Route generation method, route generation system, and route generation program

Abstract

To provide a route generation method, a route generation system, and a route generation program capable of improving accuracy of work by a work vehicle capable of automatically travelling according to a target route.SOLUTION: An automatic travelling system 100 includes a generation processing unit 212, an acquisition processing unit 213, and a correction processing unit 214. The generation processing unit 212 generates a target route R for a work vehicle 10 to travel automatically. The acquisition processing unit 213 acquires a correction position of the target route R. The correction processing unit 214 corrects the target route R on the basis of the correction position.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a path generation method, a path generation system, and a path generation program for generating a path (target path) for automatically driving a work vehicle.

Background Art

[0002] Conventionally, in a farm field, a work vehicle that automatically travels according to a preset target path is known. For example, there is a known system that generates a path from a work start position to an end position before starting automatic driving of a work vehicle and executes automatic driving of the work vehicle according to the generated path (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] When automatically driving a work vehicle according to a target path, the preset target path may become inappropriate due to the influence of the state of the farm field and the state of the work object (for example, the harvested product). For example, when the target path generated for a farm field where harvesting work is to be performed is deviated from the position of the harvested product, if the work vehicle automatically travels according to the target path, problems such as the inability to harvest the harvested product or trampling and damaging the harvested product may occur, resulting in a decrease in work accuracy.

[0005] An object of the present invention is to provide a path generation method, a path generation system, and a path generation program capable of improving the work accuracy of a work vehicle capable of automatically traveling according to a target path.

Means for Solving the Problems

[0006] The route generation method according to the present invention is a method that performs the following actions: generating a target route for an automated work vehicle; obtaining correction positions for the target route; and correcting the target route based on the correction positions.

[0007] The route generation system according to the present invention comprises a generation processing unit that generates a target route for an automated work vehicle; an acquisition processing unit that acquires correction positions of the target route; and a correction processing unit that corrects the target route based on the correction positions.

[0008] The route generation program according to the present invention is a program that causes one or more processors to perform the following actions: generate a target route for an automated work vehicle; acquire correction positions for the target route; and correct the target route based on the correction positions. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a route generation method, a route generation system, and a route generation program that can improve the work accuracy of a work vehicle capable of automatically traveling along a target route. [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 the configuration of a work vehicle according to an embodiment of the present invention. [Figure 3] Figure 3 shows an example of a target path set in a field according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of a menu screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 5] Figure 5 shows an example of an operation screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 6] Figure 6 shows an example of a target path and work sequence according to an embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing a state where the positions of the target route and the work queue according to an embodiment of the present invention are shifted. [Figure 8] FIG. 8 is a diagram showing an example of the corrected target route according to an embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing another example of the operation screen displayed on the operation terminal according to an embodiment of the present invention. [Figure 10] FIG. 10 is a flowchart showing an example of the procedure of the automatic driving process executed by the automatic driving system according to an embodiment of the present invention. [Figure 11A] FIG. 11A is a diagram showing an example of the route correction screen displayed on the operation terminal according to an embodiment of the present invention. [Figure 11B] FIG. 11B is a diagram showing another example of the route correction screen displayed on the operation terminal according to an embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing another example of the corrected target route according to an embodiment of the present invention. [Figure 13A] FIG. 13A is a diagram showing an example of the method for correcting the target route according to an embodiment of the present invention. [Figure 13B] FIG. 13B is a diagram showing another example of the method for correcting the target route according to an embodiment of the present invention. [Figure 14A] FIG. 14A is a diagram showing a state where the directions (orientations) of the target route and the work queue according to an embodiment of the present invention are shifted. [Figure 14B] FIG. 14B is a diagram showing an example of the corrected target route according to an embodiment of the present invention. [Figure 15] FIG. 15 is a diagram showing another example of the method for correcting the target route according to an embodiment of the present invention. <明細書の続きは次頁へ [Figure 16] FIG. 16 is a diagram showing another example of the method for correcting the target route according to an embodiment of the present invention. [Figure 17] FIG. 17 is a diagram showing another example of the method for correcting the target route according to an embodiment of the present invention. Embodiments for Carrying Out the Invention

[0011] The following embodiments are an example of embodying the present invention and do not limit the technical scope of the present invention.

[0012] As shown in FIGS. 1 and 2, an automatic driving system 100 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 100 is a system capable of automatically driving the work vehicle 10 within a work area (for example, the field F in FIG. 3).

[0013] The work vehicle of the present invention is a vehicle that performs specific work in a work area (field F), such as a tractor, a combine, or a rice transplanter. In the present embodiment, a case where the work vehicle 10 is a vehicle (for example, a potato harvester) that harvests a harvest (for example, a taro) that is a work object will be described as an example.

[0014] The work vehicle 10 is configured to be capable of automatically driving (autonomous driving) along a preset target route R (work routes R1 to R10 and turning route R0) within the field F (see FIG. 3). For example, the work vehicle 10 can automatically drive along the target route R generated in advance for the field F based on the position information of the current position of the work vehicle 10 measured by the positioning device 14.

[0015] Also, for example, the work vehicle 10 harvests taro while reciprocating parallel to the work routes R1 to R10 from the work start position S to the work end position G in the work area of the field F shown in FIG. 3. The target route R is not limited to the route shown in FIG. 3 and is appropriately set according to the shape of the field F, the work content, and the like.

[0016] The control terminal 20 displays various information related to the work performed by the work vehicle 10 and accepts user (operator) inputs and executes corresponding processes. For example, the operator can use the control terminal 20 to set information necessary for automated driving or to output an instruction to start automated driving to the work vehicle 10. The control terminal 20 also displays information such as the work status and driving status of the work vehicle 10 while it is driving automatically. The operator can understand the work status and driving status using the control terminal 20.

[0017] The control terminal 20 may be mounted (detachable) on the work vehicle 10. In this case, the operator can operate the control terminal 20 while riding in the work vehicle 10. For example, by operating the control terminal 20 while riding in the work vehicle 10, the operator can switch to manual steering to manually drive the work vehicle 10, or correct the target path R.

[0018] [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 work unit 13, a positioning device 14, a communication unit 15, and the like. The vehicle control device 11 is electrically connected to the storage unit 12, the work unit 13, the positioning device 14, and the like. The vehicle control device 11 and the positioning device 14 may also be capable of wireless communication.

[0019] 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.

[0020] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various types of information. The storage unit 12 stores control programs, such as an automatic driving program, which causes the vehicle control device 11 to execute automatic driving processing (see Figure 10). For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 12. Alternatively, the automatic driving program may 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 also stores data (route data) of the target route R generated in the operation terminal 20.

