the control unit 21 may generate the portion of the work area A1 outside of work area A2 as a work path for the outer perimeter work area. This allows, for example, the work vehicle 10b to collect grass outside the work area A2 (grass cut by work vehicle 10a during work on the work path R12 (see Figure 7)) when working on the outer perimeter. Alternatively, the work vehicle 10b may collect grass outside the work area A2 when working on the outer perimeter by manually steering it.

[0081] For example, when the operator selects the selection button K2 on the setting screen D1, the control unit 21 generates a target path R1 for the work vehicle 10b based on side B (right side) of the work area A2, as shown in Figure 8. In addition, if the work vehicle 10a extends beyond field F when the work area A1 and target path R1 are set so that the right side of the work area A1 coincides with side B of the work area A2, the control unit 21 may adjust the size of the work area A1 by reducing the number of work paths in the target path R1 or by adjusting the offset amount of the implement 14. This allows the work vehicle 10b to collect grass outside the work area A2 (grass cut by the work vehicle 10a during work on work path R11 (see Figure 8)) when working around the perimeter. Alternatively, the work vehicle 10b may collect grass outside the work area A2 when working around the perimeter by manual steering by the operator.

[0082] For example, when the operator selects the selection button K3 on the setting screen D1, the control unit 21 adjusts the offset amount (or overlap width) so that the working range of the work vehicle 10a matches the working range A2, as shown in Figure 9, and generates the target path R1 for the work vehicle 10a.

[0083] In the example described above, the size of the work area A2 is smaller than the size of the work area A1. As another example, the control unit 21 performs the same processing when the size of the work area A1 is smaller than the size of the work area A2.

[0084] For example, the control unit 21 generates a target path R2 for the work vehicle 10b based on the left side of the work area A1. Here, if the work vehicle 10b extends beyond field F when the work area A2 and target path R2 are set so that the left side of the work area A2 coincides with the left side of the work area A1, the control unit 21 may adjust the size of the work area A2. For example, the control unit 21 may reduce the number of work paths in the target path R2, or adjust the offset amount of the implement 14. Alternatively, the control unit 21 may set the work area and target path R2 so that the work area A2 is smaller than the work area A1. Note that if the work vehicle 10b does not extend beyond field F when the work area A2 and target path R2 are set so that the left side of the work area A2 coincides with the left side of the work area A1, then adjustment of the size of the work area A2 is unnecessary.

[0085] For example, the control unit 21 generates a target path R1 for the work vehicle 10b based on the right-hand side of the work area A1. In addition, if the work vehicle 10b extends beyond the field F when the work area A2 and target path R2 are set so that the right-hand side of the work area A2 coincides with the right-hand side of the work area A1, the control unit 21 may adjust the size of the work area A2 by reducing the number of work paths in the target path R2 or by adjusting the offset amount of the implement 14.

[0086] Alternatively, for example, the control unit 21 may generate the target path R2 of the work vehicle 10b by adjusting the offset amount (or overlap width) so that the working range of the work vehicle 10b matches the working range A1.

[0087] In this configuration, if the offset amount of the work machine 14 is adjusted, for example, if the offset amount is adjusted to narrow the spacing between work paths, the number of work paths will increase, which may reduce work efficiency. Therefore, the control unit 21 may be able to set a threshold value (upper or lower limit) for the offset amount or an upper limit on the number of work paths. The control unit 21 sets the work range and target path based on the offset threshold value or the upper limit on the number of work paths. In this case, one side of the first work range may coincide with one side of the second work range, while the other side of the first work range may not coincide with the other side of the second work range.

[0088] In another embodiment, the control unit 21 may adjust the size of both the work range A1 and the work range A2. For example, the control unit 21 may set the work range and target path based on a threshold for the offset amount of each operation or the upper limit of the number of work paths, so that the size and position of the respective work ranges A1 and A2 coincide or approach each other.

[0089] In another embodiment, the control unit 21 may be configured to accept an operation from the operator to select whether or not to adjust the work range. In this configuration, if the operator chooses to adjust the work range, the control unit 21 displays the setting screen D1 and accepts an operation to select the setting method. If the operator chooses not to adjust the work range, the control unit 21 generates target paths corresponding to each work range without adjusting the work range.

