JP2023122137A - Farm field registration method, automated travelling method, farm field registration system, and farm field registration program - Google Patents

Abstract

To provide a farm field registration method capable of registering a farm field by distinguishing between a work area and a non-work area, an automated travelling method, a farm field registration system, and a farm field registration program.SOLUTION: An acquisition processing part 213 acquires position information on a work vehicle 10 travelling in a predetermined area according to a travelling operation by an operator. A determination processing part 214 determines presence or absence of a change in a vehicle body of a work vehicle 10. A specification processing part 215 specifies a work area F1 and a non-work area F2 included in the predetermined area on the basis of the position information and a determination result on the presence or absence of a change in the vehicle body. A setting processing part 211 registers a farm field F including the work area F1 and the non-work area F2.SELECTED DRAWING: Figure 4

Description

The present invention relates to an agricultural field registration method for registering an agricultural field.

2. Description of the Related Art In recent years, due to advances in automation technology for agricultural machinery, work vehicles that perform work while automatically traveling in fields have been introduced. In order to realize the automatic traveling of the working vehicle in the field, it is necessary to recognize and register the shape of the field in advance. Conventionally, there is known a technique of recognizing and registering the shape of a field by running a work vehicle equipped with a positioning device that acquires position information along the outer circumference of the field (see, for example, Patent Document 1).

JP-A-10-66405

By the way, a farm field may include a work area in which a work vehicle works while traveling and a non-work area in which the work vehicle only travels and does not work. A target route for automatically traveling the work vehicle is set in the work area. On the other hand, since the non-work area is an area used for the work vehicle to turn, park and stop, for example, the target route is not set in the non-work area.

In the conventional technology, since the entire farm field is registered as one area, it is not possible to register the farm field by distinguishing between the work area and the non-work area. Therefore, when the work area and the non-work area are included in the farm field, the user must individually set the range of the work area when setting the target route in the work area. , It takes time and effort to set up the field.

An object of the present invention is to provide an agricultural field registration method, an automatic traveling method, an agricultural field registration system, and an agricultural field registration program capable of registering agricultural fields while distinguishing between working areas and non-working areas.

An agricultural field registration method according to the present invention includes acquiring position information of a work vehicle traveling in a predetermined area in accordance with a user's travel operation, determining whether or not there is a change in the vehicle body of the work vehicle, and obtaining position information of the work vehicle. and a determination result of whether or not there is a change in the vehicle body, specifying a work area and a non-work area included in the predetermined area, and registering an agricultural field including the work area and the non-work area. and run

An automatic traveling method according to the present invention is a method for automatically traveling a working vehicle having a working machine in a field registered by the field registration method. The automatic traveling method includes setting the work machine to a work posture for executing a predetermined work when the work machine is positioned in the work area, and and setting the working machine to a non-working posture in which a predetermined work is not executed.

An agricultural field registration system according to the present invention includes an acquisition processing unit, a determination processing unit, a specific processing unit, and a registration processing unit. The acquisition processing unit acquires position information of a work vehicle that travels in a predetermined area according to a user's travel operation. The determination processing unit determines whether or not there is a change in the vehicle body of the work vehicle. The identification processing unit identifies a work area and a non-work area included in the predetermined area based on the position information and the determination result of the presence or absence of the vehicle body change. The registration processing unit registers an agricultural field including the work area and the non-work area.

An agricultural field registration program according to the present invention acquires position information of a work vehicle traveling in a predetermined area in response to a user's travel operation, determines whether or not there is a change in the vehicle body of the work vehicle, and obtains the position information. and a determination result of whether or not there is a change in the vehicle body, specifying a work area and a non-work area included in the predetermined area, and registering an agricultural field including the work area and the non-work area. and are executed by one or more processors.

According to the present invention, it is possible to provide an agricultural field registration method, an automatic traveling method, an agricultural field registration system, and an agricultural field registration program capable of registering an agricultural field while distinguishing between working areas and non-working areas.

FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the invention. FIG. 2 is an external view showing an example of the work vehicle according to the embodiment of the invention. FIG. 3 is a diagram showing an example of a farm field and a target route according to the embodiment of the present invention. FIG. 4 is a diagram showing an example of a farm field and a target route according to the embodiment of the present invention. FIG. 5 is a diagram showing an example of a farm field and a target route according to the embodiment of the present invention. FIG. 6A is a diagram showing an example of a traveling method of the work vehicle according to the embodiment of the present invention. FIG. 6B is a diagram showing an example of the traveling method of the work vehicle according to the embodiment of the present invention. FIG. 6C is a diagram showing an example of a traveling method of the work vehicle according to the embodiment of the present invention. FIG. 6D is a diagram showing an example of a traveling method of the work vehicle according to the embodiment of the present invention. FIG. 6E is a diagram showing an example of a traveling method of the work vehicle according to the embodiment of the present invention. FIG. 6F is a diagram showing an example of a traveling method of the work vehicle according to the embodiment of the present invention. FIG. 7 is a diagram showing an example of the turning method of the work vehicle according to the embodiment of the present invention. FIG. 8 is a diagram showing an example of a menu screen displayed on the operating terminal according to the embodiment of the present invention. FIG. 9 is a diagram showing an example of an agricultural field registration screen displayed on the operating terminal according to the embodiment of the present invention. FIG. 10 is a diagram showing an example of teaching travel of the work vehicle according to the embodiment of the present invention. FIG. 11 is a diagram showing an example of field measurement information stored in the operating terminal according to the embodiment of the present invention. FIG. 12 is a diagram showing an example of an agricultural field registration screen displayed on the operating terminal according to the embodiment of the present invention. FIG. 13 is a flow chart showing an example of the procedure of agricultural field registration processing executed by the automatic traveling system according to the embodiment of the present invention.

The following embodiments are specific examples of the present invention, and do not limit the technical scope of the present invention.

As shown in FIG. 1, an automatic traveling system 1 according to an embodiment of the present invention includes a working vehicle 10 and an operating terminal 20. As shown in FIG. The work vehicle 10 and the operation terminal 20 can communicate via the communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone network, a packet network, or a wireless LAN.