[0021] The work section 13 includes an excavation and conveying device 31, a vertical conveying device 32, a soil removal device 33, a sorting device 34, and the like. As shown in Figure 2, a driver's seat 35 and an engine room are provided on the front end of the chassis 1, a mounting frame 2 is provided on the rear of the chassis 1, and the rear end of the excavation and conveying device 31 is pivotally supported at the lower end of the mounting frame 2. The excavation and conveying device 31 is positioned between the front upper part of the excavation and conveying device 31 and a support frame 3 erected on the chassis 1 behind the driver's seat 35, and is positioned to be able to move up and down via a hydraulic cylinder 4.

[0022] The upper end of the digger 7 is pivotally supported at the front upper part of the digging and conveying device 31. A motor vibrates the lower part of the digger 7 to lift the potatoes and dig them up. A conveyor 9 is installed from the rear of the lower part of the digger 7 to the pivot point at the rear end of the digging and conveying device 31. The conveyor 9 is made up of a wide roller chain and is designed to remove soil through vibration during transport.

[0023] The lower part of the vertical conveying device 32 is pivotally supported at the rear end of the chassis 1, and the vertical conveying device 32 is configured in a "V" shape when viewed from the side and winds around the conveyor 41. The conveyor 41 is equipped with numerous tines 41a and is configured to transport potatoes. The lower end of the conveyor 41 is located behind the conveyor 9, and a connecting fork 40 is provided between the rear end of the conveyor 9 and the lower end of the vertical conveying device 32.

[0024] A connecting trough 30 is provided in front of the "L"-shaped bend at the top of the vertical conveying device 32. The connecting trough 30 is pivotally supported at its front lower end and is configured to rotate freely, receiving potatoes from the tines 41a of the conveyor 41.

[0025] A soil removal device 33 is positioned in front of the connecting trough 30, and a sorting device 34 is provided behind the seat 19, extending from the end of the soil removal device 33.

[0026] The front wheels 5 are driven by power transmitted from a transmission case 43, which protrudes forward and downward from the transmission case 42, to the front differential case. The rear wheels 6 are driven by power transmitted from the rear surface of the transmission case 42 to the rear differential case 45 via a universal joint 44.

[0027] Furthermore, power is transmitted from the PTO shaft protruding from the rear surface of the transmission case 42 to the gear case 18 via a universal joint 17. A pulley is fixed to the output shaft of the gear case 18, and the sorting device 34 and the excavation and conveying device 31 are driven via a belt from the pulley. A sprocket fixed to the drive shaft of the excavation and conveying device 31 drives a sprocket fixed to the drive shaft at the lower end of the vertical conveying device 32, and the soil removal device 33 is driven via a chain from the driven sprocket at the upper end of the vertical conveying device 32.

[0028] The sorting device 34 has chairs fixed to the chassis 1 on both sides of the central section for sorting workers to sit on. The sorting device 34 is made up of a roller chain 34a, and multiple partition plates are provided on the roller chain 34a for sorting workers to pick up and sort potatoes and then put into the chain for separation. A chute 34b is provided at the end of the partition plates, and a container 34c is positioned below the chute 34b.

[0029] The steering wheel 36 is an operating unit operated by an operator or a vehicle control device 11. For example, in response to the operation of the steering wheel 36 by the vehicle control device 11, the angle of the front wheels 5 is changed by a hydraulic power steering mechanism (not shown), and the direction of travel of the work vehicle 10 is changed. For example, the steering wheel 36 is operated by automatic steering by the vehicle control device 11 when the driving mode is set to automatic driving mode, and by manual steering by an operator when the driving mode is set to manual driving mode.

[0030] The work unit 13 also includes a shift lever, accelerator, brakes, etc. (not shown), which are operated by the vehicle control device 11. In response to the operation of the shift lever by the vehicle control device 11, the transmission gears are switched to forward gear or reverse gear, and the driving mode of the work vehicle 10 is switched to forward or reverse. The vehicle control device 11 also controls the engine speed by operating the accelerator. The vehicle control device 11 also controls the rotation of the front wheels 5 and rear wheels 6 using electromagnetic brakes by operating the brakes.

[0031] The positioning device 14 is a communication device comprising a positioning control unit 141, a memory unit 142, a communication unit 143, and a positioning antenna 144. For example, the positioning device 14 is installed in the driver's seat 35. The installation location of the positioning device 14 is not limited to the driver's seat 35. Also, the positioning control unit 141, memory unit 142, communication unit 143, and positioning antenna 144 may be distributed and arranged in different locations on the work vehicle 10. The positioning device 14 is connected to a battery and can operate even when the engine is stopped. In addition, the positioning device 14 may be replaced with, for example, a mobile phone terminal, smartphone, tablet terminal, or operating terminal 20.

[0032] The communication unit 143 is a communication interface for connecting the positioning device 14 to the communication network N1 by wire or wireless connection and for performing data communication with external devices such as base station servers via the communication network N1 in accordance with a predetermined communication protocol.

[0033] The positioning antenna 144 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0034] The positioning control unit 141 is a computer system comprising one or more processors and storage memory such as non-volatile memory and RAM. The storage unit 142 is a non-volatile memory that stores a control program for causing the positioning control unit 141 to perform positioning processing, and data such as positioning information and movement information. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 142. Alternatively, the control program may be downloaded from a server (not shown) to the positioning device 14 via a communication network N1 and stored in the storage unit 142.

[0035] The positioning control unit 141 calculates the position (current position) of the work vehicle 10 based on the GNSS signals received by the positioning antenna 144 from satellites. For example, when the work vehicle 10 is automatically driving within field F, the positioning antenna 144 receives radio waves (transmission time, orbital information, etc.) transmitted from each of several satellites. The positioning control unit 141 then calculates the distance between the positioning antenna 144 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 141 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, for example, from the RTK method.

[0036] 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.

[0037] Specifically, the vehicle control device 11 automatically drives the work vehicle 10 based on position information indicating the position of the work vehicle 10, which is determined by the positioning control unit 141. For example, when the positioning state becomes a high-precision state capable of RTK positioning (high-precision positioning completed), and the operator presses the start button K1 (see Figure 5) on the operation terminal 20, the operation terminal 20 outputs a work start instruction to the work vehicle 10. When the vehicle control device 11 receives the work start instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10 based on the position information indicating the position of the work vehicle 10, which is determined by the positioning control unit 141. As a result, the work vehicle 10 starts driving automatically according to the target route R (see Figure 3) and starts work by the work unit 13 (for example, potato harvesting). The target route R on which the work vehicle 10 travels is generated in advance by, for example, the operation terminal 20. The work vehicle 10 acquires route data of the target route R from the operation terminal 20 and automatically travels within the field F from the work start position S to the work end position G according to the target route R.

[0038] 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 terminal 20, the operation terminal 20 outputs a stop command to the work vehicle 10. When the vehicle control device 11 receives the stop command from the operation terminal 20, it stops the automatic movement of the work vehicle 10. As a result, the work vehicle 10 stops its automatic movement and the work performed by the work unit 13 stops.

