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

Abstract

To provide a setting method, an automatic traveling method, a setting system, and a setting program which allow a working vehicle to safely and efficiently automatically travel across a plurality of areas.SOLUTION: A setting processing unit 211 sets a route across fields for automatic traveling of a working vehicle 10 on roads R0 connecting a plurality of fields and sets a prescribed range including the plurality of fields and inter-field routes for entry to the individual fields, as an automatic travel permission area AR1 where the working vehicle 10 is permitted to automatically travel.SELECTED DRAWING: Figure 16

Description

[Technical Field]

[0001] The present invention relates to a setting method and the like for setting an area where a work vehicle is caused to travel automatically. [Background Art]

[0002] Conventionally, there has been known a work vehicle capable of performing work while automatically traveling within a farm field, or automatically traveling between a plurality of farm fields. For example, a technique is known in which when a work vehicle moves from one farm field to another farm field, the work vehicle is temporarily stopped and waits at an entrance / exit of the farm field (see, for example, Patent Document 1). [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2021-29218 [Summary of the Invention] [Problems to be Solved by the Invention]

[0004] When a work vehicle is caused to automatically travel along a connecting path (such as a road) that connects one farm field and another farm field, it is necessary to pay attention to the safety of the connecting path in order to prevent the work vehicle from coming into contact with other vehicles or the like. In particular, when a plurality of work vehicles are caused to automatically travel on a road, it becomes difficult to ensure safety while preventing a decrease in travel efficiency.

[0005] An object of the present invention is to provide a setting method, an automatic traveling method, a setting system, and a setting program that enable a work vehicle to automatically travel between a plurality of areas safely and efficiently. [Means for Solving the Problems]

[0006] The setting method according to the present invention is a setting method that performs the following steps: setting an inter-area route for automatically driving a work vehicle in a connecting path that connects a plurality of work areas; and setting a predetermined range including the plurality of work areas and the connecting path for entering each of the plurality of work areas as an automatic driving permitted area that permits automatic driving of the work vehicle.

[0007] The automatic driving method according to the present invention is an automatic driving method that causes the work vehicle to automatically drive in the automatic driving permitted area set by the setting method, following the route between the areas.

[0008] The setting system according to the present invention includes a setting processing unit that sets an inter-area route for automatically driving a work vehicle in a connecting path that connects a plurality of work areas, and sets a predetermined range including the plurality of work areas and the connecting path for entering each of the plurality of work areas as an automatic driving permitted area where the automatic driving of the work vehicle is permitted.

[0009] The setting program according to the present invention is a setting program that causes one or more processors to perform the following actions: setting an inter-area route for automatically driving a work vehicle in a connecting path that connects a plurality of work areas, and setting a predetermined range including the plurality of work areas and the connecting path for entering each of the plurality of work areas as an automatic driving permitted area that permits the automatic driving of the work vehicle. [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 enable a work vehicle to automatically drive safely and efficiently between multiple areas. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a block diagram showing the configuration of an automated driving system according to an embodiment of the present invention. [Figure 2]Figure 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 3] Figure 3 shows an example of a field-to-field route for a work vehicle according to an embodiment of the present invention. [Figure 4A] Figure 4A shows an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 4B] Figure 4B shows an example of a target route for a work vehicle according to an embodiment of the present invention. [Figure 5A] Figure 5A shows an example of a menu screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 5B] Figure 5B shows an example of a teaching operation screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 5C] Figure 5C shows an example of a teaching operation screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 6A] Figure 6A shows an example of a teaching operation screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 6B] Figure 6B shows an example of a teaching operation screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 6C] Figure 6C shows an example of a teaching operation screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 7] Figure 7 shows an example of a field-to-field route for a work vehicle according to an embodiment of the present invention. [Figure 8] Figure 8 shows an example of a field-to-field route information table according to an embodiment of the present invention. [Figure 9] Figure 9 shows an example of a route generation screen displayed on an operating terminal according to an embodiment of the present invention. [Figure 10] Figure 10 shows an example of a map and field according to an embodiment of the present invention. [Figure 11] Figure 11 shows an example of a sign according to an embodiment of the present invention. [Figure 12]FIG. 12 is a diagram illustrating an installation example of a marker according to an embodiment of the present invention. [Figure 13] FIG. 13 is a diagram illustrating an example of an automatic travel permission area according to an embodiment of the present invention. [Figure 14] FIG. 14 is a diagram illustrating an example of a setting screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 15] FIG. 15 is a diagram illustrating an example of a route generation screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 16] FIG. 16 is a diagram illustrating an example of an inter-farm route according to an embodiment of the present invention. [Figure 17] FIG. 17 is a diagram illustrating another example of an inter-farm route according to an embodiment of the present invention. [Figure 18] FIG. 18 is a flowchart illustrating an example of the procedure of automatic travel processing executed by an automatic travel system according to an embodiment of the present invention. [Figure 19] FIG. 19 is a diagram illustrating an installation example of a camera according to an embodiment of the present invention. [Figure 20] FIG. 20 is a diagram illustrating an example of a travel screen displayed on an operation terminal according to an embodiment of the present invention. [Figure 21] FIG. 21 is a flowchart illustrating an example of the procedure of automatic travel processing executed by an automatic travel system according to an embodiment of the present invention. [Figure 22] FIG. 22 is a block diagram illustrating another configuration of an automatic travel system according to an embodiment of the present invention. MODE FOR CARRYING OUT THE INVENTION

[0012] The following embodiment is an example embodying the present invention, and does not limit the technical scope of the present invention.

[0013] As shown in Figure 1, the automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operating terminal 20. The work vehicle 10 and the operating terminal 20 can communicate via a communication network N1. For example, the work vehicle 10 and the operating terminal 20 can communicate via a mobile phone network, a packet network, or a wireless LAN.

[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) 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. In addition, the work vehicle 10 is configured to automatically travel along roads (connecting roads) that connect multiple fields, according to a pre-set inter-field route. Based on the position information of the work vehicle 10's current position calculated by the positioning device 16, the work vehicle 10 automatically travels within the field and outside the field (roads) according to the pre-set target route and inter-field route.

[0015] For example, in field F1 shown in Figures 3 and 4A, the work vehicle 10 automatically travels along a pre-set target route R1 (work route) and performs predetermined tasks. Once the work in field F1 is completed, the work vehicle 10 automatically travels along road R0 along a pre-set inter-field route R12 (travel route) to field F2. For example, the work vehicle 10 automatically travels along the inter-field route R12 connecting the entrance / exit H1 of field F1 and the entrance / exit H2 of field F2. Upon arriving at field F2, the work vehicle 10 automatically travels along a pre-set target route R2 (work route) in field F2 (see Figures 3 and 4B) and performs predetermined tasks. The target route R1 within field F1 and the target route R2 within field F2 are set appropriately according to the content of each task. Furthermore, the inter-field route R12 on road R0 is set according to the operation (teaching operation) by the operator (user). In this embodiment, the inter-field route R12 on road R0 on which the work vehicle 10 moves from field F1 to field F2 is given as an example, but the inter-field route R12 may also be the route on road R0 on which the work vehicle 10 moves from field F2 to field F1. Also, if the work vehicle 10 moves sequentially between three or more fields, the inter-field route may be set between each field. The inter-field route R12 is an example of an inter-region route of the present invention. Note that the inter-region route of the present invention is not a route for moving from field to field (inter-field route), but may simply be a route for moving from a first point to a second point on road R0 (inter-point route). Also, the first point and the second point may be locations specified by the user on a map.

[0016] The connecting road of the present invention may be a road exclusively for work vehicles, such as a farm road, forest road, public road, private road, or motorway, or it may be a road that is accessible to general vehicles (such as passenger cars).

[0017] [Work Vehicle 10] As shown in Figures 1 and 2, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a running device 13, a work machine 14, a communication unit 15, a positioning device 16, and the like. The vehicle control device 11 is electrically connected to the storage unit 12, the running device 13, the work machine 14, the positioning device 16, and the like. The vehicle control device 11 and the positioning device 16 may be wirelessly connected.