In this embodiment, a case where the work vehicle 10 is a tractor will be described as an example. Note that, as another embodiment, the work vehicle 10 may be a rice transplanter, a combine harvester, a construction machine, a snowplow, or the like. The work vehicle 10 is a so-called robot tractor having a configuration capable of automatically traveling (autonomously traveling) within a pre-registered agricultural field. For example, the operator registers a target field and sets a target route along which the work vehicle 10 automatically travels to the field. The work vehicle 10 automatically travels along a target route preset for the field based on the position information of the current position of the work vehicle 10 calculated by the positioning device 16 . In addition, the work vehicle 10 can perform predetermined work while automatically traveling in the field.

Here, an agricultural field may include a work area in which work is performed while the work vehicle 10 travels, and a non-work area in which the work vehicle 10 only travels and does not work. The automatic traveling system 1 according to the present embodiment is used when the work vehicle 10 travels in a field including the work area and not including the non-work area (first case), and when the work vehicle 10 travels in the work area and the non-work area. Different processing is performed in the case of traveling in a field including a work area (second case).

FIG. 3 shows an example of a traveling method when the work vehicle 10 travels in the farm field F corresponding to the first case. For example, the farm field F corresponding to the first case is entirely flat.

First, the operator gets on the work vehicle 10 and travels (manually travels) the outer periphery of the area to be registered. The automatic traveling system 1 recognizes and registers the shape of the field F by acquiring position information while the work vehicle 10 is traveling on the outer circumference. FIG. 3 shows the registered agricultural field F. As shown in FIG. Next, the automatic driving system 1 includes a straight path r1 on which the work vehicle 10 reciprocates in the lateral direction in the inner area Fa, a turning path r2 on which the work vehicle 10 turns in the headland area Fb, and a turning path r2 in the headland area Fb. A target route including a circular route r3 along which the work vehicle 10 is to be driven is generated. The turning path r2 includes a forward path (straight path and turning path) traveling in the forward direction and a reverse path traveling in the backward direction. The work vehicle 10 performs a predetermined work while automatically traveling from a work start position S to a work end position G along a target route. The work vehicle 10 may perform a predetermined work while traveling (manually traveling) only on the outermost periphery of the field F according to the operator's manual operation.

FIG. 4 shows an example of a traveling method when the working vehicle 10 travels in the farm field F corresponding to the second case. For example, as shown in FIG. 5, the farm field F corresponding to the second case is composed of an inner flat land (work area F1) and a laterally outer non-work area F2. The non-work area F2 includes a high ground F2b higher than the work area F1 and a slope F2a that slopes downward from the high ground F2b toward the work area F1. The highland F2b may be, for example, a farm road, a facility site, a cultivation road, or the like, or may have an irrigation pipe, a drainage pipe, or the like buried underground.

First, the operator gets on the work vehicle 10 and travels (manually travels) the outer periphery of the area to be registered. The automatic traveling system 1 recognizes and registers the shape of the field F by acquiring position information while the work vehicle 10 is traveling on the outer circumference. Further, the automatic driving system 1 distinguishes and registers the work area F1 and the non-work area F2 based on changes in the vehicle body when traveling on the outer circumference. FIG. 4 shows the registered farm field F. As shown in FIG. Next, the automatic driving system 1 includes a straight route R1 for reciprocating the work vehicle 10 in the left-right direction in the inner area F1a (an example of the first work area of the present invention) included in the work area F1, and a non-work area F2. A target route including a turning route R2 for turning the work vehicle 10 is generated. A headland region F1b (an example of a second work region of the present invention) included in the work region F1 is a region between the inner region F1a and the boundary of the field F. The turning route R2 is composed only of a forward route traveling in the forward direction. The work vehicle 10 performs a predetermined work while automatically traveling from the work start position S to the work end position G along the target route in the inner area F1a. Further, the work vehicle 10 performs a predetermined work while traveling (manual traveling) in accordance with the operator's manual operation in the headland region F1b. The headland area F1b is set in a direction (for example, orthogonal direction) crossing the longitudinal direction of the non-working area F2. Moreover, in the farm field F shown in FIG. 4, the headland region F1b is set in the longitudinal direction of the farm field F.

In addition, in the farm field F shown in FIG. 4, the headland area|region F1b may be abbreviate|omitted. In this case, the work vehicle 10 performs a predetermined work while automatically traveling along the target route in the entire work area F1. Thus, in the second case, the work vehicle 10 works only in the working area F1 in the field F, and does not work in the non-working area F2 in the field F. The non-work area F2 is used as an area for movement of the work vehicle 10 (turning travel, straight travel, etc.).

By the way, in the conventional technique, since the entire farm field F is registered as one area, the farm field F cannot be registered by distinguishing between the work area F1 and the non-work area F2. Therefore, in the case of the second case (see FIGS. 4 and 5), when setting the target route in the work area F1, the operator must set the range of the work area F1 individually. It takes time and effort to set F. On the other hand, the automatic driving system 1 according to the present embodiment can register the farm field F by distinguishing between the work area F1 and the non-work area F2, as described below.

A specific configuration for registering the farm field F by distinguishing between the work area F1 and the non-work area F2 will be described below.

[Work vehicle 10]
As shown in FIGS. 1 and 2, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a travel device 13, a working machine 14, a communication unit 15, a positioning device 16, an attitude angle detection unit 17, and the like. The vehicle control device 11 is electrically connected to the storage unit 12, the travel device 13, the work machine 14, the positioning device 16, the attitude angle detection unit 17, and the like. Note that the vehicle control device 11 and the positioning device 16 may be capable of wireless communication.

The communication unit 15 connects the work vehicle 10 to the communication network N1 by wire or wirelessly, and executes data communication according to a predetermined communication protocol with an external device such as the operation terminal 20 via the communication network N1. communication interface. The work vehicle 10 can wirelessly communicate with the operation terminal 20 via the communication unit 15 .

The posture angle detection unit 17 detects the posture angle of the vehicle body of the work vehicle 10 . For example, the posture angle detection unit 17 is configured by an acceleration sensor, and measures the tilt angle (pitch angle) of the vehicle body of the work vehicle 10 in the front-rear direction. The attitude angle detection unit 17 measures the attitude angle at a predetermined cycle and transmits the measurement result (attitude angle information) to the operation terminal 20 . As another embodiment, the posture angle detection unit 17 may transmit the posture angle information to the operation terminal 20 when the posture angle is equal to or greater than a predetermined angle (threshold value).