[0039] When an operator boards the work vehicle 10 and has the work vehicle 10 perform automatic driving and work, the control terminal 20 is installed in the driver's seat 35 of the work vehicle 10, and the operator can operate the control terminal 20 from the driver's seat 35.

[0040] Although not shown in the diagram, the work vehicle 10 may also be equipped with obstacle sensors and cameras. The obstacle sensors are sensors that detect obstacles in a predetermined detection area using infrared rays, ultrasonic waves, etc.

[0041] Furthermore, the camera is a digital camera that captures images of the subject and outputs them as digital image data. The camera continuously captures images of the subject at a predetermined frame rate, generates frame images of a predetermined resolution, and transmits them to the vehicle control device 11. For example, the camera captures images of the harvested product (potatoes) which is the work object.

[0042] The vehicle control device 11 acquires measurement information from the obstacle sensor and captures images from the camera. When an obstacle is detected, the vehicle control device 11 causes the work vehicle 10 to take evasive action to avoid contact with the obstacle or to stop. The vehicle control device 11 also outputs the image data of the captured images acquired from the camera to the operation terminal 20. When the operation terminal 20 acquires the image data, it displays the captured images on its operation screen.

[0043] [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.

[0044] 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.

[0045] 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 set and register various information (such as work vehicle information, field information, and work information, as described later) by operating the operation unit on the operation screen displayed on the display unit. The operator can also issue work start instructions, driving stop instructions, and target route R correction instructions to the work vehicle 10 by operating the operation unit. Furthermore, the operator can check the driving status and work status of the work vehicle 10 as it automatically travels within the field F according to the target route R, from a location away from the work vehicle 10, by using the information displayed on the operation terminal 20.

[0046] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory 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 automatic driving processing (see Figure 10). For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a predetermined reading device (not shown), 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.

[0047] 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.

[0048] Specifically, as shown in Figure 1, the operation control unit 21 includes various processing units such as a setting processing unit 211, a generation processing unit 212, an acquisition processing unit 213, and a correction processing unit 214. 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.

[0049] The setting processing unit 211 sets various setting information for the work vehicle 10 to perform automatic driving. Specifically, the setting processing unit 211 sets information related to the work vehicle 10 (hereinafter referred to as work vehicle information). The setting processing unit 211 sets information such as the type (model) of the work vehicle 10, the position where the positioning antenna 144 is attached to the work vehicle 10, the type of work equipment, the size and shape of the work equipment, the position of the work equipment relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 during work, and the vehicle speed and engine speed of the work vehicle 10 during turning, by having the operator perform an operation to register this information on the operation terminal 20.

[0050] For example, the setting processing unit 211 displays the menu screen D1 shown in Figure 4 on the operation display unit 23. The operator selects, for example, "Register Implement" on the menu screen D1 to register implement information. Although Figure 2 illustrates a case where the work vehicle 10 is a potato harvester, the work vehicle 10 according to this embodiment may consist of a tractor and an implement (potato harvester) connected to the tractor.

[0051] Furthermore, the setting processing unit 211 sets information related to field F (hereinafter referred to as field information). The setting processing unit 211 sets information such as the location and shape of field F, the work start position S where work begins and the work end position G where work ends (see Figure 3), 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 working with the implement in the work area excluding the headland and non-work area from field F. For example, the operator registers the field information by selecting "Field Registration" on the menu screen D1.

[0052] 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 144 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 20. 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).

[0053] Furthermore, the setting processing unit 211 sets information regarding how the work will be performed in detail (hereinafter referred to as work information). The setting processing unit 211 is configured to be able to set work information such as whether or not there is coordinated work between the unmanned work vehicle 10 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 around in the headland, the width of the headland, and the width of the non-cultivated land. For example, the operator registers the work information by selecting "Work Registration" on the menu screen D1.

[0054] The generation processing unit 212 generates a target route R, which is the route for the work vehicle 10 to travel automatically, based on the aforementioned setting information. The target route R is, for example, the work route from the work start position S to the work end position G (see Figure 3). The target route R shown in Figure 3 includes work routes R1 to R10, which are straight routes for the work vehicle 10 to travel back and forth in parallel in the field F, and a turning route R0 that connects the work routes. The generation processing unit 212 generates and stores the target route R for the work vehicle 10 based on the aforementioned setting information that has been set in advance by the setting processing unit 211. For example, the operator selects "Create Route" on the menu screen D1 to instruct the generation of the target route R.

[0055] When the generation processing unit 212 generates a target route R, it transfers the route data of the target route R to the work vehicle 10. The generation processing unit 212 can generate and store multiple target routes R for a single field F, depending on the work content.

[0056] Route data transferred from the operating terminal 20 is stored in the storage unit 12 of the work vehicle 10. This enables the work vehicle 10 to automatically travel along the target route R while determining its current position using the positioning device 14.

[0057] In this embodiment, the work vehicle 10 travels on a roughly rectangular field F as shown in Figure 3. The work vehicle 10 is configured to automatically travel when its current location is within field F, and is configured not to automatically travel when its current location is outside field F (e.g., on a public road). Furthermore, the work vehicle 10 is configured to automatically travel when certain conditions (automatic travel start conditions) are met, such as the current location coinciding with the work start position S, being within a predetermined range from the work start position S, and the orientation (direction) of the work vehicle 10 being within a predetermined angle with respect to the target path R.

[0058] When the conditions for starting automatic driving are met, the work vehicle 10 will start automatic driving and begin work (for example, potato harvesting) when the operator presses the start button K1 on the operation screen D2 (see Figure 5) of the operation terminal 20 to give a work start instruction. In other words, the work vehicle 10 is permitted to start automatic driving when the conditions for starting automatic driving are met. Note that the conditions for starting automatic driving are not limited to the above conditions.

[0059] When automatic driving of the work vehicle 10 is permitted, the vehicle control device 11 automatically drives the work vehicle 10 from the work start position S to the work end position G based on the target route R. In addition, while the work vehicle 10 is driving automatically, the vehicle control device 11 periodically outputs various measured values ​​(PTO rotation speed, vehicle speed, position information, etc.) to the operation terminal 20.

[0060] When the work vehicle 10 is driving automatically, the operation control unit 21 displays map information on the operation screen D2 (see Figure 5), including the field F, target route R, work start position S, work end position G, and the current position of the work vehicle 10. In addition to the map information, the operation control unit 21 also displays function icons on the operation screen D2, such as a magnification icon to change the map's display magnification and a compass icon to change the map's orientation, as well as display icons (notification icons) that show the current status (measured values, etc.) of items such as the work vehicle 10's driving status, vehicle speed status, and position status.