[0018] 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 the operation terminal 20 via the communication unit 15.

[0019] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program that causes the vehicle control device 11 to execute the automatic driving process described later (see Figures 18 and 21). 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 for target routes and inter-field routes generated at the operation terminal 20.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] The implement 14 is, for example, a brush cutter, tiller, plow, fertilizer spreader, seed planter, or sprayer, and is detachable from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the implements 14. In this embodiment, the case where the implement 14 is a brush cutter will be used as an example for explanation.

[0024] For example, the work vehicle 10 is equipped with a directly mounted implement 14 (grass cutter) and performs grass cutting work while traveling through field F1 and field F2, respectively. Note that the implement 14 is not limited to a directly mounted implement fixed to the work vehicle 10, but may also be a towed implement pulled by the work vehicle 10.

[0025] Furthermore, when the work vehicle 10 travels on the road R0 (see Figure 3), it may travel with the implement 14 attached or with the implement 14 removed. For example, if the work vehicle 10 is performing grass cutting work in both field F1 and field F2, after the grass cutting work in field F1 is completed, the work vehicle 10 will travel on the road R0 with the grass cutter attached to move to field F2 and perform grass cutting work in field F2. If the work vehicle 10 is equipped with a lifting function for the implement 14, it will travel on the road R0 with the implement 14 raised. Also, for example, if different work is to be performed in both field F1 and field F2, after the work in field F1 is completed, the work vehicle 10 will travel on the road R0 with the implement 14 removed to move to field F2, and then attach the implement 14 to field F2 and perform the work.

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

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

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

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

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

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

[0032] The positioning control unit 161 calculates the current position of the work vehicle 10 based on GNSS signals received from satellites by the positioning antenna 164. For example, when the work vehicle 10 is automatically driving through fields F1, F2, road R0, etc., the positioning antenna 164 receives radio waves (transmission time, orbital information, etc.) transmitted from each of multiple 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-GPS positioning method (RTK method)) which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 automatically drives using positioning information obtained using 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 that is shifted from the positioning position.

[0033] 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.

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

[0035] As shown in Figure 1, the vehicle control device 11 includes various processing units such as the driving processing unit 111. The vehicle control device 11 functions as these various processing units by executing various processes according to the automatic driving program using the CPU. Some or all of these processing units may be composed of electronic circuits. The automatic driving program may be a program that causes multiple processors to function as processing units.

[0036] The driving processing unit 111 controls the movement of the work vehicle 10. Specifically, when the driving processing unit 111 receives a start-to-drive instruction from the operation terminal 20, it starts the automatic movement 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 driving processing unit 111 receives the start-to-drive instruction from the operation terminal 20, it starts the automatic movement of the work vehicle 10. As a result, the work vehicle 10 starts to move automatically according to the target route R1 (see Figure 4A) within field F1, for example, and starts working with the implement 14. The work vehicle 10 also starts to move automatically according to the target route R2 (see Figure 4B) within field F2, for example, and starts working with the implement 14. Furthermore, the work vehicle 10 moves automatically according to the inter-field route R12 (see Figure 3) on road R0, for example. In other words, the driving processing unit 111 can automatically drive the work vehicle 10 along the inter-field route R12 on the road R0 outside the field. For example, the driving processing unit 111 can automatically drive the work vehicle 10 along the road R0 connecting field F1 and field F2, following the inter-field route R12 set on road R0. The target route and inter-field route on which the work vehicle 10 will automatically travel are generated, for example, in the operation terminal 20. The work vehicle 10 acquires route data corresponding to the target route and inter-field route from the operation terminal 20 and automatically drives along the target route and inter-field route.

[0037] Furthermore, when the driving processing unit 111 receives a driving stop instruction from the operation terminal 20, it stops the automatic driving 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 driving stop instruction to the work vehicle 10.

[0038] Furthermore, the driving processing unit 111 stops the automatic driving of the work vehicle 10 when the work vehicle 10 detects an obstacle. For example, if an obstacle detection device (not shown) mounted on the work vehicle 10 detects an obstacle in the range of 3m to 8m in front of the work vehicle 10, the driving processing unit 111 slows down the work vehicle 10. Also, if the obstacle detection device detects an obstacle within a range of up to 3m in front of the work vehicle 10, the driving processing unit 111 stops the work vehicle 10.

[0039] [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.

[0040] 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.

[0041] 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 perform operations to 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.

[0042] Furthermore, the operator performs an operation (teaching operation) on the control unit to set the inter-field route R12 for the work vehicle 10 to automatically travel along the road R0 (connecting road) that connects field F1 and field F2.

[0043] Furthermore, the operator can use the control unit to issue commands to the work vehicle 10 to start driving, to stop driving, etc. In addition, the operator can, from a location away from the work vehicle 10, understand the driving status of the work vehicle 10, which is automatically traveling through fields F1, F2, and road R0 according to the target route and the route between fields, by looking at the driving trajectory displayed on the control terminal 20.

[0044] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 22 stores control programs, such as an automatic driving program, which causes the operation control unit 21 to execute the automatic driving process described later (see Figures 18 and 21). 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 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.

[0045] Furthermore, a dedicated application for automatically driving the work vehicle 10 is installed in the memory unit 22. The operation control unit 21 starts the dedicated application and performs various processing tasks related to the work vehicle 10, such as setting various information, generating target routes and inter-field routes for the work vehicle 10, and issuing automatic driving instructions to the work vehicle 10.

[0046] Furthermore, the storage unit 22 stores data such as work vehicle information, which is information related to the work vehicle 10, and target route information, which is information related to the target route. The work vehicle information includes information such as the vehicle number and model for each work vehicle 10. The vehicle number is the identification information of the work vehicle 10. The model is the model of the work vehicle 10. The storage unit 22 may store the work vehicle information for one work vehicle 10, or it may store the work vehicle information for multiple work vehicles 10. For example, if a particular operator owns multiple work vehicles 10, the work vehicle information for each work vehicle 10 will be stored in the storage unit 22.

[0047] The target route information includes information such as the route name, field name, address, field area, and working time for each target route. The route name is the route name of the target route generated on the operation terminal 20. The field name is the name of the field to which the target route is set. The address is the address of the field, and the field area is the area of ​​the field. The working time is the time required for the work to be performed on the field by the work vehicle 10.

[0048] If the target route is a route corresponding to road R0 (a route between fields), the target route information includes information such as the route name, address, distance traveled, and travel time. The route name is the name of road R0, and the address is the address of road R0. The distance traveled is the distance the work vehicle 10 travels along road R0, for example, the distance from field F1 to field F2. The travel time is the time the work vehicle 10 travels along road R0, for example, the time required to travel from field F1 to field F2.

[0049] The memory unit 22 may store the target route information for one target route, or it may store the target route information for multiple target routes. For example, if a particular operator generates multiple target routes for one or more fields owned by them, the target route information for each target route is stored in the memory unit 22. One target route may be set for one field, or multiple target routes may be set. Also, one inter-field route may be set for a set of fields, or multiple inter-field routes may be set. In this embodiment, the memory unit 22 stores target route information corresponding to target route R1 (see Figure 4A) that runs through field F1, target route information corresponding to target route R2 (see Figure 4B) that runs through field F2, and target route information corresponding to inter-field route R12 (see Figure 3) that runs along road R0.

[0050] In another embodiment, some or all of the information, such as the work vehicle information and the target route information, may be stored on a server accessible from the operation terminal 20. The operator may perform an operation to register the work vehicle information and the target route information on the server (e.g., a personal computer, a cloud server, etc.). In this case, the operation control unit 21 may obtain the information from the server and execute various processes, such as the automatic driving process described later (see Figures 18 and 21).

[0051] 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 cause 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 temporary memory for various processes performed by the CPU. The operation control unit 21 controls the operation terminal 20 by executing various control programs that are pre-stored in the ROM or memory unit 22 using the CPU.