[0090] After step S5, in step S6, the control unit 21 outputs the route data of the target route generated in step S6 to the work vehicle 10. Here, the control unit 21 outputs the route data of target route R1 to work vehicle 10a and the route data of target route R2 to work vehicle 10b. Work vehicle 10a performs grass cutting work while automatically driving in field F according to target route R1, and then work vehicle 10b performs grass collection work while automatically driving in field F according to target route R2.

[0091] As described above, the automated driving system 1 according to this embodiment sets a first operation (e.g., grass cutting) for a work vehicle 10a that automatically travels in field F, and sets a second operation (e.g., grass gathering) for a work vehicle 10b that automatically travels in field F. Furthermore, the automated driving system 1 generates a target route R1 for the work vehicle 10a to travel automatically and a target route R2 for the work vehicle 10b to travel automatically, based on the operation information of the first operation and the second operation. Specifically, the automated driving system 1 generates target routes R1 and R2 based on a work area A1 which is the range of the first operation and a work area A2 which is the range of the second operation within field F. For example, if the size (area) of work area A2 is smaller than the size of work area A1, and the position of work area A2 in field F is located within work area A1, the automated driving system 1 sets work area A1 and work area A2 so that the position of work area A1 (e.g., edge) matches the position of work area A2, generates a target path R1 for the set work area A1, and generates a target path R2 for the set work area A2. Also, for example, if the size (area) of work area A1 is smaller than the size of work area A2, and the position of work area A1 in field F is located within work area A2, the automated driving system 1 sets work area A1 and work area A2 so that the position of work area A2 (e.g., edge) matches the position of work area A1, generates a target path R1 for the set work area A1, and generates a target path R2 for the set work area A2.

[0092] Furthermore, for example, if the first work width of each work row in the first operation and the second work width of each work row in the second operation are different, the automatic driving system 1 sets the interval between work paths included in the target route R1 and the interval between work paths included in the target route R2 based on the first work width and the second work width.

[0093] According to the above configuration, the position of the first work and the position of the second work can be aligned, thereby suppressing the occurrence of the unworked area B1 shown in Figure 5, or reducing the size of the unworked area B1. For example, since the work vehicle 10b can perform grass collection work in the area where the work vehicle 10a has mowed the grass, the area where grass cannot be collected (unworked area B1) can be reduced. In addition, it is possible to prevent the occurrence of unnecessary work areas due to the work vehicle 10b working in areas that the work vehicle 10a has not worked in.

[0094] [Other embodiments] The present invention is not limited to the embodiments described above, and may also be in the following embodiments. For example, if the automatic driving system 1 further includes a work vehicle 10c, the work vehicle 10c performs the operation (forming operation) of taking in the grass collected by the work vehicle 10b into the machine body, forming it into a roll shape, and discharging it, as shown in Figure 11A. In Figure 11A, the control unit 21 sets the working range A3 in which the work vehicle 10c works to be the same range as the working range A2 in which the work vehicle 10b works. The control unit 21 also generates a target path R3 for the work vehicle 10c with respect to the working range A3. For example, the control unit 21 generates work paths R31 to R34 (straight path) at the same positions as the work paths R21 to R24 (see Figure 4) of the target path R2 of the work vehicle 10b. The work vehicle 10c automatically drives along the work paths R31 to R34, collecting the grass raked up by the work vehicle 10b at the center position of each work row into the machine body.

[0095] In another embodiment, for example as shown in Figure 11B, the control unit 21 may generate work paths R31 to R34 (zigzag paths) that the work vehicle 10b travels along while shifting laterally relative to the work paths R21 to R24 of the target path R2. This enables the work vehicle 10c to mold more uniform rolls during the molding process. Note that the configuration is not limited to pre-generating the zigzag paths; the work vehicle 10c may also be configured to travel in a zigzag pattern while automatically traveling along a straight path with a left-right offset. Furthermore, in the configuration for zigzag travel, in order to improve the stability of each work line's travel, the vehicle may travel in a straight line for a few meters before and after a turning section without zigzagging.