[0061] Incidentally, when the work vehicle 10 is to automatically travel along the target path R, the pre-set target path R may become inappropriate due to the condition of the field F and the condition of the work object (harvested goods). For example, if the target path R generated for field F where sweet potato harvesting is performed is deviated from the sweet potato harvesting position, when the work vehicle 10 automatically travels along the target path R, problems may arise such as the sweet potatoes not being harvested or being trampled, resulting in a decrease in work accuracy. Figure 6 shows a state where the work paths R1 to R10 of the target path R are shifted to the left relative to work rows A1 to A10, which represent the positions where sweet potatoes are planted. Note that in Figure 6, the entire work paths R1 to R10 are uniformly shifted relative to work rows A1 to A10, but due to the condition of the field F and the condition of the harvested goods, a part of the work paths R1 to R10 may also be misaligned relative to work rows A1 to A10. Furthermore, the amount of misalignment (positional deviation) of each work path relative to each work row may be the same or different. Furthermore, the direction of shift relative to the work column may differ depending on the work path.

[0062] When the target path R is misaligned with the potato harvesting position (work row), problems arise such as inability to harvest potatoes properly or trampling the potatoes, resulting in reduced work accuracy. In contrast, according to the configuration of this embodiment, it is possible to improve the work accuracy of the work vehicle 10, which can automatically travel according to the target path R, as shown below.

[0063] Specifically, the operation control unit 21 is configured to acquire a corrected position of the target path R and correct the target path R based on that corrected position if a deviation in the target path R occurs after the work vehicle 10 has started to automatically travel along the target path R.

[0064] In detail, the acquisition processing unit 213 of the operation control unit 21 acquires the correction position of the target path R. For example, the acquisition processing unit 213 acquires the current position of the work vehicle 10 as the correction position when a user operation to correct the target path R is performed. For example, as shown in Figure 7, when the work vehicle 10 has finished work on work path R4 by automatic driving and has moved to work path R5, if the operator determines that the positional misalignment (positional misalignment amount L1) between work path R5 and the next harvesting position, work row A5, is large and that the target path R needs to be corrected, the operator switches to manual driving and pauses the work vehicle 10 to align with the beginning of work row A5. When the operator aligns the work vehicle 10 with the beginning of work row A5, the operator presses the start button K1 (see Figure 5) on the operation screen D2. When the operator presses the start button K1, the acquisition processing unit 213 acquires the current position of the work vehicle 10 when a user operation to correct the target path R (pressing the start button K1) is performed. The acquisition processing unit 213 may also acquire the current position of the work vehicle 10 when the start button K1 is pressed while the work vehicle 10 is being driven manually.

[0065] The correction processing unit 214 corrects the target path R based on the correction position acquired by the acquisition processing unit 213. Specifically, the correction processing unit 214 corrects the position of the target path R so that the target path R or its extension passes through the correction position. For example, the correction processing unit 214 moves the target path R in parallel so that the target path R or its extension passes through the correction position. Here, as shown in Figure 8, the correction processing unit 214 moves the entire target path R to the right by a displacement amount L1 so that the work path R5 or its extension passes through the current position of the work vehicle 10.

[0066] When the correction processing unit 214 corrects the target route R, it transfers the route data of the corrected target route R (see Figure 8) to the work vehicle 10. The work vehicle 10 resumes automatic driving according to the corrected target route R. Alternatively, the correction processing unit 214 may update the target route R stored in the storage unit 22 with the corrected target route R.

[0067] In this manner, after the work vehicle 10 has started automatic driving, if the operator switches from automatic to manual driving and moves the work vehicle 10 to an arbitrary position (for example, the starting point of a work line) and presses the start button K1, the correction processing unit 214 moves (corrects) the target path R to match the current position of the work vehicle 10, and the work vehicle 10 resumes automatic driving according to the corrected target path R. This allows the operator to change the target path R to the position they intended, making it possible to perform subsequent work appropriately.

[0068] In the above configuration, pressing the start button K1 serves as both an instruction to correct the target route R and an instruction to start (resume) automatic driving. That is, when the operator switches the work vehicle 10 from automatic driving to manual driving and moves it, pressing the start button K1 causes the work vehicle 10 to correct the target route R and resume automatic driving according to the corrected target route R.

[0069] Here, the user operation to correct the target route R is not limited to pressing the start button K1 on the operation screen D2, but may also be the operation of pressing a dedicated reception button that receives instructions to correct the target route R. For example, as shown in Figure 9, a route correction button K2 may be displayed on the operation screen D2. When the operator determines that it is necessary to correct the target route R, they switch to manual driving and temporarily stop the work vehicle 10 to align with the start of the work line A5, and then press the route correction button K2 on the operation screen D2. When the operator presses the route correction button K2, the acquisition processing unit 213 acquires the current position of the work vehicle 10 at the time the route correction button K2 was pressed. The correction processing unit 214 corrects the target route R based on the current position acquired by the acquisition processing unit 213. After the target route R has been corrected, when the operator presses the start button K1, the work vehicle 10 resumes automatic driving according to the corrected target route R.

[0070] In this manner, after the work vehicle 10 has started automatic driving, if the operator switches from automatic driving to manual driving and moves the work vehicle 10 to an arbitrary position (for example, the starting point of the work line) and presses the route correction button K2, the correction processing unit 214 moves (corrects) the target route R to match the current position of the work vehicle 10. After that, if the operator presses the start button K1, the work vehicle 10 resumes automatic driving according to the corrected target route R.

[0071] The operating terminal 20 may be able to access a website (agricultural support site) for agricultural support services provided by a server (not shown) via a 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. The server then comprises the processing units described above and executes each of the processes.

[0072] [Automatic driving process] An example of the automated driving process performed by the automated driving system 100 will be described below with reference to Figure 10.

[0073] 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. Also, the one or more steps included in the automated driving process described herein may be omitted as appropriate. Furthermore, the execution order of each step in the automated driving process may differ to the extent that similar effects are produced. In addition, although the vehicle control device 11 and the operation control unit 21 are used as an example to describe the case in which each step in the automated driving process is performed, 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.

[0074] First, in step S1, the vehicle control device 11 determines whether or not it has received a work start instruction. When the operator starts work, they move the work vehicle 10 to the work start position S (see Figure 3) and press the start button K1 (see Figure 5) on the operation screen D2 of the operation terminal 20. When the operation control unit 21 receives the press operation of the start button K1, it outputs a work start instruction to the work vehicle 10. If the vehicle control device 11 receives the work start instruction from the operation terminal 20 (S1: Yes), it moves the process to step S2. The vehicle control device 11 waits until it receives the work start instruction (S1: No).