[0052] As shown in Figure 1, the operation control unit 21 includes various processing units such as a setting processing unit 211, a reception processing unit 212, an acquisition processing unit 213, a generation processing unit 214, and an output processing unit 215. 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.

[0053] The setting processing unit 211 sets information related to the work vehicle 10 (hereinafter referred to as work vehicle information), information related to the field (hereinafter referred to as field information), and information related to how the work will be carried out in detail (hereinafter referred to as work information). The setting processing unit 211 receives setting operations from the operator on the menu screen D1 shown in Figure 5A, for example, and registers each setting information.

[0054] Specifically, the setting processing unit 211 sets information such as the model of the work vehicle 10, the location where the positioning antenna 164 is attached to the work vehicle 10, the type of work equipment 14, the size and shape of the work equipment 14, the position of the work equipment 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.

[0055] Furthermore, the setting processing unit 211 sets information such as the location and shape of the field, the work start position (travel start position) where work begins, the work end position (travel end position) where work ends, and the work direction by performing an operation to register this information on the operation terminal 20.

[0056] Information on the location and shape of the field can be automatically acquired, for example, by having an operator ride in the work vehicle 10 and drive it in a circle along the outer perimeter of the field, while recording the changes in the position information of the positioning antenna 164 during that time. Alternatively, the location and shape of the field 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 the field is the area in which the work vehicle 10 can travel (driving area).

[0057] For example, the setting processing unit 211 registers the field information for field F1 shown in Figure 4A and the field information for field F2 shown in Figure 4B.

[0058] Furthermore, 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 work vehicle 10 (unmanned tractor) and the manned work vehicle 10, the number of skips which is the number of work paths that the work vehicle 10 skips when turning in the headland, the width of the headland, and the width of the non-cultivated land.

[0059] Furthermore, the setting processing unit 211 generates a target route for the work vehicle 10 to automatically travel in the field based on the setting information. Specifically, the setting processing unit 211 generates a target route within the field based on the start and end positions registered in the field settings. For example, as shown in Figure 4A, the setting processing unit 211 generates a target route R1 including a start position S1, an end position G1, a straight route r1 (solid line portion in Figure 4A), and a turning route r2 (dotted line portion in Figure 4A) based on the operator's setting operations. Also, for example, as shown in Figure 4B, the setting processing unit 211 generates a target route R2 including a start position S2, an end position G2, a straight route r1 (solid line portion in Figure 4B), and a turning route r2 (dotted line portion in Figure 4B) based on the operator's setting operations. The setting processing unit 211 registers the generated target route R1 in association with field F1, and registers the generated target route R2 in association with field F2.

[0060] Here, the operation control unit 21 generates inter-field routes for road R0 connecting multiple fields, based on the operator's operation (teaching operation), as shown below.

[0061] Specifically, the reception processing unit 212 receives driving instructions from the operator. For example, the reception processing unit 212 receives a driving instruction (manual steering) to manually drive the work vehicle 10 from field F1 to field F2. Based on the driving instructions by the operator, the acquisition processing unit 213 acquires position information of the work vehicle 10 traveling on the road R0 connecting field F1 and field F2 from the positioning device 16. Based on the position information acquired based on the driving instructions by the operator, the generation processing unit 214 generates an inter-field route R12 for the work vehicle 10 to automatically travel between field F1 and field F2.

[0062] For example, the reception processing unit 212 displays the teaching operation screen D2 shown in Figure 5B to receive an operation from the operator to select a field. The teaching operation screen D2 displays a list of field information for multiple fields registered by the setting processing unit 211. The operator selects multiple fields that will be the target of the inter-field route on the teaching operation screen D2.

[0063] First, the operator selects the field where the teaching operation will begin (in this case, field F1) (see Figure 5B). Once the operator selects field F1, the reception processing unit 212 displays the selected field F1 identifiable on the map of the teaching operation screen D2 (see Figure 5B) (displays a dotted line frame image).

[0064] Next, the operator selects the field where the teaching operation will end (in this case, field F2) (see Figure 5C). Once the operator selects field F2, the reception processing unit 212 displays the selected field F2 identifiable on the map of the teaching operation screen D2 (see Figure 5C) (displays a dotted line frame image).

[0065] When the reception processing unit 212 receives a selection operation from the operator for multiple fields to be included in the inter-field route, it accepts an operation to start teaching travel. For example, in the teaching operation screen D2 shown in Figure 6A, when the operator presses the start button, the reception processing unit 212 accepts an operation to start teaching travel. When the reception processing unit 212 accepts the start operation, it sets the route start position Ts1 in field F1. For example, the reception processing unit 212 sets the current position of the work vehicle 10 at the time the start operation is accepted as the route start position Ts1.

[0066] In another embodiment, the reception processing unit 212 may set the route start position Ts1 in field F1 when it receives the start operation from the operator while the work vehicle 10 is located in a predetermined area within field F1. For example, provided that the work vehicle 10 is located within the area of ​​the entrance / exit H1 (see Figure 4A) in field F1, the reception processing unit 212 receives the start operation from the operator and sets the route start position Ts1 in field F1. Conversely, if the work vehicle 10 is located outside the area of ​​the entrance / exit H1 in field F1, the reception processing unit 212 does not set the route start position Ts1 in field F1 even if it receives the start operation from the operator. In this case, the reception processing unit 212 may notify the operator of a message indicating that the route start position Ts1 cannot be set, a message prompting the operator to move the work vehicle 10 into the area of ​​the entrance / exit H1, and so on. With this configuration, the starting point of the inter-field path for moving between fields can be set to a specific area (e.g., entrance / exit H1), thus limiting the location from which one can exit a field to the outside of a field.

[0067] When the reception processing unit 212 receives the start operation from the operator, it displays a route start position image Ms on the map of the teaching operation screen D2 (see Figure 6A), indicating the route start position Ts1 at the entrance / exit H1 of field F1. In addition, as shown in Figure 6A, the reception processing unit 212 displays a guide route Mr (dotted line) connecting field F1 and field F2 as information to support the driving operation of the teaching run. This allows the operator to perform manual driving operations (driving) according to the guide route Mr, making the teaching run operation easier.

[0068] The operator, for example, brings the operation terminal 20 to the work vehicle 10 and manually drives the vehicle from field F1 to field F2 along road R0 (see Figure 3) while checking the guidance route Mr displayed on the operation terminal 20. The reception processing unit 212 receives the operator's driving operation (manual steering). The reception processing unit 212 displays the current position image Mp on the guidance route Mr corresponding to the current position of the work vehicle 10 on the teaching operation screen D2.

[0069] The acquisition processing unit 213 acquires the position information of the work vehicle 10 while the operator is teaching the work vehicle 10 on road R0. The acquisition processing unit 213 also acquires information on the speed of the work vehicle 10 during the teaching run. The acquisition processing unit 213 may also acquire information about road R0 during the teaching run (for example, information on obstacles, road surface conditions, road width, stop lines, speed limits, traffic lights, etc.).

[0070] The operator drives the work vehicle 10 to field F2, and when the work vehicle 10 arrives at field F2, the operator presses the "End" button on the teaching operation screen D2 (see Figure 6B). When the operator presses the "End" button, the reception processing unit 212 receives the operation to end the teaching run. Upon receiving the end operation, the reception processing unit 212 sets the route end position Te2 at field F2. For example, the reception processing unit 212 sets the current position of the work vehicle 10 at the time the end operation is received as the route end position Te2.