[0096] The control unit 21 may also set each work range A1, A2, and A3 based on their respective work information. For example, if the positions and sizes of work ranges A2 and A3 are the same, and the size of work ranges A2 and A3 is smaller than the size of work range A1, and the positions of work ranges A2 and A3 in field F are within work range A1, the control unit 21 sets work range A1 so that the position of work range A1 matches the positions of work ranges A2 and A3, and generates target path R1 for work range A1. Alternatively, if the positions and sizes of work ranges A2 and A3 are the same, and the size of work range A1 is smaller than the sizes of work ranges A2 and A3, and the position of work range A1 in field F is within work ranges A2 and A3, the control unit 21 sets work ranges A2 and A3 so that the positions of work ranges A2 and A3 match the position of work range A1, and generates target paths R2 and R3 for work ranges A2 and A3. In this way, when the automated driving system 1 performs multiple tasks in coordination, it takes into account the information of each task to set the work area and target path for each task.

[0097] Here, the work vehicle 10c may discharge the molded material (roll-shaped grass) at a predetermined discharge location (see Figure 12A). The discharge location is set to a position that does not interfere with the work. For example, the discharge location may be set to a position close to a farm road, a position close to a road used by a transport vehicle that collects and transports the molded material, or a position far from an airport runway. In this case, when the work vehicle 10c discharges the molded material, it deviates from the work path it is currently traveling on (work path R32 in Figure 12A) and moves to the discharge location according to the travel path R30 (automatic driving). The travel path R30 may be set according to the work situation, or it may be set based on the shortest distance to the discharge location.

[0098] In another embodiment, as shown in Figure 12B, a discharge area having a predetermined range may be set. For example, the work vehicle 10c discharges the molded product r1 to a predetermined position within the discharge area for each of one or more work routes. The discharge area may be set, for example, near the entrance to field F, or near a road adjacent to field F.

[0099] The transport vehicle collects the molded material at the discharge location (see Figure 12A) and the discharge area (see Figure 12B). The transport vehicle may also begin collecting the molded material at the same time that the work vehicle 10c discharges the molded material.

[0100] In another embodiment, the automatic driving system 1 starts the automatic driving of work vehicle 10a, and then starts the automatic driving of work vehicle 10b at a predetermined timing. For example, as shown in Figure 13, the automatic driving system 1 starts work vehicle 10a to perform work in work sequence "1" at time t1. When work vehicle 10a finishes performing work in work sequence "1" at time t2, it starts performing work in work sequence "2" at time t3, and when it finishes performing work in work sequence "2" at time t4, it starts performing work in work sequence "3" at time t5. Subsequently, work vehicle 10a performs work in work sequences "3" to "8" in order, and finishes performing work in work sequence "8" at time t16.

[0101] On the other hand, as shown in Figure 14, the automated driving system 1 causes the work vehicle 10b to start work in work row "11" at time T1. When work vehicle 10b finishes work in work row "11" at time T2, it starts work in work row "12" at time T3, and when it finishes work in work row "12" at time T4, it starts work in work row "13" at time T5. Subsequently, when work vehicle 10b finishes work in work row "13" at time T6, it starts work in work row "14" at time T7, and finishes work in work row "14" at time T8. Here, one work row (work width) of work vehicle 10b corresponds to two work rows (work widths) of work vehicle 10a.

[0102] In this case, the automated driving system 1 starts the automated driving of work vehicle 10a, and then starts the automated driving of work vehicle 10b based on the working position of work vehicle 10a. Specifically, the automated driving system 1 sets the timing for starting the automated driving of work vehicle 10b based on the work information for the first operation (grass cutting operation) and the second operation (grass gathering operation). Each piece of work information includes at least one of the total number of work rows, the working width of each work row, the driving method (circular driving, round-trip driving, etc.), and the vehicle speed.

[0103] In the examples shown in Figures 13 and 14, if the final work sequence "8" of work vehicle 10a and the work sequence "13" of work vehicle 10b are adjacent and there is a possibility that the work machines 14 will come into contact with each other, the automatic driving system 1 may set the work start timing (time T1) of work vehicle 10b so that work vehicle 10b starts work on work sequence "13" (time T5) after work vehicle 10a has finished work on the final work sequence "8" (time T16).