[0075] In step S2, the vehicle control device 11 executes an automatic driving process. Specifically, the vehicle control device 11 makes the work vehicle 10 automatically drive according to the target route R (see Figure 3) generated in the operation terminal 20. For example, the vehicle control device 11 makes the work vehicle 10 automatically drive according to the target route R in field F while performing work (potato harvesting). The vehicle control device 11 may also be able to accept operation of the gear lever by an operator riding in the work vehicle 10. In this case, the vehicle control device 11 changes the speed of the automatically driving work vehicle 10 according to the operator's operation.

[0076] Next, in step S3, the vehicle control device 11 determines whether or not it has received a manual driving instruction. If the operator determines that there is a large misalignment between the work path and the harvesting position (work row) and that it is necessary to correct the target path R, the operator performs an operation to switch from automatic driving to manual driving. The operator may switch from automatic driving to manual driving using a driving mode switching lever (not shown) provided on the work vehicle 10, or may switch from automatic driving to manual driving on the operation screen D2 of the operation terminal 20. In addition, the operator may be able to switch between automatic driving and manual driving by starting or stopping the work of the work unit 13. For example, when the operator engages the clutch that operates the work unit 13, the vehicle control device 11 switches from manual driving to automatic driving, and when the operator disengages the clutch, the vehicle control device 11 switches from automatic driving to manual driving. When the vehicle control device 11 receives an operation to switch from automatic driving to manual driving (manual driving instruction) (S3: Yes), it moves the process to step S4. On the other hand, if the vehicle control device 11 does not accept an operation to switch from automatic driving to manual driving (manual driving instruction) (S3: No), it proceeds to step S10.

[0077] In step S4, the vehicle control device 11 executes manual driving. Specifically, the vehicle control device 11 drives the work vehicle 10 based on manual steering by the operator. For example, as shown in Figure 7, when the work vehicle 10 has completed work on work path R4 by automatic driving and moved to work path R5, if the operator determines that there is a large misalignment (amount of misalignment L1) between work path R5 and the next harvesting position, work row A5, and that it is necessary to correct the target path R, the operator switches to manual driving and moves the work vehicle 10 to the starting end of work row A5.

[0078] In step S5, the operation control unit 21 determines whether or not it has received an instruction to correct the target route R. For example, when the operator aligns the work vehicle 10 with the starting end of work line A5 and presses the start button K1 (see Figure 5) on the operation screen D2, the operation control unit 21 receives an instruction to correct the target route R. In another embodiment, for example, when the operator aligns the work vehicle 10 with the starting end of work line A5 and presses the route correction button K2 (see Figure 9) on the operation screen D2, the operation control unit 21 receives an instruction to correct the target route R.

[0079] If the operation control unit 21 receives a correction instruction for the target path R (S5:Yes), it proceeds to step S6. On the other hand, if the operation control unit 21 does not receive a correction instruction for the target path R (S5:No), it proceeds to step S8.

[0080] In step S6, the operation control unit 21 acquires the current position (corrected position) of the work vehicle 10. Specifically, the operation control unit 21 acquires the current position of the work vehicle 10 at the time it receives a correction instruction (pressing the start button K1 or the route correction button K2) to correct the target route R.

[0081] Next, in step S7, the operation control unit 21 corrects the target path R. Specifically, the operation control unit 21 corrects the position of the target path R so that the target path R or its extension passes through the current position of the work vehicle 10. In the example shown in Figure 7, the operation control unit 21 shifts the target path R (work paths R1 to R10) to the right by a displacement amount L1 so that the work path R5 or its extension passes through the current position of the work vehicle 10 (see Figure 8).

[0082] Next, in step S8, the vehicle control device 11 determines whether or not it has received an automatic driving instruction. When the operator presses the start button K1 on the operation screen D2, the operation control unit 21 outputs an automatic driving instruction to the work vehicle 10. The vehicle control device 11 receives the automatic driving instruction from the operation terminal 20.

[0083] In the configuration shown in Figure 5, when the operator presses the start button K1, the operation control unit 21 corrects the target route R (S7), and the vehicle control device 11 receives an automatic driving instruction (S8). As another example, the operation control unit 21 may correct the target route R upon the first press of the start button K1, and receive an instruction to start automatic driving upon the second press of the start button K1. As yet another example, if the start button K1 is pressed and held down, the operation control unit 21 may correct the target route R and receive an instruction to start automatic driving, while if the start button K1 is pressed briefly, it may only receive an instruction to start automatic driving. Furthermore, in the configuration shown in Figure 9, when the operator presses the route correction button K2, the operation control unit 21 corrects the target route R (S7), and then when the operator presses the start button K1, the vehicle control device 11 receives an automatic driving instruction (S8).

[0084] When the operator presses the start button K1, the operation control unit 21 outputs the route data of the corrected target route R to the work vehicle 10. The vehicle control device 11 acquires the route data of the corrected target route R along with the automatic driving instruction. When the vehicle control device 11 receives the automatic driving instruction, it switches the driving mode from manual driving to automatic driving.

[0085] When the vehicle control device 11 receives an automatic driving instruction (S8: Yes), it proceeds to step S9. On the other hand, if the vehicle control device 11 does not receive an automatic driving instruction (S8: No), it proceeds to step S5. The vehicle control device 11 continues manual driving until it receives an automatic driving instruction.

[0086] In step S9, the vehicle control device 11 resumes the automatic driving process. Specifically, the vehicle control device 11 resumes the automatic driving of the work vehicle 10 according to the target path R (see Figure 8) corrected at the operation terminal 20.

[0087] Next, in step S10, the vehicle control device 11 determines whether the work vehicle 10 has reached the work completion position G (see Figure 8). If the vehicle control device 11 determines that the work vehicle 10 has reached the work completion position G (S10: Yes), it terminates the automatic driving process. If the vehicle control device 11 determines that the work vehicle 10 has not reached the work completion position G (S10: No), it proceeds to step S3. The vehicle control device 11 repeatedly executes the above process until the work vehicle 10 reaches the work completion position G (S10: No). In this manner, the automatic driving system 100 executes the automatic driving process.

[0088] As described above, the automated driving system 100 according to this embodiment generates a target path R for the work vehicle 10 to drive automatically, acquires a correction position for the target path R, and corrects the target path R based on the correction position. For example, the automated driving system 100 acquires the current position of the work vehicle 10 when a user operation to correct the target path R is performed, and corrects the position of the target path R so that the target path R passes through the current position (e.g., by translation).

[0089] Furthermore, the automated driving system 100 automatically drives the work vehicle 10 according to a pre-generated target path R, and if the target path R is corrected, it automatically drives the work vehicle 10 according to the corrected target path R.

[0090] According to the above configuration, if the pre-generated target path R does not match the position intended by the operator, the position of the target path R can be corrected. This prevents a decrease in work accuracy due to the positional deviation of the target path R. For example, if the pre-generated target path R deviates from the position of the harvested crop (working row), correcting the position of the target path R makes it possible to harvest the crop appropriately.

[0091] [Other embodiments] The present invention is not limited to the embodiments described above. Other embodiments of the present invention are described below.