The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores a control program such as an automatic driving program for causing the vehicle control device 11 to execute automatic driving processing. For example, the automatic running program is non-temporarily recorded in a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 12. stored in Note that the automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12 . Further, route data of a target route generated in the operation terminal 20 may be stored in the storage unit 12 .

The traveling device 13 is a drive unit that causes the work vehicle 10 to travel. As shown in FIG. 2, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a steering wheel 137, and the like. The front wheels 132 and the rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. Further, the traveling device 13 is not limited to the wheel type having the front wheels 132 and the rear wheels 133 , and may be a crawler type having crawlers provided on the left and right sides of the work vehicle 10 .

The engine 131 is a driving source such as a diesel engine or a gasoline engine that is driven using fuel replenished in a fuel tank (not shown). The traveling device 13 may be provided with an electric motor as a drive source together with the engine 131 or instead of the engine 131 . A generator (not shown) is connected to the engine 131 , and electric power is supplied from the generator to electric components such as the vehicle control device 11 provided in the work vehicle 10 , a battery, and the like. The battery is charged with power supplied from the generator. Electric parts such as the vehicle control device 11 and the positioning device 16 provided in the work vehicle 10 can be driven by the electric power supplied from the battery even after the engine 131 is stopped.

The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135 and to the rear wheels 133 via the transmission 134 and the rear axle 136 . The driving force of the engine 131 is also transmitted to the work implement 14 via a PTO shaft (not shown). When the work vehicle 10 automatically travels, the travel device 13 performs a travel operation according to a command from the vehicle control device 11 .

The working machine 14 is, for example, a cultivator, a mower, a plow, a fertilizing machine, a sowing machine, a spreader, etc., and is attachable to and detachable from the working vehicle 10 . As a result, the work vehicle 10 can perform various types of work using each of the work implements 14 . FIG. 2 shows a case where the working machine 14 is a tiller.

The work machine 14 may be liftably supported in the work vehicle 10 by an elevating mechanism (not shown). The vehicle control device 11 can control the elevating mechanism to elevate the work implement 14 . For example, the vehicle control device 11 lowers the work implement 14 when the work vehicle 10 travels (straight ahead) in the work area F1 (see FIG. 4) of the farm field F, and the work vehicle 10 moves to the non-work area F2 of the farm field F. (See FIG. 4), the work implement 14 is raised when traveling (turning traveling). Further, the vehicle control device 11 outputs a work stop command to the work implement 14 when receiving a work stop command. For example, the vehicle control device 11 acquires the stop instruction from the operation terminal 20 when the operator performs a stop instruction operation on the operation terminal 20 . When the vehicle control device 11 acquires the work stop instruction, the vehicle control device 11 stops driving the PTO shaft to stop the work of the work implement 14 .

The handle 137 is an operation unit operated by an 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 traveling direction of the work vehicle 10 . When the operator performs a teaching operation (details of which will be described later) when registering the field F, the operator operates the handle 137 to manually run the work vehicle 10 .

In addition to the steering wheel 137 , the travel device 13 includes a shift lever, an accelerator, a brake, and the like (not shown) operated by the vehicle control device 11 . In the travel device 13, the gear of the transmission 134 is switched to a forward gear or a reverse gear in accordance with the operation of the shift lever by the vehicle control device 11, and the travel mode of the work vehicle 10 is switched to forward or reverse. . Further, the vehicle control device 11 controls the rotation speed of the engine 131 by operating the accelerator. Further, the vehicle control device 11 operates the brakes to brake the rotation of the front wheels 132 and the rear wheels 133 using electromagnetic brakes.

The positioning device 16 is a communication device including a positioning control unit 161, a storage unit 162, a communication unit 163, a positioning antenna 164, and the like. For example, as shown in FIG. 2, the positioning device 16 is provided above a cabin 138 in which an operator boards. Also, the installation location of the positioning device 16 is not limited to the cabin 138 . Furthermore, the positioning control unit 161 , the storage unit 162 , the communication unit 163 , and the positioning antenna 164 of the positioning device 16 may be distributed and arranged at different positions in the work vehicle 10 . The battery is connected to the positioning device 16 as described above, and the positioning device 16 can operate even when the engine 131 is stopped. Also, as the positioning device 16, for example, a mobile phone terminal, a smart phone, a tablet terminal, or the like may be substituted.

The positioning control unit 161 is a computer system that includes one or more processors and storage memory such as nonvolatile memory and RAM. The storage unit 162 is a non-volatile memory or the like 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 in a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 162. be done. Note that the program may be downloaded from a server (not shown) to the positioning device 16 via the communication network N1 and stored in the storage unit 162 .

The communication unit 163 connects the positioning device 16 to the communication network N1 by wire or wirelessly, and performs data communication according to a predetermined communication protocol with an external device such as a base station (not shown) via the communication network N1. It is a communication interface for execution.

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

The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received by the positioning antenna 164 from satellites. For example, when the work vehicle 10 automatically travels in the field F, when the positioning antenna 164 receives radio waves (transmitting time, orbit information, etc.) transmitted from each of a plurality of satellites, the positioning control unit 161 performs positioning The distance between the antenna 164 and each satellite is calculated, and the current position (latitude and longitude) of the work vehicle 10 is calculated based on the calculated distance. In addition, the positioning control unit 161 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, a real-time kinematic method (RTK-GPS positioning method (RTK method)). )) may be used for positioning. In this manner, the work vehicle 10 automatically travels using positioning information based on the RTK method. The current position of work vehicle 10 may be the same as the positioning position (for example, the position of positioning antenna 164), or may be shifted from the positioning position.

The vehicle control device 11 has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various kinds of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as BIOS and OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or nonvolatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by causing the CPU to execute various control programs pre-stored in the ROM or the storage unit 12 .

The vehicle control device 11 controls the operation of the work vehicle 10 according to various user operations on the work vehicle 10 . In addition, the vehicle control device 11 executes automatic travel processing of the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a preset target route.

As shown in FIG. 1 , the vehicle control device 11 includes various processing units such as a travel processing unit 111 . The vehicle control device 11 functions as the various processing units by executing various types of processing according to the automatic driving program with the CPU. Also, part or all of the processing unit may be configured by an electronic circuit. In addition, the automatic driving program may be a program for causing a plurality of processors to function as the processing unit.