[0071] In another embodiment, the reception processing unit 212 may set the route end position Te2 in field F2 when it receives the termination operation from the operator while the work vehicle 10 is located in a predetermined area within field F2. For example, provided that the work vehicle 10 is located within the area of ​​the entrance / exit H2 (see Figure 4B) in field F2, the reception processing unit 212 receives the termination operation from the operator and sets the route end position Te2 in field F2. On the other hand, if the work vehicle 10 is located outside field F2 or outside the area of ​​the entrance / exit H2 in field F2, the reception processing unit 212 does not set the route end position Te2 in field F2 even if it receives the termination operation from the operator. In this case, the reception processing unit 212 may notify the operator of a message indicating that the route end position Te2 cannot be set, a message prompting the operator to move the work vehicle 10 into the area of ​​the entrance / exit H2, etc. With this configuration, the end point of the inter-field path for moving between fields can be set to a specific area (e.g., entrance / exit H2), thus limiting the location from which one can enter a field from outside.

[0072] When the reception processing unit 212 receives the termination operation from the operator, it displays a route termination position image Me, indicating the route termination position Te2 at the entrance / exit H2 of field F2, on the map of the teaching operation screen D2 shown in Figure 6C.

[0073] Furthermore, when the reception processing unit 212 receives the termination operation from the operator, the generation processing unit 214 generates an inter-field route R12 that will cause the work vehicle 10 to automatically travel between field F1 and field F2, based on the location information of the work vehicle 10 acquired by the acquisition processing unit 213. Specifically, as shown in Figure 7, the generation processing unit 214 connects the route start position Ts1 at the entrance / exit H1 of field F1 and the route end position Te2 at the entrance / exit H2 of field F2, generating an inter-field route R12 that passes over road R0. The generation processing unit 214 displays the route image Mt (solid line) of the generated inter-field route R12 on the map of the teaching operation screen D2 shown in Figure 6C.

[0074] The generation processing unit 214 notifies the operator on the teaching operation screen D2 shown in Figure 6C whether or not to register the generated inter-field route R12. When the operator confirms the inter-field route R12 on the teaching operation screen D2 and presses the register button, the generation processing unit 214 receives an instruction to register the inter-field route R12. Upon receiving the registration instruction, the generation processing unit 214 registers the inter-field route R12 in association with field F1 and field F2.

[0075] Specifically, the generation processing unit 214 registers the inter-field route R12 in the inter-field route information table E1. Figure 8 shows an example of the inter-field route information table E1. The inter-field route information table E1 includes a route ID, a starting field, an ending field, location information, speed information, etc. The route ID is identification information for the inter-field route. Route ID "R001" indicates the inter-field route R12. The starting field is information indicating the field corresponding to the starting position of the inter-field route, and the ending field is information indicating the field corresponding to the ending position of the inter-field route. The location information is information indicating the location of the inter-field route, and is coordinate location information acquired at a predetermined period (sampling interval). The speed information is the travel speed of the work vehicle 10 when the inter-field route is taught, and is information of the travel speed for each coordinate location. Each time the operator selects multiple fields and performs a teaching operation, the generation processing unit 214 associates the generated inter-field routes with the fields and registers them in the inter-field route information table E1.

[0076] When the operator starts the work vehicle 10 to automatically travel, they select multiple fields and choose an inter-field route from the inter-field route information table E1 to automatically travel between the fields. For example, on the route generation screen D3 shown in Figure 9, when the operator selects fields F1 and F2, the operation control unit 21 displays a list of inter-field routes registered in the inter-field route information table E1 and accepts the operator's operation to select an inter-field route. Although not shown in the diagram, the operation control unit 21 also accepts the operation to select the target route R1 for field F1 (see Figure 4A) and the target route R2 for field F2 (see Figure 4B) on the route generation screen D3.

[0077] Furthermore, the operation control unit 21 determines whether the inter-field route connecting field F1 and field F2 is registered in the inter-field route information table E1, and if the inter-field route is registered in the inter-field route information table E1, it displays the inter-field route on the route generation screen D3. Also, when the operator selects an inter-field route, the setting processing unit 211 sets the inter-field route for the work vehicle 10.

[0078] When the operator selects fields F1 and F2, selects target route R1 within field F1 and target route R2 within field F2, and selects inter-field route R12 that moves between fields F1 and F2, and then presses the start button (see Figure 9), the output processing unit 215 outputs the route data of the target routes and the inter-field routes to the work vehicle 10. Alternatively, when the operator selects fields F1 and F2, the operation control unit 21 may extract and set the inter-field route R12 connecting fields F1 and F2 from the inter-field routes registered in the inter-field route information table E1. In this case, the operator's operation to select the inter-field route can be omitted.

[0079] Here, the output processing unit 215 outputs route data to the work vehicle 10, which includes the target route R1 (see Figure 4A), which is the work route within field F1; the target route R2 (see Figure 4B), which is the work route within field F2; and the inter-field route R12 (see Figure 7), which is the inter-field route connecting field F1 and field F2.

[0080] When route data generated on the operation terminal 20 is transferred to the work vehicle 10, it 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. The current position of the work vehicle 10 usually coincides with the position of the positioning antenna 164.

[0081] Furthermore, the work vehicle 10 is configured to automatically travel within field F1 when its current position coincides with the starting position S1 (see Figure 4A) within field F1, and to automatically travel within field F2 when its current position coincides with the starting position S2 (see Figure 4B) within field F2. In addition, the work vehicle 10 is configured to automatically travel along the inter-field route R12 when its current position coincides with the starting position Ts1 (see Figure 7) of the route at the entrance / exit H1 of field F1.

[0082] For example, if the work vehicle 10's current position coincides with the starting position S1 of field F1, and the operator presses the start button on the operation screen (not shown) to give a command to start driving, the driving processing unit 111 of the work vehicle 10 will start automatic driving along the target route R1.

[0083] The driving processing unit 111 automatically drives the work vehicle 10 from the starting position S1 to the ending position G1 in field F1 according to the target route R1 (see Figure 4A). When the work vehicle 10 reaches the ending position G1, the operator moves the work vehicle 10 from the ending position G1 to the starting position Ts1. The operation control unit 21 may also generate a route (interpolated route) that automatically drives the work vehicle 10 from the ending position G1 to the starting position Ts1. In this case, when the work vehicle 10 reaches the ending position G1, it automatically drives from the ending position G1 to the starting position Ts1 according to the interpolated route.

[0084] When the current position of the work vehicle 10 coincides with the route start position Ts1, the driving processing unit 111 automatically drives the work vehicle 10 from the route start position Ts1 to the route end position Te2 at field F2 according to the inter-field route R12 (see Figure 7). The vehicle control device 11 may also temporarily stop the work vehicle 10 when it leaves field F1 onto road R0 and request the operator to confirm safety.

[0085] The driving processing unit 111 automatically drives the work vehicle 10 based on position information, speed information, etc. (see Figure 8) associated with the inter-field route R12. For example, the driving processing unit 111 sets the driving speed corresponding to the speed information (driving speed during teaching) as the upper limit speed and controls the driving speed of the work vehicle 10 while driving it automatically. If the driving processing unit 111 detects an obstacle while the work vehicle 10 is automatically driving on the road R0, it will automatically drive along the inter-field route R12 while avoiding the obstacle.

[0086] Furthermore, the driving processing unit 111 temporarily stops the work vehicle 10 when it enters field F2 from road R0. When the work vehicle 10 reaches the end of the route position Te2, the operator moves the work vehicle 10 from the end of the route position Te2 to the starting position S2 of field F2. The operation control unit 21 may also generate a route (interpolated route) that automatically drives the work vehicle 10 from the end of the route position Te2 to the starting position S2. In this case, when the work vehicle 10 reaches the end of the route position Te2, it automatically drives from the end of the route position Te2 to the starting position S2 according to the interpolated route.

[0087] When the current position of the work vehicle 10 coincides with the starting position S2, the driving processing unit 111 automatically drives the work vehicle 10 from the starting position S2 to the ending position G2 according to the target route R2 (see Figure 4B). When the work vehicle 10 reaches the ending position G2, the driving processing unit 111 terminates the automatic driving. In this way, the driving processing unit 111 automatically drives the work vehicle 10 within field F1, then automatically drives it along the inter-field route R12 from field F1 to field F2, and then automatically drives it within field F2.