[0092] In another embodiment of the present invention, when correcting the target path R, the operation control unit 21 may move the target path R in a direction selected by the operator. Specifically, the operation control unit 21 moves the target path R in parallel so that the work path selected by the operator from among the multiple work paths R1 to R10 included in the target path R, or the extension of said work path, passes through the correction position (for example, the current position of the work vehicle 10). For example, when the operator switches to manual driving and pauses the work vehicle 10 to the starting end of work line A5, and presses the start button K1 (see Figure 5) or the path correction button K2 (see Figure 9) on the operation screen D2, the operation control unit 21 displays the path correction screen D3 shown in Figure 11A. The operation control unit 21 displays selection buttons K3 and K4 on the path correction screen D3 to select the direction of movement (shift direction) of the target path R. When the operator presses the selection button K3 on the route correction screen D3, the operation control unit 21 moves the target route R to the right so that the work route matches the current position of the work vehicle 10. When the operator presses the selection button K4, the operation control unit 21 moves the target route R to the left so that the work route matches the current position of the work vehicle 10.

[0093] The operation control unit 21 may also automatically determine the direction of movement of the target path R. Specifically, the operation control unit 21 moves the target path R in parallel so that, among the multiple work paths included in the target path R, the work path that is set to be in the same direction as the orientation of the work vehicle 10 and is closest to the correction position (for example, the current position of the work vehicle 10), or the extension of that work path, passes through the correction position. For example, in the example shown in Figure 7, work paths R1, R3, R5, R7, and R9 coincide with the orientation (travel direction) of the work vehicle 10. Also, among work paths R1, R3, R5, R7, and R9, work path R5 is closest to the current position of the work vehicle 10. In this case, the operation control unit 21 corrects the position of the target path R by determining the direction of movement of the target path R to the right so that work path R5 passes through the current position of the work vehicle 10. For example, as shown in Figure 11B, the operation control unit 21 may display only the selection button K3 for the selected direction (in this case, the right direction) as selectable, and display the selection button K4 for the other direction (in this case, the left direction) as unavailable (grayed out).

[0094] In another embodiment of the present invention, when correcting the target path R, the operation control unit 21 may correct only some of the work paths R1 to R10 included in the target path R. For example, as shown in Figure 12, the operation control unit 21 corrects (translates) only the work paths (in this case, work paths R5 to R10) included in the work completion position G from the current position of the work vehicle 10 when the operation to correct the target path R is performed.

[0095] In another embodiment, if the operation control unit 21 corrects the target path R, it may reflect the corrected target path R in the work path for subsequent operations. For example, if the operation control unit 21 corrects the target path R in operations such as tilling or ridging, it may set the corrected target path R as the target path for the next operation (planting, sowing, etc.), and further set it as the target path for the subsequent harvesting operation. Alternatively, if the operation control unit 21 corrects the target path R in harvesting operations, it may set the corrected target path R as the target path for the harvesting operation at the next harvesting season.

[0096] In another embodiment, the operation control unit 21 may correct only the work path R1 to R10 that is closest to the current position of the work vehicle 10 when the operation to correct the target path R is performed, i.e., the work path that is first traveled after automatic driving resumes (in this case, work path R5). In yet another embodiment, the operation control unit 21 may correct only one or more work paths selected by the operator from among the work paths R1 to R10.

[0097] Furthermore, in other embodiments, the operation control unit 21 may vary the correction amount (movement amount) of the target path R. In the embodiments described above, the operation control unit 21 uniformly moves multiple work paths by a positional displacement amount L1, but in other embodiments, the operation control unit 21 may decrease the correction amount of the work path as the work vehicle 10 moves from its current position to the work completion position G. In each of the embodiments described above, the operator may be able to set which work path to be corrected from among the multiple work paths R1 to R10, and the operator may be able to set the correction amount of the target path R.

[0098] In another embodiment of the present invention, the operation control unit 21 may set an upper limit value (upper limit correction amount) for the correction amount of the target path R. Specifically, the operation control unit 21 corrects the target path R when the shortest distance (position deviation amount L1) to the target path R (work path) closest to the current position of the work vehicle 10 is less than or equal to a first predetermined value. For example, as shown in Figure 13A, the operation control unit 21 corrects the target path R when the position deviation amount L1 (shortest distance) to the work path R5 closest to the current position of the work vehicle 10 is less than or equal to a first predetermined value L0. That is, the operation control unit 21 permits correction of the target path R when the current position of the work vehicle 10 is located within the range E1 of the first predetermined value L0 in the left and right directions (width direction perpendicular to the work direction) with respect to the target path R (work path R5).

[0099] In response to this, the operation control unit 21 prohibits correction of the target path R if the positional deviation L1 to the work path R5 closest to the current position of the work vehicle 10 exceeds a first predetermined value L0, that is, if the current position of the work vehicle 10 is outside the range E1.

[0100] The above configuration makes it possible to suppress excessive changes to the target path R. In addition, in the above configuration, the first predetermined value L0 may be set by the operator.

[0101] In another embodiment of the present invention, the operation control unit 21 may set a lower limit value for the correction amount of the target path R. Specifically, the operation control unit 21 does not correct the target path R if the shortest distance (position deviation amount L1) to the target path R (work path) closest to the current position of the work vehicle 10 is less than the second predetermined value L2. For example, as shown in Figure 13B, the operation control unit 21 corrects the target path R if the position deviation amount L1 (shortest distance) to the work path R5 closest to the current position of the work vehicle 10 is less than or equal to the first predetermined value L0 and greater than or equal to the second predetermined value L2, and does not correct the target path R if the position deviation amount L1 exceeds the first predetermined value L0 or is less than the second predetermined value L2 (see Figure 13B). In other words, the operation control unit 21 permits correction of the target path R if the current position of the work vehicle 10 is located within the range E1 of the first predetermined value L0 in the left and right directions (width direction perpendicular to the work direction) with respect to the target path R (work path R5), and outside the range E2 of the second predetermined value L2.

[0102] In response to this, the operation control unit 21 prohibits correction of the target path R if the current position of the work vehicle 10 is outside the range E1 or within the range E2. In the above configuration, the operator may set the first predetermined value L0 and the second predetermined value L2. By setting the lower limit (second predetermined value L2), it is possible to prevent the correction process of the target path R from being executed even if the positional deviation amount L1 is not such that correction of the target path R is necessary.