The travel processing unit 111 controls travel of the work vehicle 10 . Specifically, the traveling processing unit 111 causes the work vehicle 10 to start automatically traveling when receiving a traveling start instruction from the operation terminal 20 . For example, when the operator presses a start button on the operation screen of the operation terminal 20 , the operation terminal 20 outputs a travel start instruction to the work vehicle 10 . The traveling processing unit 111 causes the work vehicle 10 to automatically start traveling when receiving a traveling start instruction from the operation terminal 20 . As a result, the work vehicle 10 automatically starts traveling along the target route (see FIGS. 3 and 4) in the field F, for example, and the work implement 14 starts working. Note that the target route along which the work vehicle 10 automatically travels is generated by the operation terminal 20, for example. The work vehicle 10 acquires route data corresponding to the target route from the operation terminal 20 and automatically travels along the target route.

Note that the target route set for the farm field F shown in FIG. 4 includes a straight route R1 and a turning route R2. The work vehicle 10 automatically travels in the inner area F1a of the work area F1 and the non-work area F2 according to the straight path R1 and the turning path R2, and manually travels the straight path R3 in the headland area F1b of the work area F1 according to the operation of the operator. . As another embodiment, the headland region F1b may be omitted, and the inner region F1a may extend to the vertical end (boundary) of the field F shown in FIG. In this case, the work vehicle 10 automatically travels along the straight route R1 to the end (boundary) of the field F in the vertical direction.

In addition, the travel processing unit 111 stops the automatic travel of the work vehicle 10 when a travel stop instruction is received from the operation terminal 20 . For example, when the operator presses a stop button on the operation screen of the operation terminal 20 , the operation terminal 20 outputs a travel stop instruction to the work vehicle 10 .

Further, the travel processing unit 111 stops the automatic travel of the work vehicle 10 when the work vehicle 10 detects an obstacle. For example, when an obstacle detection device (not shown) mounted on the work vehicle 10 detects an obstacle within a range of 3 m to 8 m in front of the work vehicle 10, the travel processing unit 111 causes the work vehicle 10 to travel at a reduced speed. . Further, when the obstacle detection device detects an obstacle within a range of up to 3 m ahead of the work vehicle 10 , the travel processing unit 111 stops the work vehicle 10 .

Here, an example of a specific traveling method when the work vehicle 10 travels in the field F shown in FIG. 4 will be described with reference to FIGS. 6 and 7. FIG.

For example, when the work vehicle 10 starts traveling at the work start position S shown in FIG. 4, the work vehicle 10 performs plowing work by the work implement 14 while traveling straight to the right on the straight path R1 (see FIG. 6A). Next, when the work vehicle 10 reaches the boundary between the work area F1 and the non-work area F2, it travels uphill on the slope F2a while performing plowing work (see FIG. 6B). Next, when the position of the work implement 14 reaches the boundary between the work area F1 and the non-work area F2, the work vehicle 10 raises the work implement 14 and travels around the turning route R2 while climbing the slope F2a ( 6C and 7). Next, when the work vehicle 10 climbs onto the high ground F2b from the slope F2a, it continues to turn along the turning route R2 at the high ground F2b (see FIGS. 6D and 7). When the work vehicle 10 turns 180 degrees at the high ground F2b (see FIG. 7), the work vehicle 10 descends the slope F2a and travels around the turning route R2 (see FIGS. 6E and 7). Next, the work vehicle 10 moves from the non-work area F2 to the work area F1, and when the work implement 14 reaches the boundary between the work area F1 and the non-work area F2, the work implement 14 is lowered to the straight path R1. The plowing work is performed by the working machine 14 while going straight to the left (see FIG. 6F and FIG. 7).

As described above, the work vehicle 10 repeatedly travels along the straight path R1 and the turning path R2 in the work area F1 and the non-work area F2 (see FIG. 4).

[Operation terminal 20]
As shown in FIG. 1, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, a communication unit 24, and the like. The operation terminal 20 may be configured by a portable terminal such as a tablet terminal or a smartphone.

The communication unit 24 connects the operation terminal 20 to the communication network N1 by wire or wirelessly, and performs data communication according to a predetermined communication protocol with one or more external devices such as the work vehicle 10 via the communication network N1. It is a communication interface for executing

The operation display unit 23 is a user interface that includes 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 receives operations. The operator can operate the operation unit on the operation screen displayed on the display unit to register various types of information (working vehicle information, field information, work information, etc., which will be described later). For example, the operator performs an operation of registering the farm field F to be worked on on the operation unit.

Further, the operator can operate the operation unit to issue a travel start instruction, a travel stop instruction, and the like to the work vehicle 10 . Further, the operator can grasp the traveling state of the working vehicle 10 automatically traveling along the target route in the field F from the traveling locus displayed on the operation terminal 20 at a place away from the working vehicle 10 .

The storage unit 22 is a nonvolatile storage unit such as an HDD or SSD that stores various information. The storage unit 22 stores a control program such as an agricultural field registration program for causing the operation control unit 21 to execute an agricultural field registration process (see FIG. 13), which will be described later. For example, the agricultural field registration program is non-temporarily recorded in a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, read by a predetermined reading device (not shown), and stored in the storage unit 22. stored in The agricultural field registration program may be downloaded from a server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22 .

A dedicated application for automatically running the work vehicle 10 is installed in the storage unit 22 . The operation control unit 21 activates the dedicated application, performs processing for setting various types of information about the work vehicle 10, processing for generating a target route for the work vehicle 10, instructions for automatically traveling the work vehicle 10, and the like.

The storage unit 22 also stores data such as work vehicle information, which is information about the work vehicle 10, and target route information, which is information about the target route. The work vehicle information includes information such as a vehicle number and model for each work vehicle 10 . The vehicle number is 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 related to one work vehicle 10 or may store the work vehicle information related to a plurality of work vehicles 10 . For example, when a specific operator owns a plurality of work vehicles 10 , the work vehicle information regarding each work vehicle 10 is stored in the storage unit 22 .

The target route information includes information such as a route name, field name, address, field area, and work time for each target route. The route name is the route name of the target route generated by the operation terminal 20 . The field name is the name of the work target field for which the target route is set. The address is the address of the farm field, and the farm field area is the area of the farm field. The work time is the time required for the work in the field by the work vehicle 10 .

Note that the storage unit 22 may store the target route information regarding one target route, or may store the target route information regarding a plurality of target routes. For example, when a specific operator generates a plurality of target routes for one or a plurality of fields owned by the operator, the target route information regarding each target route is stored in the storage unit 22 . One target route may be set for one field, or a plurality of target routes may be set.