[0104] In another embodiment, if the number of work lines for work vehicle 10a and work vehicle 10b are the same and the work time (vehicle speed) is the same, work vehicle 10b may start its automatic driving after work vehicle 10a has started and a safe distance has been secured. Also, if the last work line and the work line immediately preceding the last work line are adjacent, it may be calculated whether work vehicle 10a and work vehicle 10b will interfere with each other, and if they do interfere, the timing of work vehicle 10b's start of work may be adjusted so that they do not interfere with each other. Furthermore, if work vehicle 10a starts work on the last work line and work vehicle 10b is working on the work line immediately preceding the last work line, work vehicle 10a may wait immediately before the starting position of the last work line. In this case, work vehicle 10a will start work on the last work line when work vehicle 10b has finished work on the preceding work line. Then, work vehicle 10b will start work on the last work line after securing a safe distance from work vehicle 10a.

[0105] In another embodiment, the automatic driving system 1 may set the outer perimeter work area (headland area) and the inner perimeter work area based on the work information of the first and second operations. For example, Figure 15A shows the completed areas Aa1 to Aa3 when work vehicle 10a performs work (grass cutting) in the outer perimeter work area, and the completed areas Ab1 and Ab2 when work vehicle 10b performs work (grass gathering) in the outer perimeter work area. Here, if the working width W1 of work vehicle 10a and the working width W2 of work vehicle 10b are different, then, as shown in Figure 15A, if the inner perimeter work area is set based on the outer perimeter work area, the inner perimeter work area A1 of work vehicle 10a and the inner perimeter work area A2 of work vehicle 10b will be different.

[0106] In this case, if work vehicle 10a performs grass cutting in the inner work area A1, and then work vehicle 10b performs grass collection in the inner work area A2, an unworked area B1 (see Figure 15A) will remain where grass cannot be collected. Therefore, as shown in Figure 15B, the automatic driving system 1 sets the outer and inner work areas so that the outer work area of ​​work vehicle 10a is wider than the outer work area of ​​work vehicle 10b. In Figure 15B, one row of work rows (corresponding to the completed area Aa4) has been added to Figure 15A. That is, work vehicle 10a performs work on a portion of the inner work area first during outer work. In this case, as shown in Figure 15B, work vehicle 10a performs grass cutting in an area with a width of W11 within the inner work area A1, and then work vehicle 10b performs grass collection in the inner work area A2 with a width of W21. This allows the work vehicle 10b to collect any remaining grass that was not collected during the outer perimeter work by the work vehicle 10a during the outer perimeter work.

[0107] Thus, the automated driving system 1 may set the inner working ranges and target paths R1 and R2 of the work vehicles 10a and 10b, respectively, based on the outer working ranges of the first and second operations.

[0108] The setting system of the present invention may consist of an operating terminal 20 alone, or a work vehicle 10 and the operating terminal 20, or a work vehicle 10 alone. The setting system may also consist of a server equipped with each processing unit included in the operating terminal 20.

[0109] [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.

[0110] <Note 1> Setting the first task for the first work vehicle that automatically travels within the work area, Setting a second task for a second work vehicle that automatically travels within the aforementioned work area, Based on the work information of the first and second operations, a first target route for the first operation vehicle to automatically travel and a second target route for the second operation vehicle to automatically travel are generated. How to configure it to run.

[0111] <Note 2> Based on the first work area, which is the scope of the first work, and the second work area, which is the scope of the second work, the first target path and the second target path are generated. The setup method is described in Appendix 1.

[0112] <Note 3> When the size of the second work area is smaller than the size of the first work area, and the position of the second work area within the work area is located within the first work area, the first target path and the second target path are generated so that the position of the first work area matches the position of the second work area. The setup method is described in Appendix 2.

[0113] <Note 4> The first target path and the second target path are generated such that at least one of the edges in the direction in which the multiple work columns are aligned in the first work range and the second work range coincide with each other. The setting method described in Appendix 2 or 3.