[0103] For example, if the range E2 is set to the allowable range of lateral deviation that permits the start of automatic driving, and the system is configured to perform a correction process for the target path R when an automatic driving start command is issued, then when the operator starts automatic driving while the work vehicle 10 is located within the range E2, the system will correct the target path R and start automatic driving, even though the operator wants to start automatic driving without correcting the target path R. In this regard, as described above, by configuring the system to prohibit the correction of the target path R when the work vehicle 10 is located within the range E2, automatic driving can be started without correcting the target path R. Note that if the system is configured to correct the target path R using a switch or operation method for correcting the target path R (for example, long-pressing the automatic driving start switch), the above configuration (configuration to prohibit the correction of the target path R when located within the range E2) may be omitted. Alternatively, the system may prohibit the acceptance of the switch or operation for correcting the route when the work vehicle 10 is located within the range E2.

[0104] In the above-described embodiment, the operation control unit 21 translates the target path R, but in another embodiment, the operation control unit 21 may rotate the target path R. Specifically, the operation control unit 21 corrects the orientation of the target path R based on the orientation (direction) of the work vehicle 10 at its current position when a user operation to correct the target path R is performed. For example, as shown in Figure 14A, if the orientation of the target path R does not match the orientation of the work row, the operator manually drives the work vehicle 10 to match the orientation of the work row (work row A5). After that, when the operator presses the start button K1 (see Figure 5) or the path correction button K2 (see Figure 9) on the operation screen D2, the operation control unit 21 rotates part or all of the target path R so that the orientation of the work path R5 matches the orientation of the work vehicle 10 (the orientation of work row A5), as shown in Figure 14B. Furthermore, if the position of the work path R5 does not coincide with the position of the work column A5, the operation control unit 21 will move part or all of the target path R in parallel. In this way, the operation control unit 21 corrects the target path R based on the current position and orientation of the work vehicle 10 at its current position.

[0105] For example, if the system is configured to perform a correction process for the target route R when an automatic driving start command is issued, the operation control unit 21 may be configured to start automatic driving without changing the direction of the target route R when the operator initiates the automatic driving start operation while the azimuth deviation of the work vehicle 10 relative to the target route R is within a range that allows the start of automatic driving. Note that if the system is configured to correct the target route R using a switch or operation method for correcting the target route R (for example, long-pressing the automatic driving start switch), the above configuration (the configuration that prohibits correction of the target route R when the azimuth deviation of the work vehicle 10 is within a range that allows the start of automatic driving) may be omitted. Furthermore, if the azimuth deviation of the work vehicle 10 is within a range that allows the start of automatic driving, the acceptance of the switch or operation for correcting the route may be prohibited.

[0106] Furthermore, if it is possible to move the target path R in a parallel or rotating manner (change of orientation) using a single switch (operating device), the operation control unit 21 may be configured to allow the user to select whether to perform the parallel or rotating movement, or it may be configured to perform both the parallel and rotating movements in a single operation, or different operating methods may be set for each of the switches (e.g., a short press for parallel movement, a long press for rotating movement). In addition, separate switches may be provided for parallel movement and for rotating movement.

[0107] Here, the operation control unit 21 is configured to display (for example, by filling in) the work area where the work vehicle 10 has performed work on the operation screen D2 (see Figure 5, etc.) in an identifiable manner. In this case, for example, if the work vehicle 10 starts automatic driving and work from the work start position S and corrects the target path R in the direction of the work end position G along the way, a gap may be created between the area where work was performed according to the target path R before correction and the area where work was performed according to the target path R after correction, and this gap may appear to be displayed as an unworked area on the operation screen D2. Therefore, in another embodiment of the present invention, the operation control unit 21 is configured to display in an identifiable manner between the work area where the work vehicle 10 has performed work and the unworked area where work has not been performed, and if there is an unworked area between the work area where the work vehicle 10 has performed work according to the target path R before correction and the work area where the work vehicle 10 has performed work according to the target path R after correction, the unworked area may be displayed as a work area. The operation control unit 21 may also display the unworked area as a work area according to the operator's operation. This makes it possible to suppress the display of unnecessary unworked areas.

[0108] In another embodiment of the present invention, the operation control unit 21 may be able to set a location (range) in which it can accept operations to correct the target path R. Specifically, the operation control unit 21 may allow the acceptance of a user operation to correct the target path R when the work vehicle 10 is located within a predetermined range set based on the starting end of each of the multiple work paths included in the target path R, and may prohibit the acceptance of a user operation to correct the target path R when the work vehicle 10 is not located within the predetermined range. For example, as shown in Figure 15, the operation control unit 21 may allow the acceptance of a user operation to correct the target path R when the work vehicle 10 is located within a predetermined range Ar1 set based on the starting end of the work path R5, and may prohibit the acceptance of a user operation to correct the target path R when the work vehicle 10 is not located within the predetermined range Ar1. That is, the operation control unit 21 executes the target path R correction process on the condition that the work vehicle 10 is located within the predetermined range Ar1. The predetermined range Ar1 may be set by the operator.

[0109] In another embodiment of the present invention, the target of correction of the target path R may be determined according to the travel method of the work vehicle 10. For example, as shown in Figure 16, when the work vehicle 10 travels back and forth along work paths R1 to R10 in this order from outside to inside from the work start position S to the work end position G, the operation control unit 21 corrects (translates) only work paths R1, R3, R5, R7, and R9 that are in the same work direction as work path R3, which is close to the current position of the work vehicle 10 when the user operation to correct the target path R is performed, and does not correct (translate) work paths R2, R4, R6, R8, and R10 that are in a different work direction from work path R3.

[0110] Similarly, as shown in Figure 17, when the work vehicle 10 travels in a spiral pattern from the outside to the inside from the work start position S to the work end position G, the operation control unit 21 corrects (translates) only the work paths Ra, Rb, Rc, Rd, and Re that are in the same work direction as the work path Ra that is close to the current position of the work vehicle 10 when the user operation to correct the target path R is performed, and does not correct (translate) other work paths that are in a different work direction than work path Ra.

[0111] In each of the embodiments described above, the operation control unit 21 corrects the target path R based on the current position of the work vehicle 10. In another embodiment, the operation control unit 21 may correct the target path R based on the position of the work object. Specifically, the acquisition processing unit 213 of the operation control unit 21 acquires the position of the work column closest to the current position of the work vehicle 10 when a user operation to correct the target path R is performed. In the example shown in Figure 7, the acquisition processing unit 213 acquires the starting point of the work column A5 closest to the current position of the work vehicle 10 when a user operation to correct the target path R is performed as the correction position. The acquisition processing unit 213 may also acquire the position of the work column (starting point) based on images captured by a camera mounted on the work vehicle 10 or an aircraft (drone), or it may acquire the position of the work column based on work history data of planting work (such as transplanting work) of harvested crops. The correction processing unit 214 corrects the position of the target path R so that the target path R or the extension of the target path R passes through the correction position (starting point of work column A5). Furthermore, when correcting the orientation of the target path R, the correction processing unit 214 corrects the orientation of the target path R so that the target path R or its extension passes through the correction position (the starting end of work column A5). Thus, the correction position in this invention may be the current position of the work vehicle 10 or the position of the work object.