[0088] While the work vehicle 10 is automatically moving, the operator can monitor the vehicle's movement status within field F1, on the road R0 connecting field F1 and field F2, and within field F2 using the control terminal 20.

[0089] As described above, the operator can have the work vehicle 10 automatically travel between multiple fields along an inter-field route. However, when the work vehicle 10 is automatically traveling along an inter-field route, attention must be paid to the safety of the road R0 in order to avoid the work vehicle 10 coming into contact with other vehicles or other objects. In particular, when multiple work vehicles 10 are automatically traveling on road R0, it becomes difficult to ensure safety while preventing a decrease in travel efficiency. In contrast, the automatic travel system 1 according to this embodiment can have the work vehicle 10 automatically travel between multiple fields safely and efficiently, as shown below.

[0090] Figure 10 shows an example of a map containing multiple fields. The multiple fields are separated by a road R0. In the example shown in Figure 10, for example, multiple work vehicles 10 may perform work in fields F1 to F12 or move between fields. In cases where multiple work vehicles 10 move between multiple fields, it is possible to avoid collisions between the multiple work vehicles 10 by controlling the routes and movement of the multiple work vehicles 10 between fields. However, if a third-party vehicle other than the multiple work vehicles 10 travels on road R0 between fields F1 to F12, the safety of the multiple work vehicles 10 may be reduced.

[0091] Therefore, the setting processing unit 211 of the operation control unit 21 sets a predetermined range including multiple fields to be worked on as the automatic driving permitted area AR1 (closed area) where the work vehicle 10 is permitted to drive automatically. Specifically, the setting processing unit 211 sets a predetermined range including multiple fields and roads R0 for entering each of the multiple fields as the automatic driving permitted area AR1. By setting the automatic driving permitted area AR1 and restricting the entry of third parties into the automatic driving permitted area AR1, the automatic driving system 1 is able to safely operate the work vehicle 10 automatically within the automatic driving permitted area AR1.

[0092] This section describes a specific example of how to set the automated driving permitted area AR1. For example, the setting processing unit 211 sets the automated driving permitted area AR1 to an area identified based on the positional information of multiple signs P0 (an example of communication equipment) installed on road R0. Figure 11 shows an example configuration of a sign P0. As shown in Figure 11, the sign P0 is a sign that includes a transmitting unit Pa capable of transmitting positional information (latitude and longitude information) and a display unit Pb that displays information indicating that entry into the automated driving permitted area AR1 is prohibited ("Road Closed"). For example, the operator closes off the road R0 leading to fields F1 to F12 to prevent third parties from entering the area surrounding the fields F1 to F12. Specifically, as shown in Figure 12, the operator installs signs P0 at each entry point to the entire area on road R0 that surrounds the entire area of ​​fields F1 to F12. In the example shown in Figure 12, the operator installs signs P0 at eight locations on road R0. By installing sign P0, it is possible to alert third parties to the situation.

[0093] The setting processing unit 211 acquires location information from each of the eight signs P0 installed on road R0, and sets the area surrounding road R0, connecting the locations of each sign P0, as the automatic driving permitted area AR1. Once the automatic driving permitted area AR1 is set, the setting processing unit 211 displays a frame image of the automatic driving permitted area AR1 on the map displayed on the setting screen D4 of the operation terminal 20, as shown in Figure 13. The setting processing unit 211 also displays the location information of one or more work vehicles 10 that can communicate with the operation terminal 20, and the location information of the operator on the setting screen D4 (see Figure 13). The operator's location information may be the location information of the operation terminal 20 held by the operator, or the location information of a communication device (such as a communication tag) held by the operator. Each operator can understand the area in which the work vehicles 10 can automatically drive (automatic driving permitted area AR1), the location of each work vehicle 10, and the location of each operator (location of the operation terminal 20) by checking the setting screen D4 of their own operation terminal 20.

[0094] Another example of how to set the automatic driving permitted area AR1 is that the setting processing unit 211 may set the area selected by the user in the map information as the automatic driving permitted area AR1. For example, as shown in Figure 14, the operator registers the blocked points P1 on the map on the setting screen D4 of the operation terminal 20. Here, the operator registers the blocked points P1 by specifying (touch operation, etc.) eight locations on the map on the setting screen D4. When the setting processing unit 211 obtains the locations of the blocked points P1 registered by the operator, it sets the area surrounding the road R0 connecting each location as the automatic driving permitted area AR1. Once the setting processing unit 211 has set the automatic driving permitted area AR1, it displays the automatic driving permitted area AR1 on the map displayed on the setting screen D4 of the operation terminal 20 (see Figure 13). In this setting method, the sign P0 does not need to have a communication function (transmitter Pa) to transmit location information. However, the sign P0 is installed at a location on the road R0 corresponding to the automatic driving permitted area AR1 in order to alert third parties.

[0095] When the automatic driving permitted area AR1 is set, the setting processing unit 211 displays, on the route generation screen D3, a selectable inter-field route from among several pre-set inter-field routes located within the automatic driving permitted area AR1. The setting processing unit 211 also displays the automatic driving permitted area AR1 and the inter-field routes in a identifiable manner on the map information on the operation terminal 20 (see Figure 15). For example, as shown in Figure 15, the setting processing unit 211 displays the automatic driving permitted area AR1 on the map on the route generation screen D3, and displays several pre-set inter-field routes (see Figure 8). Here, the setting processing unit 211 displays the inter-field route so that the operator can select it if the entire inter-field route (the entire section from the route start position to the route end position) is located within the automatic driving permitted area AR1. On the other hand, the setting processing unit 211 displays a message indicating that the operator cannot select an inter-field route if at least a portion of the route (at least a portion of the entire section from the route start position to the route end position) is located outside the automatic driving permitted area AR1.

[0096] For example, in the example shown in Figure 15, "Route R110" refers to the inter-field route connecting field F1 and field F10 (see Figure 16), and the entire inter-field route is located within the automatic driving permitted area AR1. In this case, the setting processing unit 211 makes "Route R110" selectable on the setting screen D4 (see Figure 15).

[0097] In contrast, for example, "Route R415" indicates an inter-field route connecting field F4 and field F15, where a portion of this inter-field route on the field F15 side is located outside the automatic driving permitted area AR1 (see Figure 17). In this case, the setting processing unit 211 displays "Route R415" as unselectable (for example, grayed out) on the setting screen D4 (see Figure 15).

[0098] Furthermore, the setting processing unit 211 may notify the operator of error information if the operator selects an inter-field route that is located outside the automatic driving permitted area AR1, at least in part. For example, if the operator selects "Route R415", the setting processing unit 211 may display a message indicating that "Route R415" cannot be set as an inter-field route.

[0099] When the operator selects "Route R110" on the setting screen D4 and presses the start button (see Figure 15), the output processing unit 215 outputs the route data for the inter-field route to the work vehicle 10.

[0100] The driving processing unit 111 causes the work vehicle 10 to automatically travel along the inter-field route within the automatic driving permission area AR1 set on the operation terminal 20. As a result, the work vehicle 10 automatically travels from field F1 to field F10 along the inter-field route ("route R110") within the automatic driving permission area AR1 (see Figure 16). The driving processing unit 111 also causes the work vehicle 10 to temporarily stop at the starting position of the inter-field route when it leaves field F1 onto road R0. This allows for confirmation of the safety of road R0. Furthermore, the driving processing unit 111 may start automatic travel along the inter-field route after the work vehicle 10 has temporarily stopped, provided that it has received instructions from the operator (instruction to resume automatic travel).

[0101] In another embodiment, the setting processing unit 211 may display, on the route generation screen D3 (see Figure 15), an inter-field route in which at least a portion of the inter-field route is located outside the automatic driving permitted area AR1. For example, "Route R415" indicates an inter-field route connecting field F4 and field F15, where a portion of the inter-field route on the field F15 side is located outside the automatic driving permitted area AR1. When the operator selects "Route R415" on the setting screen D4 and presses the start button (see Figure 15), the output processing unit 215 outputs the route data of the inter-field route to the work vehicle 10. In this case, when the work vehicle 10 is automatically driving from field F4 to field F15 according to the inter-field route ("Route R415"), and reaches the boundary of the automatic driving permitted area AR1 (see Figure 17), the driving processing unit 111 stops the automatic driving of the work vehicle 10. In this way, the driving processing unit 111 controls the driving so that the automatically driving work vehicle 10 does not go outside the automatically driving permitted area AR1.