As another embodiment, part or all of the information such as the work vehicle information and the target route information may be stored in 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 in the server (for example, personal computer, cloud server, etc.). In this case, the operation control unit 21 may acquire the information from the server and execute each process such as the field registration process (see FIG. 13), which will be described later.

The operation control unit 21 has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various kinds of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as BIOS and OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as temporary storage memory for various types of processing executed by the CPU. The operation control unit 21 controls the operation terminal 20 by causing the CPU to execute various control programs pre-stored in the ROM or storage unit 22 .

As shown in FIG. 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 determination processing unit 214, a specific processing unit 215, and a generation processing unit 216. . The operation control unit 21 functions as the various processing units by executing various processing according to the control program by the CPU. Also, part or all of the processing unit may be configured by an electronic circuit. Note that the control program may be a program for causing a plurality of processors to function as the processing unit.

The setting processing unit 211 stores information about the work vehicle 10 (hereinafter referred to as work vehicle information), information about the field F (hereinafter referred to as field information), and information about how to specifically perform work (hereinafter referred to as work information). The setting processing unit 211 receives an operator's setting operation on the menu screen D1 shown in FIG. 8, for example, and registers each setting information. The setting processing unit 211 is an example of the registration processing unit of the present invention.

Specifically, the setting processing unit 211 sets the model of the work vehicle 10, the position where the positioning antenna 164 is attached in the work vehicle 10, the type of the work machine 14, the size and shape of the work machine 14, the Information such as the position with respect to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 during work, and the vehicle speed and engine speed of the work vehicle 10 during turning can be registered by the operator through the operation terminal 20. Set information.

In addition, the setting processing unit 211, regarding information such as the position and shape of the field F, the work start position S (travel start position) where work is started, the work end position G (travel end position) where work is finished, and the work direction, The information is set by performing a registration operation on the operation terminal 20 .

The information on the position and shape of the field F is, for example, the position information of the positioning antenna 164 when the operator gets on the work vehicle 10 and drives it around the outer circumference of the area to be registered. By recording the transition, it can be obtained automatically. The area specified by the acquired position and shape of the farm field F is an area (driving area) in which the work vehicle 10 can travel. For example, the setting processing unit 211 registers the field information of the field F illustrated in FIGS. 3 and 4 .

The setting processing unit 211 also includes, as work information, the presence or absence of cooperative work between the work vehicle 10 (unmanned tractor) and the manned work vehicle 10, and the number of work routes to be skipped when the work vehicle 10 turns on a headland. The number of skips, width of headland, width of non-cultivated land, etc. can be set.

Further, the setting processing unit 211 generates a target route along which the work vehicle 10 automatically travels in the field F based on each setting information. Specifically, the setting processing unit 211 generates a target route in the field F based on the travel start position and the travel end position registered in the field setting. For example, as shown in FIG. 4, the setting processing unit 211 generates a target route including a work start position S, a work end position G, a straight route R1, and a turning route R2 based on the operator's setting operation. The setting processing unit 211 registers the generated target route in association with the field F. FIG.

Here, the operation control unit 21 registers the field F based on the operator's operation, as described below. Below, the example which registers the agricultural field F shown in FIG. 4 is demonstrated.

Specifically, the reception processing unit 212 receives an operation of selecting "field registration" from the operator on the menu screen D1. When the reception processing unit 212 receives the selection operation of "field registration", the operation control unit 21 shifts to the field registration mode for registering fields. When shifting to the agricultural field registration mode, the operation control unit 21 causes the operation display unit 23 to display the agricultural field registration screen D2 (see FIG. 9). The operator selects "measurement start" on the field registration screen D2 to perform teaching travel. Specifically, as shown in FIG. 10, the operator gets on the work vehicle 10 and drives it so as to go around the circumference of the area to be registered.

The acquisition processing unit 213 acquires the position information of the work vehicle 10 traveling in a predetermined area according to the operator's travel operation. Specifically, while the operator is driving the work vehicle 10 , the positioning device 16 calculates the current position of the work vehicle 10 at predetermined intervals, and transmits the position information of the calculated current position to the operation terminal 20 . . The acquisition processing unit 213 acquires the position information from the work vehicle 10 and stores it in the field measurement information E1 (see FIG. 11) of the storage unit 22 .

In addition, the acquisition processing unit 213 acquires attitude angle information of the work vehicle 10 traveling in a predetermined area according to the operator's traveling operation. Specifically, while the operator is driving the work vehicle 10, the posture angle detection unit 17 detects the posture angle (for example, pitch angle) of the work vehicle 10 at a predetermined cycle, and detects the detection result (posture angle information). to the operation terminal 20 . The acquisition processing unit 213 acquires the attitude angle information from the work vehicle 10 .

The determination processing unit 214 determines whether or not there is a change in the vehicle body of the work vehicle 10 . Specifically, the determination processing unit 214 determines whether or not there is a vehicle body change (posture change) of the work vehicle 10 based on the posture angle information while the work vehicle 10 is traveling. The posture angle information is information on the tilt angle of the work vehicle 10 in the front-rear direction.

Here, the determination processing unit 214 determines whether or not the vehicle body is tilted in the front-rear direction based on the pitch angle of the work vehicle 10 . For example, the determination processing unit 214 determines that the vehicle body has changed (tilted) when the pitch angle exceeds a predetermined angle (threshold value). The determination processing unit 214 executes determination processing each time the attitude angle information is acquired from the work vehicle 10 . The determination processing unit 214 stores the determination result in the field measurement information E1 (see FIG. 11). For example, when the determination processing unit 214 detects a change in the vehicle body (pitch angle change) based on the posture angle information acquired from the work vehicle 10, the determination processing unit 214 associates the position information with the time information and the position information when the posture angle information was acquired. Then, a flag (“1”) indicating that the pitch angle has changed is registered (see FIG. 11).

Here, the pitch angle does not change when the work vehicle 10 continuously travels on the flat ground and continuously travels on the slope. On the other hand, the pitch angle changes when the work vehicle 10 moves from a flat ground to a sloped ground and when it moves from a sloped ground to a flat ground.