[0114] <Note 5> The first work range is set such that the edge of the first work range in the direction in which multiple work columns are aligned coincides with the edge of the second work range in the direction in which multiple work columns are aligned. The setting method is described in one of the appendices 2 to 4.

[0115] <Note 6> The system accepts a user operation to select whether to make the first edges in the first working range and the second working range coincide with each other, or to make the second edges in the first working range and the second working range coincide with each other, or to make the first edges and the second edges in the first working range and the second working range coincide with each other. Based on the user operation, the first target path and the second target path are generated. The setting method described in Appendix 4 or 5.

[0116] <Note 7> When the first work width of each work column in the first operation and the second work width of each work column in the second operation are different from each other, the intervals between work paths included in the first target path and the intervals between work paths included in the second target path are set based on the first and second work widths. The setting method is described in one of the appendices 1 to 6.

[0117] <Note 8> In the aforementioned work area, the first work vehicle is to be driven automatically according to the first target route set by the setting method described in any of the appendices 1 to 7, After the automatic driving of the first work vehicle is started, the second work vehicle is made to automatically drive in the work area according to the second target route set by the setting method described in any of the appendices 1 to 7, An automated driving method that performs this task.

[0118] <Note 9> In the aforementioned work area, after the first work vehicle is started to move automatically, the second work vehicle is started to move automatically based on the work position of the first work vehicle. The automatic driving method described in Appendix 8.

[0119] <Note 10> Based on the work information for the first and second operations, the timing for starting the automatic driving of the second operation vehicle is set. The automatic driving method described in Appendix 8 or 9.

[0120] <Note 11> The work information for each of the first and second operations includes at least one of the total number of work columns, the work width of each work column, the driving method, and the vehicle speed. The automatic driving method described in Appendix 10. [Explanation of Symbols]

[0121] 1: Automated driving system 10: Work vehicles 10a: Work vehicle (First work vehicle) 10b: Work vehicle (Second work vehicle) 10c: Work vehicle 11: Vehicle control system 12: Storage section 13: Running gear 14: Work Machines 20: Operating terminal 21: Control Unit 22: Storage section 23: Operation display section 24: Communications Department 211: Configuration Processing Unit 212: Generation Processing Unit 213: Output Processing Unit D1: Settings screen F: Field (work area) A1: Work area (First work area) A2: Work area (Second work area) A3: Scope of work A: (The) edge (the first end edge) of the work area A: Edge (second end edge) B1: Unworked area R1: Target route (First target route) R2: Target path (Second target path) R3: Target route R11~R16: Work Route R21~R24: Work Route R31~R34: Work Route

Claims

1. One or more processors Setting the first task for the first work vehicle that automatically travels within the work area, Setting a second task for a second work vehicle that automatically travels within the aforementioned work area, When the size of the second work area, which is the range of the second work area, is smaller than the size of the first work area, which is the range of the first work area, and the position of the second work area within the work area is located within the first work area, the first work area and the second work area are set such that the edges of the first work area and the edges of the second work area coincide. The system generates a first target route for automatically driving the first work vehicle within the first work area by referring to the work information of the first and second work areas stored in a storage unit, and generates a second target route for automatically driving the second work vehicle within the second work area. How to configure it to run.

2. The one or more processors set the first work range such that the edge of the direction in which the multiple work columns in the first work range are arranged coincides with the edge of the direction in which the multiple work columns in the second work range are arranged. The setting method according to claim 1.

3. Setting the first task for the first work vehicle that automatically travels within the work area, Setting a second task for a second work vehicle that automatically travels within the aforementioned work area, Based on the work information of the first and second tasks, a first target route is generated for the first work vehicle to automatically travel within the first work area, which is the range of the first task, and a second target route is generated for the second work vehicle to automatically travel within the second work area, which is the range of the second task. The first target path and the second target path are generated such that at least one of the edges in the direction in which the multiple work columns are arranged in the first work range and the second work range coincide with each other. One or more processors execute this, The system accepts a user operation to select whether to make the first edges of the first working range and the second working range coincide with each other, or to make the second edges of the first working range and the second working range coincide with each other, or to make the first edges and the second edges of the first working range and the second working range coincide with each other. A configuration method in which one or more processors generate the first target path and the second target path based on the user operation.