[0102] When the driving processing unit 111 stops the work vehicle 10, which is automatically traveling along the inter-field route, at the boundary of the automatic driving permitted area AR1 (see Figure 17), the vehicle control device 11 causes the work vehicle 10 to notify information indicating that it has stopped (stop information). For example, the vehicle control device 11 may output the stop information as an audible signal, or it may illuminate or flash an indicator light.

[0103] Furthermore, if the driving processing unit 111 stops the work vehicle 10, which is automatically traveling along the inter-field route, at the boundary of the automatic driving permitted area AR1 (see Figure 17), the operation control unit 21 displays information (stop information) indicating that the work vehicle 10 has stopped on the operation terminal 20. The operator who has confirmed the stop information may, for example, move to the stopping position of the work vehicle 10 and switch the work vehicle 10 to manual driving mode and manually drive it to the target field F15 (see Figure 17). In another embodiment, the operator may perform an operation to change the automatic driving permitted area AR1. For example, if the work vehicle 10 stops at the boundary of the automatic driving permitted area AR1, the operator performs an operation to expand the automatic driving permitted area AR1 on the setting screen D4 (see Figure 13). The setting processing unit 211 expands the automatic driving permitted area AR1 if safety can be ensured, such as by not including a third party in the area to be expanded. This makes it possible to resume automatic driving of the stopped work vehicle 10.

[0104] Thus, once the automatic driving permitted area AR1 is set, the work vehicle 10 can automatically drive within the automatic driving permitted area AR1, and is prohibited from automatically driving outside of the automatic driving permitted area AR1. This makes it possible to safely operate the work vehicle 10 automatically within and between fields by setting the automatic driving permitted area AR1 to an area that is easy for an operator or supervisor to monitor.

[0105] The operating terminal 20 may also be able to access a website (agricultural support site) for agricultural support services provided by a server (not shown) via the communication network N1. In this case, the operating terminal 20 can function as an operating terminal for the server by having a browser program executed by the operation control unit 21. The server then comprises the processing units described above and executes each of the processes.

[0106] [Automatic driving process (Setting of permitted automatic driving area)] The following describes an example of the automated driving process performed by the automated driving system 1, with reference to Figure 18.

[0107] Furthermore, the present invention can be understood as an invention of an automatic driving method (an example of a setting method of the present invention) that executes one or more steps included in the automatic driving process. Also, the one or more steps included in the automatic driving process described herein may be omitted as appropriate. Furthermore, the execution order of each step in the automatic driving process may differ to the extent that similar effects are produced. In addition, although the case in which the operation control unit 21 and the vehicle control device 11 execute each step in the automatic driving process is described here as an example, an automatic driving method in which one or more processors distribute and execute each step in the automatic driving process can also be considered as another embodiment.

[0108] Here, we assume that multiple inter-field routes have been generated and registered on the operating terminal 20 using the route generation method described above (see Figure 8).

[0109] In step S1, the operation control unit 21 of the operation terminal 20 determines whether or not it has received an operation from the operator to select an inter-field route. If the operation control unit 21 receives an operation from the operator to select an inter-field route on the route generation screen D3 (see Figure 15) (S1: Yes), it proceeds to step S2. The operation control unit 21 waits until it receives an operation to select an inter-field route (S1: No).

[0110] In step S2, the operation control unit 21 determines whether the inter-field route selected by the operator is a route within the automatic driving permitted area AR1. If the operation control unit 21 determines that the inter-field route selected by the operator is a route within the automatic driving permitted area AR1 (S2:Yes), it proceeds to step S3. On the other hand, if the operation control unit 21 determines that the inter-field route selected by the operator is not a route within the automatic driving permitted area AR1 (S2:No), it proceeds to step S21. For example, the operation control unit 21 determines that an inter-field route is a route within the automatic driving permitted area AR1 if the entire inter-field route (the entire section from the start position to the end position) is located within the automatic driving permitted area AR1, while determining that an inter-field route is not a route within the automatic driving permitted area AR1 if at least a part of the inter-field route (at least a part of the entire section from the start position to the end position) is located outside the automatic driving permitted area AR1.

[0111] In step S21, the operation control unit 21 notifies the operator of error information. Specifically, the operation control unit 21 displays a message indicating that the inter-field route selected by the operator cannot be set. After step S21, the operation control unit 21 proceeds to step S1 to accept the operator's request to select another inter-field route.

[0112] In step S3, the operation control unit 21 sets the inter-field route selected by the operator.

[0113] Next, in step S4, the operation control unit 21 determines whether or not it has received a command to start driving from the operator. If the operation control unit 21 receives a command to start driving from the operator (S4: Yes), it proceeds to step S5. The operation control unit 21 waits until it receives a command to start driving from the operator (S4: No). For example, when the operator selects an inter-field route on the route generation screen D3 (see Figure 15) and presses the start button, the operation control unit 21 receives a command to start driving.

[0114] In step S5, the operation control unit 21 outputs route data to the work vehicle 10. Specifically, the operation control unit 21 outputs route data to the work vehicle 10 that includes the target routes (work routes) for each of the two fields selected by the operator, and the inter-field route connecting the two fields. For example, if the operator selects field F1 as the starting field, field F10 as the ending field, and selects "route R110" (see Figure 15) as the inter-field route, the operation control unit 21 outputs route data to the work vehicle 10 that includes the target route within field F1, the target route within field F10, and the inter-field route connecting field F1 and field F10 (see Figure 16).

[0115] In step S6, the vehicle control device 11 of the work vehicle 10 acquires the route data from the operation terminal 20 and executes an automatic driving process. Specifically, it starts automatic driving in response to the operator's input. As a result, the work vehicle 10 performs work while automatically driving along the target route in field F1, and when the work in field F1 is completed, it automatically drives along the road R0 to field F10 following the inter-field route (see Figure 16). When the work vehicle 10 reaches field F10, it performs work while automatically driving along the target route in field F10, and when the work in field F10 is completed, the automatic driving process ends.

[0116] As described above, the automated driving system 1 according to this embodiment sets an inter-field route for the work vehicle 10 to automatically travel on a road R0 connecting multiple fields, and sets an automated driving permitted area AR1 that allows the work vehicle 10 to automatically travel within a predetermined range including multiple fields and the road R0 for entering each of the multiple fields. For example, as shown in Figure 13, the area surrounding fields F1 to F12 and the road R0 adjacent to each field is set as the automated driving permitted area AR1. With the above configuration, multiple work vehicles 10 can move safely between fields within the automated driving permitted area AR1. In addition, an operator or supervisor can easily manage (monitor) the work vehicles 10 within the automated driving permitted area AR1.

[0117] Furthermore, by installing markers P0 at the boundary of the automated driving permitted area AR1 (see Figures 11 and 12), it is possible to prevent third parties from entering the automated driving permitted area AR1, thereby enabling the work vehicle 10 to safely operate automatically within the automated driving permitted area AR1.

[0118] Here, when the operation control unit 21 has set an automatic driving permitted area AR1, if it detects a third party (intruder) entering the automatic driving permitted area AR1, it causes the work vehicle 10 and the operation terminal 20 within the automatic driving permitted area AR1 to broadcast information indicating that an intruder has been detected.

[0119] Specifically, as shown in Figure 19, cameras are installed on road R0 that is accessible within the automated driving permitted area AR1. Here, eight cameras C1 to C8 are installed. Note that each camera may be mounted on each sign P0 (see Figure 12). The cameras are equipped with communication functions and transmit captured images to an operating terminal 20 and a work vehicle 10 located within the automated driving permitted area AR1 that can communicate with the cameras. For example, when a camera detects a moving object such as a vehicle or person (hereinafter referred to as an intruder), it photographs the moving object and transmits the captured image.