The identification processing unit 215 identifies the work area F1 and the non-work area F2 included in the farm field F based on the position information and the determination result of the presence or absence of the vehicle body change. Specifically, the identification processing unit 215 identifies the working area F1 and the non-working area F2 based on the position information and the pitch angle change (determination result) included in the field measurement information E1 (see FIG. 11).

For example, in the example shown in FIG. 11, the identification processing unit 215 identifies the area from the position P1 at the start of measurement (time t1) to the position P11 where there is no change in the pitch angle as the work area F1. The pitch angle changes at time t12, and the pitch angle also changes at time t13. At times t14 and t15, the pitch angle does not change. Based on this result, the specific processing unit 215 determines that the work vehicle 10 moves from the work area F1 (flat land) to the slope F2a (time t12, t13), and then continuously travels uphill on the slope F2a (time t14, t15). can be determined.

At time t16, the pitch angle changes, and at time t17, the pitch angle also changes. At times t18 and t19, the pitch angle does not change. From this result, the specific processing unit 215 can determine that the work vehicle 10 moved from the slope F2a to the high ground F2b (time t16, t17) and then continuously traveled on the high ground F2b (time t18, t19). .

Thereby, the identification processing unit 215 can identify the area from the position P12 to the position P17 as the sloping land F2a, and identify the area from the position P18 to the position P21 where the pitch angle does not change as the high ground F2b.

Further, the pitch angle changes at time t22, and the pitch angle also changes at time t23. Further, the pitch angle does not change at times t24 and t25. From this result, the specific processing unit 215 can determine that the work vehicle 10 moved from the high ground F2b to the slope F2a (time t22, t23), and then continuously traveled down the slope F2a (time t24, t25). can.

At time t26, the pitch angle changes, and at time t27, the pitch angle also changes. At times t28 and t29, the pitch angle does not change. From this result, the identification processing unit 215 determines that the work vehicle 10 moved from the slope F2a to the work area F1 (time t26, t27) and then continuously traveled in the work area F1 (time t28, t29). can be done.

Thereby, the identification processing unit 215 can identify the area from the position P22 to the position P27 as the slope F2a, and identify the area after the position P28 as the work area F1. Further, the identification processing unit 215 can identify the area from the position P1 to the position P11 and the area after the position P28 as the work area F1, and can identify the area from the position P12 to the position P27 as the non-work area F2.

In this way, the identification processing unit 215 identifies the flat land (low land) including the position where the measurement is started as the work area F1, and identifies the sloped land and high land other than the flat land as the non-work area F2. As described above, the identification processing unit 215 distinguishes and identifies the work area F1 and the non-work area F2.

The setting processing unit 211 registers the farm field F including the work area F1 and the non-work area F2. For example, when the operator selects "Register" on the field registration screen D2 (see FIG. 12), the setting processing unit 211 registers the farm field F including the work area F1 and the non-work area F2 identified by the identification processing unit 215. register.

Here, as shown in FIG. 12, the operation control unit 21 displays the travel locus of the working vehicle 10 on the agricultural field registration screen D2, and changes the portion of the travel locus corresponding to the position where the vehicle body change is detected to the above-mentioned It may be displayed in a manner different from the portion corresponding to the position where the vehicle body change is not detected. For example, as shown in FIG. 12, the operation control unit 21 displays traveling loci M1 and M2 along which the work vehicle 10 is caused to travel for teaching. A running locus M1 indicates a position where the vehicle body change (the pitch angle change) is not detected, and a traveling locus M2 indicates the position where the vehicle body change (the pitch angle change) is detected. The operation control unit 21 causes the running locus M1 and the running locus M2 to be displayed in mutually different modes. As a result, the operator can easily visually distinguish and recognize the work area F1 and the non-work area F2.

Each point of the running locus M1 and the running locus M2 may be selectable by the operator. In this case, the setting processing unit 211 can also register, as the field F, an area connecting a plurality of points selected by the operator. According to the configuration in which the running locus M1 and the running locus M2 are displayed in mutually different modes, the operability of field registration is improved, such as field registration including the slope F2a or field registration excluding the slope F2a. can be made

The generation processing unit 216 generates a target route for automatically traveling the work vehicle 10 for the registered farm field F. FIG. Specifically, when the farm field F shown in FIGS. 11 and 12 is registered, the generation processing unit 216 moves the work vehicle 10 in the left-right direction in the inner area F1a included in the work area F1 as shown in FIG. A target route including a plurality of rectilinear routes R1 for reciprocating travel and a plurality of turning routes R2 for turning the work vehicle 10 in the non-work area F2 is generated. In addition, the generation processing unit 216 generates a turning route R2 in which only forward travel is performed and reverse travel is not performed in the non-work area F2 (sloping land F2a and high ground F2b).

After generating the target route, the generation processing unit 216 outputs the route data of the target route to the work vehicle 10 .

In the work vehicle 10, the route data of the target route generated in the operation terminal 20 is transferred to the work vehicle 10 and stored in the storage unit 12, and the current position of the work vehicle 10 is detected by the positioning antenna 164. It is configured so that it can travel autonomously according to a target route. The current position of work vehicle 10 usually coincides with the position of positioning antenna 164 .

Further, the work vehicle 10 is configured to automatically travel within the field F when the current position coincides with the work start position S within the field F (see FIGS. 3 and 4). For example, when the current position of the work vehicle 10 coincides with the work start position S of the field F and the operator presses the start button on the operation screen (not shown) to give the work vehicle 10 an instruction to start traveling, the work vehicle 10 10, the automatic traveling of the target route is started.

The travel processing unit 111 automatically travels the work vehicle 10 from the work start position S to the work end position G along the target route in the field F (see FIGS. 3 and 4). While the work vehicle 10 is automatically traveling, the operator can grasp the traveling state in the field F using the operation terminal 20 .

Note that the operation terminal 20 may be able to access a website (agricultural support site) of an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit 21 . The server includes each processing unit described above and executes each process.

[Field registration process]
An example of the agricultural field registration process executed by the automatic driving system 1 will be described below with reference to FIG. 13 .

The present invention can be regarded as an invention of an agricultural field registration method for executing one or a plurality of steps included in the agricultural field registration process. Also, one or more steps included in the agricultural field registration process described here may be omitted as appropriate. In addition, each step in the agricultural field registration process may differ in the order of execution as long as the same effects are produced. Further, here, a case where the operation control unit 21 executes each step in the agricultural field registration process will be described as an example. Methods are also contemplated as other embodiments.