[0112] In this configuration, if the work vehicle 10 is a tractor and a work implement that can be raised and lowered is connected to the tractor, the work vehicle 10 may perform automatic driving in conjunction with the raising and lowering operation of the work implement. For example, when the operator lowers the work implement, the work vehicle 10 starts automatic driving and drives the work implement to start work. In this configuration, the operation control unit 21 may correct the target path R based on the lowering operation of the work implement. Specifically, after the operator raises the work implement and switches from automatic driving to manual driving, if the work vehicle 10 is moved to an arbitrary position (for example, the starting end of a work line) and the work implement is lowered, the operation control unit 21 moves (corrects) the target path R to match the current position of the work vehicle 10, and the work vehicle 10 resumes automatic driving according to the corrected target path R.

[0113] [Notes on the invention] The following is an overview of the inventions extracted from each of the embodiments described above. Note that the configurations and processing functions described below can be selected and combined as desired.

[0114] <Note 1> To generate a target route for the work vehicle to drive automatically, To obtain the correction position of the aforementioned target path, Correcting the target path based on the correction position, A method for generating routes that executes this process.

[0115] <Note 2> The current position of the work vehicle at the time the user operation to correct the target route is performed is acquired as the corrected position. Route generation method as described in Appendix 1.

[0116] <Note 3> The position of the workpiece is obtained as the correction position. Route generation method as described in Appendix 1 or 2.

[0117] <Note 4> The position of the target path is corrected so that the target path or an extension of the target path passes through the correction position. Route generation method as described in any of the appendices 1 to 3.

[0118] <Note 5> The target path is moved in parallel so that the target path or an extension of the target path passes through the correction position. Route generation method as described in any of the appendices 1 to 4.

[0119] <Note 6> The target path is translated so that the work path selected by the user from among the multiple work paths included in the target path, or the extension of said work path, passes through the correction position. Route generation method as described in Appendix 5.

[0120] <Note 7> Of the multiple work paths included in the target path, the work path set in the same direction as the orientation of the work vehicle and closest to the correction position, or the target path is moved in parallel so that the extension of the work path passes through the correction position. Route generation method as described in Appendix 5 or 6.

[0121] <Note 8> The target route is corrected when the shortest distance to the target route closest to the current position of the work vehicle is less than or equal to a first predetermined value. Route generation method as described in any of Appendix 2 to 7.

[0122] <Note 9> If the shortest distance to the target path closest to the current position of the work vehicle is less than a second predetermined value which is smaller than the first predetermined value, the target path is not corrected. Route generation method as described in Appendix 8.

[0123] <Note 10> Based on the orientation of the work vehicle at its current position when a user operation to correct the target path is performed, the orientation of the target path is corrected. A route generation method described in any of the appendices 2 to 9.

[0124] <Note 11> Further, the system is configured to display, in a way that allows for the identification of the work area where the work vehicle has performed work and the unworked area where no work has been performed within the work area. If there is an unworked area between the work area where the work vehicle performed work according to the target path before correction and the work area where the work vehicle performed work according to the target path after correction, the unworked area will be displayed as a work area. Route generation method as described in any of the appendices 1 to 10.

[0125] <Note 12> The system allows user input to correct the target route when the work vehicle is located within a predetermined range set based on the starting points of each of the multiple work routes included in the target route, and prohibits user input to correct the target route when the work vehicle is not located within the predetermined range. A route generation method described in any of the appendices 1 to 11. [Explanation of Symbols]

[0126] 100: Automated driving system 10: Work vehicles 11: Vehicle control system 12: Storage section 13: Work Unit 14: Positioning device 15: Communications Department 20: Operating terminal 21: Operation Control Unit 22: Storage section 23: Operation display section 24: Communications Department 211: Configuration Processing Unit 212: Generation Processing Unit 213: Acquisition Processing Unit 214: Correction Processing Unit Ar1: predetermined range D1: Menu screen D2: Operation screen D3: Route Correction Screen F: Field S:Work start position G: End position of work R: Target path R1~R10: Work Route A1~A10: Working columns K1: Start button K2: Route correction button K3: Select button K4: Select button L1: Amount of positional displacement L0: 1st predetermined value L2: Second predetermined value E1: Range E2: Range

Claims

1. To generate a target route for the work vehicle to drive automatically, To obtain the correction position of the aforementioned target path, Correcting the target path based on the correction position, Execute, A route generation method that acquires the current position of the work vehicle at the time a user operation to correct the target route is performed as the correction position.

2. The user operation is an operation to start the automatic driving of the work vehicle. The route generation method according to claim 1.

3. The position of the target path is corrected so that the target path or an extension of the target path passes through the correction position. The route generation method according to claim 1.

4. The target path is moved in parallel so that the target path or an extension of the target path passes through the correction position. A route generation method according to any one of claims 1 to 3.

5. The target path is translated so that the work path selected by the user from among the multiple work paths included in the target path, or the extension of said work path, passes through the correction position. The route generation method according to claim 4.

6. Of the multiple work paths included in the target path, the work path set in the same direction as the orientation of the work vehicle and closest to the correction position, or the target path is moved in parallel so that the extension of the work path passes through the correction position. The route generation method according to claim 4.

7. The target route is corrected when the shortest distance to the target route closest to the current position of the work vehicle is less than or equal to a first predetermined value. The route generation method according to claim 1.

8. If the shortest distance to the target path closest to the current position of the work vehicle is less than a second predetermined value which is smaller than the first predetermined value, the target path is not corrected. The route generation method according to claim 7.

9. Based on the orientation of the work vehicle at its current position when the user operation is performed, the orientation of the target path is corrected. The route generation method according to claim 1.

10. Further, the system is configured to display, in a way that allows for the identification of the work area where the work vehicle has performed work and the unworked area where no work has been performed within the work area. If there is an unworked area between the work area where the work vehicle performed work according to the target path before correction and the work area where the work vehicle performed work according to the target path after correction, the unworked area will be displayed as a work area. The route generation method according to claim 1.

11. If the work vehicle is located within a predetermined range set based on the starting point of each of the multiple work routes included in the target route, the acceptance of the user operation is permitted, and if the work vehicle is not located within the predetermined range, the acceptance of the user operation is prohibited. The route generation method according to claim 1.

12. A generation processing unit that generates a target route for the work vehicle to travel automatically, An acquisition processing unit that acquires the correction position of the target path, A correction processing unit that corrects the target path based on the correction position, Equipped with, The acquisition processing unit is a route generation system that acquires the current position of the work vehicle when a user operation to correct the target route is performed as the correction position.

13. To generate a target route for the work vehicle to drive automatically, To obtain the correction position of the aforementioned target path, Correcting the target path based on the correction position, To have one or more processors execute this, A route generation program that acquires the current position of the work vehicle when a user operation to correct the target route is performed as the correction position.

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