[0120] When the camera detects an intruder, the operation control unit 21 displays a message on the driving screen D5 indicating that an intruder outside the automatic driving permitted area AR1 has been detected, for example, as shown in Figure 20. For example, one or more operation terminals 20 within the automatic driving permitted area AR1 that can communicate with the camera that detected the intruder will display the message when they receive information from the camera indicating that an intruder has been detected. The operation control unit 21 also displays the image Px captured by the camera on the driving screen D5. In the example shown in Figure 19, when camera C3 detects an intruder X1, the operation control unit 21 displays the image Px captured by camera C3 on the driving screen D5 (see Figure 20). This allows the operator to be notified that an intruder is approaching the automatic driving permitted area AR1.

[0121] Furthermore, when the camera detects an intruder, the vehicle control device 11 may output a voice message from the work vehicle 10 indicating that an intruder has been detected, or it may light up or flash an indicator light.

[0122] Furthermore, the vehicle control device 11 may stop the automatic driving of each work vehicle 10 located in the automatic driving permitted area AR1 when the camera detects an intruder. For example, one or more work vehicles 10 in the automatic driving permitted area AR1 that can communicate with the camera that has detected an intruder will stop their automatic driving when they receive information from the camera indicating that an intruder has been detected.

[0123] Furthermore, if the camera detects an intruder, the operation control unit 21 may display a message on the driving screen D5, as shown in Figure 20, indicating that the automatic driving of the work vehicle 10 will be stopped. In addition, the operation control unit 21 may display a switch button on the driving screen D5 that accepts the operation to switch the work vehicle 10 to manual driving mode. When the operator presses the switch button on the driving screen D5, the vehicle control device 11 switches the driving mode of the work vehicle 10 from automatic driving mode to manual driving mode. This makes it possible for the operator to board the work vehicle 10 and drive it manually.

[0124] In the above configuration, when the camera detects an intruder, the vehicle control device 11 stops all work vehicles 10 that are automatically driving within the automatic driving permitted area AR1. However, in another embodiment, the vehicle control device 11 may control the movement of each work vehicle 10 within the automatic driving permitted area AR1 based on at least one of the position of the work vehicle 10 and the work being performed.

[0125] For example, as shown in Figure 19, when camera C3 detects an intruder X1, the work vehicle 10 that is automatically driving in field F6 is in a position close to the intruder X1, so the work vehicle 10 stops automatically driving. In contrast, the work vehicle 10 that is automatically driving in field F1 is in a position far from the intruder X1, so the work vehicle 10 continues automatically driving. Also, the work vehicle 10 that is automatically driving in field F4 is further from the intruder X1 than the work vehicle 10 in field F6, and closer to the intruder X1 than the work vehicle 10 in field F1, so the work vehicle 10 continues automatically driving at a reduced speed. Furthermore, the work vehicle 10 that is automatically driving along an inter-field route within the permitted automatic driving area AR1 will continue automatically driving at a reduced speed (or stop). In this way, the driving processing unit 111 may control the driving of the work vehicle 10 according to its position when the camera detects an intruder.

[0126] Furthermore, for example, if the work vehicle 10 in field F6 is performing work at a low speed, the work vehicle 10 will continue to drive automatically, and if the work vehicle 10 is performing work at a high speed, the work vehicle 10 will slow down its speed and continue to drive automatically (or stop). In this way, the driving processing unit 111 may control the driving of the work vehicle 10 according to the work being performed when the camera detects an intruder.

[0127] Furthermore, the vehicle control device 11 may enhance the safety features of the work vehicle 10 when the camera detects an intruder. For example, when the camera detects an intruder, the vehicle control device 11 may set the sensitivity level of the obstacle sensor to a higher level. This allows for the rapid detection of an intruder X1 that has entered the automated driving permitted area AR1.

[0128] Furthermore, the vehicle control device 11 may change the inter-field route set for the work vehicle 10 when the camera detects an intruder. For example, when the work vehicle 10 in field F4 is moving to field F12, if the camera detects an intruder, the vehicle control device 11 will automatically drive the work vehicle 10 according to a detour route which is a modified inter-field route between field F4 and field F12. For example, the vehicle control device 11 may set a detour route that passes through road R0 away from the intruder X1 that has entered the automatic driving permitted area AR1.

[0129] [Automatic driving process (driving control process)] The following describes a specific example of the automated driving process (step S6 in Figure 18) performed by the automated driving system 1, with reference to Figure 21. Here, we will take the example of a case where an automated driving permitted area AR1 is set and cameras C1 to C8 monitor intruders, as shown in Figure 19.

[0130] In step S11, the vehicle control device 11 of each work vehicle 10 within the permitted automatic driving area AR1 initiates automatic driving. Each work vehicle 10 automatically drives within the field according to the target route. In addition, each work vehicle 10 automatically drives along the road R0 according to the route between fields.

[0131] In step S12, the vehicle control device 11 determines whether or not it has detected an intruder. Specifically, if the vehicle control device 11 obtains information from at least one of the cameras C1 to C8 indicating that an intruder has been detected, it determines that an intruder has been detected (S12: Yes) and proceeds to step S13. On the other hand, if the vehicle control device 11 does not obtain information from any of the cameras C1 to C8 indicating that an intruder has been detected, it determines that an intruder has not been detected (S12: No) and proceeds to step S15.

[0132] In step S13, the operation control unit 21 of the operation terminal 20 notifies the operator that an intruder has been detected. For example, as shown in Figure 20, the operation control unit 21 displays a message on the driving screen D5 indicating that the camera C3 has detected an intruder X1.

[0133] Next, in step S14, the vehicle control device 11 controls the movement of the work vehicles 10. For example, the vehicle control device 11 of each work vehicle 10 stops automatic driving. In another embodiment, the vehicle control device 11 of each work vehicle 10 continues, stops, or slows down automatic driving depending on the location of the intruder or the work being performed by the work vehicle 10. The vehicle control device 11 may also change the route between fields.

[0134] Next, in step S15, the vehicle control device 11 determines whether the automatic driving of the work vehicle 10 has finished. When the work vehicle 10 has finished the intended work in the field, the vehicle control device 11 terminates the automatic driving (S15: Yes). The vehicle control device 11 and the operation control unit 21 repeat the processing in steps S12 to S14 until the work vehicle 10 has finished the automatic driving (S15: No).

[0135] As described above, when the automated driving area AR1 is set, the automated driving system 1 monitors for intruders entering the automated driving area AR1 and controls the movement of the work vehicle 10 within the automated driving area AR1 if an intruder is detected. This makes it possible to safely operate the work vehicle 10 automatically within the automated driving area AR1.

[0136] The present invention is not limited to the embodiments described above, and may also be subject to the following embodiments.

[0137] In another embodiment, the automatic driving system 1 may set exclusion zones within the automatic driving permitted area AR1 where automatic driving of the work vehicle 10 is prohibited. For example, if there is an obstacle or the road surface is in poor condition on road R0 within the automatic driving permitted area AR1, the operation control unit 21 sets it as an exclusion zone where automatic driving is prohibited. When the operation control unit 21 sets an exclusion zone, it sets an inter-field route to avoid the exclusion zone. For example, the operation control unit 21 generates an inter-field route that does not pass through the exclusion zone. Also, if an exclusion zone is set after an inter-field route has been registered, the operation control unit 21 may change the inter-field route to a route that avoids the exclusion zone. Furthermore, if multiple inter-field routes connecting fields F1 and F10 are registered, the operation control unit 21 may display or suggest to the operator an inter-field route that does not include the exclusion zone for selection. The excluded sections may be set by the operator registering them on a map in advance, or they may be set automatically based on the detection results of obstacle sensors or the like of the autonomously driving work vehicle 10.