First, in step S1, the operation control unit 21 of the operation terminal 20 determines whether or not an operation for registering fields has been received from the operator. When the operation control unit 21 receives a field registration operation (S1: Yes), the process proceeds to step S2. The operation control unit 21 waits until an operation for registering the field F is received (S1: No). For example, when the operator selects "field registration" on the menu screen D1 (see FIG. 8), the operation control unit 21 accepts the registration operation. The operation control unit 21 displays an agricultural field registration screen D2 (see FIG. 9) when the registration operation is received.

In step S2, the operation control unit 21 determines whether or not a measurement start operation (teaching start operation) has been received from the operator. When the operation control unit 21 receives the measurement start operation (S2: Yes), the process proceeds to step S3. The operation control unit 21 waits until receiving a measurement start operation (S2: No). For example, when the operator selects "measurement start" on the field registration screen D2 (see FIG. 9), the operation control unit 21 receives the measurement start operation. When receiving the measurement start operation, the operation control unit 21 displays an agricultural field registration screen D2 shown in FIG. 12 and permits the manual running by the operator. The operator gets on the work vehicle 10 and starts teaching travel in which the work vehicle 10 travels around the perimeter of the area to be registered.

In step S<b>3 , the operation control unit 21 starts processing for acquiring position information and attitude angle information of the work vehicle 10 . Specifically, when the work vehicle 10 starts traveling in response to an operator's operation, the positioning device 16 transmits the position information of the current position of the work vehicle 10 to the operation terminal 20 , and the attitude angle detection unit 17 detects the position of the work vehicle 10 . information (attitude angle information) on the attitude angle (pitch angle) of is transmitted to the operation terminal 20 . The operation control unit 21 acquires position information and posture angle information from the work vehicle 10 at predetermined intervals. Further, the operation control unit 21 stores the position information in the field measurement information E1 (see FIG. 11).

Next, in step S4, the operation control unit 21 determines whether or not there is a change in the vehicle body based on the attitude angle information (pitch angle). When the operation control unit 21 determines that the vehicle body has changed (tilted) (S4: Yes), the process proceeds to step S5. On the other hand, when the operation control unit 21 determines that the vehicle body does not change (S4: No), the process proceeds to step S6. For example, the operation control unit 21 determines that the vehicle body has changed when the pitch angle exceeds a predetermined angle (threshold value).

In step S5, the operation control unit 21 registers a flag (detection flag "1") indicating that a change in the vehicle body has been detected in the field measurement information E1 in association with the time information and the position information (see FIG. 11).

In step S6, the operation control unit 21 determines whether or not a measurement end operation (teaching end operation) has been received from the operator. When the operation control unit 21 receives the measurement end operation (S6: Yes), the process proceeds to step S7. The operation control unit 21 repeats the processing of steps S4 to S6 until it receives a measurement end operation (S6: No). For example, when the operator selects "Register" on the field registration screen D2 (see FIG. 12), the operation control unit 21 accepts the measurement end operation.

In step S7, the operation control unit 21 identifies the work area F1 and the non-work area F2. Specifically, the operation control unit 21 specifies a work area F1 and a non-work area F2 based on the position information and the determination result of the presence or absence of vehicle body change within the area in which the work vehicle 10 travels around. . For example, the operation control unit 21 identifies the working area F1 and the non-working area F2 based on the position information and the pitch angle change (determination result) included in the field measurement information E1 (see FIG. 11). For example, the operation control unit 21 identifies the flat land (low land) including the position where the measurement is started as the work area F1, and identifies the sloping land and high land other than the flat land as the non-work area F2.

Further, when the operator selects "Register" on the field registration screen D2 (see FIG. 12), the operation control unit 21 causes the travel locus of the working vehicle 10 to be displayed on the field registration screen D2 as shown in FIG. A portion (traveling trajectory M2) of the traveling trajectory corresponding to the position where the change in the vehicle body is detected may be displayed in a manner different from a portion (traveling trajectory M1) corresponding to the position where the change in the vehicle body is not detected.

In step S8, the operation control unit 21 registers the field F. Specifically, the operation control unit 21 registers the farm field F including the work area F1 and the non-work area F2 specified in step S7.

As described above, the operation control unit 21 registers the field F based on the operator's operation. Further, when the field F is registered, the operation control unit 21 generates a target route along which the work vehicle 10 automatically travels. For example, the operation control unit 21 generates a target route including a straight route R1 for straight traveling in the working area F1 and a turning route R2 for turning only forward traveling in the non-working area F2 (see FIG. 4).

Further, the operation control unit 21 outputs the route data of the target route to the work vehicle 10 when the work vehicle 10 is caused to automatically travel. When the work vehicle 10 acquires the route data, the work vehicle 10 automatically starts traveling according to the operator's operation. As a result, the work vehicle 10 automatically travels along the target route from the work start position S to the work end position G in the field F (see FIG. 4) and performs a predetermined work (for example, plowing work). An automatic traveling method according to the present invention is a method for automatically traveling a working vehicle 10 having a working machine 14 in a field F registered by the field registration process (agricultural field registration method).

As described above, the automatic traveling system 1 according to the present embodiment acquires the position information of the work vehicle 10 traveling in a predetermined area according to the traveling operation of the operator, and determines whether or not the vehicle body of the work vehicle 10 has changed. do. Further, the automatic driving system 1 identifies the work area F1 and the non-work area F2 included in the predetermined area based on the position information and the determination result of the presence or absence of the vehicle body change, and determines the work area F1 and the non-work area F2. A farm field F including a work area F2 is registered. According to the above configuration, the farm field F can be registered by distinguishing between the work area F1 and the non-work area F2. Also, the shape of the field F can be easily grasped.

Further, when the automatic traveling system 1 detects a change in the vehicle body of the work vehicle 10 and identifies the working area F1 and the non-working area F2, the automatic traveling system 1 registers the farm field F shown in FIG. Execute the process. On the other hand, when the automatic traveling system 1 does not detect a change in the vehicle body of the work vehicle 10, the agricultural field F shown in FIG. 3 is registered, and the traveling processing of the first case described above is executed. In this manner, the automatic traveling system 1 registers fields F having different work areas according to whether or not there is a change in the vehicle body during teaching traveling, and executes automatic traveling processing according to each field F.