4. When the first work width of each work column in the first operation and the second work width of each work column in the second operation are different from each other, one or more processors set the interval between work paths included in the first target path and the interval between work paths included in the second target path based on the first work width and the second work width. The setting method according to claim 1.

5. The one or more processors described above In the aforementioned work area, the first work vehicle is to be driven automatically according to the first target path set by the setting method described in any one of claims 1 to 4, After the automatic driving of the first work vehicle is started, the second work vehicle is made to drive automatically in the work area according to the second target path set by the setting method described in any one of claims 1 to 4, An automated driving method that performs this task.

6. The one or more processors, after starting the automatic movement of the first work vehicle in the work area, start the automatic movement of the second work vehicle based on the work position of the first work vehicle. The automatic driving method according to claim 5.

7. The one or more processors set the timing for starting the automatic driving of the second work vehicle based on the work information of the first work and the second work, The automatic driving method according to claim 5.

8. The work information for each of the first and second operations includes at least one of the total number of work columns, the work width of each work column, the driving method, and the vehicle speed. The automatic driving method according to claim 7.

9. A setting processing unit sets a first work for a first work vehicle that automatically travels within a work area, sets a second work for a second work vehicle that automatically travels within the work area, and sets the first and second work areas so that the edges of the first work area and the edges of the second work area coincide when the size of the second work area, which is the range of the second work within the work area, is smaller than the size of the first work area, which is the range of the first work within the work area, and the position of the second work area within the work area is located within the first work area. A generation processing unit generates a first target route for automatically driving the first work vehicle within the first work range and a second target route for automatically driving the second work vehicle within the second work range, by referring to the work information of the first work and the second work information of the first work and the second work information of the second work, respectively stored in a storage unit. A configuration system equipped with the following features.

10. Setting the first task for the first work vehicle that automatically travels within the work area, Setting a second task for a second work vehicle that automatically travels within the aforementioned work area, When the size of the second work area, which is the range of the second work area, is smaller than the size of the first work area, which is the range of the first work area, and the position of the second work area within the work area is located within the first work area, the first work area and the second work area are set such that the edges of the first work area and the edges of the second work area coincide. The system generates a first target route for automatically driving the first work vehicle within the first work area by referring to the work information of the first and second work areas stored in a storage unit, and generates a second target route for automatically driving the second work vehicle within the second work area. A configuration program for running on one or more processors.

11. A setting processing unit that sets a first task for a first work vehicle that automatically travels within a work area, and sets a second task for a second work vehicle that automatically travels within the same work area, A generation processing unit generates a first target path for automatically driving the first work vehicle within a first work area which is the range of the first work within the work area, based on the work information of the first work and the second work, and generates a second target path for automatically driving the second work vehicle within a second work area which is the range of the second work within the work area, and generates the first target path and the second target path such that at least one of the edges in the direction in which the multiple work rows are arranged in each of the first work area and the second work area coincides with each other. Equipped with, The generation processing unit receives a user operation to select whether to make the first edges in the first work range and the second work range coincide with each other, or to make the second edges in the first work range and the second work range coincide with each other, or to make the first edges and the second edges in the first work range and the second work range coincide with each other, and generates the first target path and the second target path based on the user operation, setting system.

12. Setting the first task for the first work vehicle that automatically travels within the work area, Setting a second task for a second work vehicle that automatically travels within the aforementioned work area, Based on the work information of the first and second tasks, a first target route is generated for the first work vehicle to automatically travel within the first work area, which is the range of the first task, and a second target route is generated for the second work vehicle to automatically travel within the second work area, which is the range of the second task. The first target path and the second target path are generated such that at least one of the edges in the direction in which the multiple work columns are arranged in the first work range and the second work range coincide with each other. To have one or more processors execute this, The system accepts a user operation to select whether to make the first edges of the first working range and the second working range coincide with each other, or to make the second edges of the first working range and the second working range coincide with each other, or to make the first edges and the second edges of the first working range and the second working range coincide with each other. A configuration program that causes one or more processors to generate the first target path and the second target path based on the user operation.

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