[0138] In the above-described embodiment, multiple work vehicles 10 and multiple operation terminals 20 are configured to communicate with each other. However, in another embodiment, for example as shown in Figure 22, a server 30 (e.g., a cloud server) may centrally control the multiple work vehicles 10 and the multiple operation terminals 20 that can communicate with each work vehicle 10. For example, the server 30 acquires location information from each sign P0 to set an automated driving permitted area AR1, and controls the driving of each work vehicle 10 and the display of each operation terminal 20 within the automated driving permitted area AR1. The server 30 also monitors intruders entering the automated driving permitted area AR1, acquires intruder detection results from each camera, and controls the driving of each work vehicle 10 and the display of each operation terminal 20 within the automated driving permitted area AR1.

[0139] As described above, in the above embodiment, the operation terminal 20 corresponds to the setting system according to the present invention, but the setting system according to the present invention may consist of the work vehicle 10 alone, or the server 30 alone. Furthermore, the setting system according to the present invention may consist of the work vehicle 10 and the operation terminal 20, or it may consist of the work vehicle 10, the operation terminal 20, and the server 30. Furthermore, the automatic driving system 1 may consist of the work vehicle 10 alone, or the server 30 alone.

[0140] [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.

[0141] <Note 1> Setting up inter-area routes for automatically driving work vehicles on connecting paths that link multiple work areas, A predetermined range including the plurality of work areas and the connecting paths for entering each of the plurality of work areas is set as an automatic driving permitted area where the automatic driving of the work vehicle is permitted. How to configure it to run.

[0142] <Note 2> In the map information, the range selected by the user is set as the permitted area for automatic driving. The setup method is described in Appendix 1.

[0143] <Note 3> The range identified based on the location information of each of the multiple communication devices installed in the aforementioned connection path is set as the automatic driving permission area. The setup method is described in Appendix 1.

[0144] <Note 4> The aforementioned communication device includes a display unit that displays information indicating that entry into the permitted area for automatic driving is prohibited. The setup method is described in Appendix 3.

[0145] <Note 5> On the user's operating terminal, the map information is displayed in a way that allows for the identification of both the automatically driving permitted area and the route between the areas. The setting method is described in one of the appendices 1 to 4.

[0146] <Note 6> On the user's operating terminal, the system displays a selection of pre-configured inter-area routes, specifically those located within the automated driving permitted area. The setting method according to any one of claims 1 to 5.

[0147] <Note 7> In the automatic driving permitted area set by any of the setting methods described in Appendix 1 to 6, the work vehicle is to be driven automatically according to the route between the areas. An automated driving method that performs this task.

[0148] <Note 8> When the work vehicle reaches the boundary of the permitted automatic driving area, the automatic driving of the work vehicle is stopped. The automatic driving method described in Appendix 7.

[0149] <Note 9> When an intruder is detected entering the automated driving permitted area, the work vehicle and the user's operating terminal within the automated driving permitted area will be instructed to notify the system that an intruder has been detected. The automatic driving method described in Appendix 7 or 8.

[0150] <Note 10> When an intruder is detected entering the automated driving permitted area, the movement of the work vehicle within the automated driving permitted area is controlled based on at least one of the work vehicle's position and the work being performed. The automatic driving method described in any of the appendices 7 to 9.

[0151] <Note 11> When an intruder is detected entering the aforementioned permitted automated driving area, the route between the areas set for the work vehicle is changed. The automatic driving method described in any of the appendices 7 to 10. [Explanation of Symbols]

[0152] 1: Automated driving system 10: Work vehicles 11: Vehicle control system 14: Work Machines 20: Operating terminal 21: Operation Control Unit 30: Server 111: Driving section 211: Configuration Processing Unit 212: Reception Processing Unit 213: Acquisition Processing Unit 214: Generation Processing Unit 215: Output Processing Unit AR1: Automated driving permitted area C1~C8: Camera D1: Menu screen D2: Teaching operation screen D3: Route generation screen D4: Settings screen D5: Driving screen E1: Inter-field route information table F1~F18: Field (working area) P0:Sign (communication equipment) P1: Blockade point Pa: Transmitter Pb:Display part Px: Captured image R0: Road (connecting road) R12: Inter-field routes (inter-area routes) X1: Intruder

Claims

1. Setting up inter-area routes for automatically driving work vehicles on connecting roads that link multiple fields, The operation terminal acquires location information for multiple locations arbitrarily selected by the user on a map displayed on the terminal, or the user acquires location information for each of the multiple communication devices installed at any location in the connection path from the multiple communication devices. A predetermined area including the plurality of fields and the connecting roads for entering each of the plurality of fields, enclosed by a plurality of locations corresponding to the plurality of acquired location information, is set as an automatic driving permitted area where the automatic driving of the work vehicle is permitted, and automatic driving of the work vehicle is prohibited outside the automatic driving permitted area. A configuration method for one or more processors to execute.

2. Setting up inter-area routes for automatically driving work vehicles on connecting paths that link multiple work areas, The user obtains location information from the multiple communication devices at any location on the connection path, A predetermined range including the plurality of work areas and the connecting paths for entering each of the plurality of work areas, enclosed by a plurality of locations corresponding to the plurality of acquired location information, is set as an automatic driving permitted area where the automatic driving of the work vehicle is permitted, and automatic driving of the work vehicle is prohibited outside the automatic driving permitted area. A configuration method for one or more processors to execute.

3. The aforementioned communication device includes a display unit that displays information indicating that entry into the permitted area for automatic driving is prohibited. The setting method according to claim 1 or 2.

4. The map displayed on the operating terminal is configured to allow for the identification of the automated driving permitted area and the inter-area route set within the automated driving permitted area. The setting method according to claim 1 or 2.

5. An operating terminal that allows setting a route between areas located within the automatic driving permitted area from among a plurality of pre-set routes between areas, The setting method according to claim 1 or 2.

6. An automatic driving method that performs the following: causing the work vehicle to automatically drive in the automatic driving permitted area set by the setting method described in claim 1 or 2, according to the inter-area route.

7. When the work vehicle reaches the boundary of the permitted automatic driving area, the automatic driving of the work vehicle is stopped. The automatic driving method according to claim 6.

8. When an intruder is detected entering the automated driving permitted area, the work vehicle and operating terminal within the automated driving permitted area will be instructed to broadcast information indicating that an intruder has been detected. The automatic driving method according to claim 6.

9. When an intruder is detected entering the automated driving permitted area, the movement of the work vehicle within the automated driving permitted area is controlled based on at least one of the work vehicle's position and the work being performed. The automatic driving method according to claim 6.

10. When an intruder is detected entering the aforementioned permitted automated driving area, the route between the areas set for the work vehicle is changed. The automatic driving method according to claim 6.

11. By setting up inter-area routes for automatically driving work vehicles on connecting roads that link multiple fields, Location information of multiple locations arbitrarily selected by the user on a map displayed on the operating terminal is obtained from the operating terminal, or location information of each of the multiple communication devices installed at any location in the connection path by the user is obtained from the multiple communication devices. A setting system that sets a predetermined area including the plurality of fields and the connecting roads for entering each of the plurality of fields, and which is enclosed by a plurality of locations corresponding to the plurality of acquired location information, as an automatic driving permitted area where the work vehicle is permitted to drive automatically, and prohibits the automatic driving of the work vehicle outside the automatic driving permitted area.

12. Setting up inter-area routes for automatically driving work vehicles on connecting roads that link multiple fields, The operation terminal acquires location information for multiple locations arbitrarily selected by the user on a map displayed on the terminal, or the user acquires location information for each of the multiple communication devices installed at any location in the connection path from the multiple communication devices. A predetermined area including the plurality of fields and the connecting roads for entering each of the plurality of fields, enclosed by a plurality of locations corresponding to the plurality of acquired location information, is set as an automatic driving permitted area where the automatic driving of the work vehicle is permitted, and automatic driving of the work vehicle is prohibited outside the automatic driving permitted area. A configuration program for running on one or more processors.

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