Further, according to the above configuration, the non-working area F2 can be used as a turning area for forward traveling only (see FIG. 4), so that working efficiency can be improved.

Further, according to the above configuration, in the farm field F (see FIG. 4), a headland region parallel to the non-work region F2 is not required. It is possible to increase the area that can be moved. Therefore, working efficiency can be improved.

Further, the automatic traveling system 1 according to the present embodiment sets the work machine 14 to a working posture (see FIGS. 6A, 6B, and 6F) for executing a predetermined work when the work machine 14 is positioned in the work area F1. Then, when the work machine 14 is positioned in the non-work area F2, the work machine 14 is set to the non-work posture (see FIGS. 6C to 6E) in which the work is not performed. In this manner, the automatic traveling system 1 can control the attitude (lifting/lowering timing) of the work implement 14 according to the positions of the identified work area F1 and non-work area F2.

The operation terminal 20 according to this embodiment may be mounted on the work vehicle 10 or may be arranged outside the work vehicle 10 . Further, each processing unit of the operation terminal 20 may be included in the vehicle control device 11 of the work vehicle 10 . That is, in the above-described embodiment, the operation terminal 20 corresponds to the agricultural field registration system according to the present invention, but the agricultural field registration system according to the present invention may be configured by the work vehicle 10 alone. Moreover, the agricultural field registration system according to the present invention may be configured including the work vehicle 10 and the operation terminal 20 . Moreover, each processing unit of the operation terminal 20 may be included in a server that can communicate with the work vehicle 10 .

In the above-described embodiment, the operation control unit 21 determines whether or not there is a change in the body of the work vehicle 10 based on the attitude angle information (change in pitch angle) while the work vehicle 10 is traveling. The present invention is not limited to this, and as another embodiment, the operation control unit 21 may control the vehicle body of the work vehicle 10 based on changes in the amount of sinking of the wheels (the front wheels 132 and the rear wheels 133) of the work vehicle 10, for example. You may judge the presence or absence of a change. Further, the operation control unit 21 may determine whether or not there is a change in the body of the work vehicle 10 based on a change in the position of the center of gravity of the work vehicle 10, for example. The change in the vehicle body of the present invention is not limited to tilting of the work vehicle 10 in the front-rear direction, but may be tilting in the left-right direction, deformation of wheels, change in the position of the center of gravity, and the like.

[Other embodiments]
As another embodiment of the present invention, the operation control unit 21 may register the farm field F based on satellite images. For example, when the operator designates four points on the area to be registered and the end point of the slope F2a in the satellite image, the operation control unit 21 divides the area surrounded by the points designated by the operator into a work area F1 and a non-work area. A farm field F that is specified as F2 and includes a work area F1 and a non-work area F2 is registered. According to this configuration, the field F can be registered without manually driving the work vehicle 10 .

Further, as another embodiment of the present invention, the operation control unit 21 may determine whether or not the area (work area F1) selected by the operator is an area in which automatic travel is possible. The area in which the work vehicle 10 can automatically travel needs to be larger than a predetermined area (for example, 50 m×30 m). Therefore, the operation control unit 21 determines whether or not the area of the region selected by the operator is equal to or larger than the predetermined area, and if the area is less than the predetermined area, automatic travel is impossible. The operator may be notified of a message indicating that. In this case, the operation control unit 21 does not accept registration of the work implement 14 and generation of the target route. According to the above configuration, it is possible to prevent a situation in which the target route cannot be set because the area of the field F is insufficient after all the parameters have been input.

Reference Signs List 1: Automatic traveling system 10: Working vehicle 14: Working machine 16: Positioning device 17: Attitude angle detection unit 20: Operation terminal 21: Operation control unit 211: Setting processing unit (registration processing unit)
212: Reception processing unit 213: Acquisition processing unit 214: Determination processing unit 215: Specific processing unit 216: Generation processing unit F: Field F1: Work area F1a: Inner area (first work area)
F1b: headland area (second work area)
F2: non-work area F2a: slope F2b: high ground M1: travel locus M2: travel locus R1: straight route (target route)
R2: turning path (target path)
R3: straight route (target route)

Claims (11)

Acquiring position information of a work vehicle traveling in a predetermined area according to a user's travel operation;
Determining whether or not there is a change in the vehicle body of the work vehicle;
specifying a work area and a non-work area included in the predetermined area based on the position information and the determination result of the presence or absence of the vehicle body change;
Registering a farm field including the work area and the non-work area;
A field registration method that executes Determining whether or not there is a change in the vehicle body of the work vehicle based on attitude angle information during travel of the work vehicle;
The field registration method according to claim 1. The posture angle information is information on an inclination angle of the work vehicle in the front-rear direction.
The field registration method according to claim 2. The non-working area includes a slope that slopes downward toward the working area,
The agricultural field registration method according to claim 3. displaying the travel locus of the work vehicle on an operation screen;
Displaying a portion of the running trajectory corresponding to the position where the change in the vehicle body is detected in a manner different from a portion corresponding to the position where the change in the vehicle body is not detected;
The field registration method according to any one of claims 1 to 4. The work area includes a first work area in which the work vehicle automatically travels and a second work area in which the work vehicle manually travels,
The second working area is set in a direction intersecting the longitudinal direction of the non-working area,
The field registration method according to any one of claims 1 to 5. The second work area is further set in the longitudinal direction of the agricultural field,
The field registration method according to claim 6. generating a target path for the work vehicle including a plurality of straight paths generated in the work area and a turning path connecting ends of the plurality of straight paths generated in the non-work area;
The turning path is a path along which the work vehicle turns only by traveling forward.
The field registration method according to any one of claims 1 to 7. An automatic traveling method for automatically traveling a work vehicle equipped with a working machine in a field registered by the field registration method according to any one of claims 1 to 8,
setting the work machine to a work posture for performing a predetermined work when the work machine is positioned in the work area;
setting the working machine to a non-working posture in which the working machine does not perform a predetermined work when the working machine is positioned in the non-working area;
Automatic driving method to execute. an acquisition processing unit that acquires position information of a work vehicle that travels in a predetermined area according to a user's travel operation;
a determination processing unit that determines whether or not there is a change in the vehicle body of the work vehicle;
a specifying processing unit that specifies a work area and a non-work area included in the predetermined area based on the position information and the determination result of the presence or absence of the vehicle body change;
a registration processing unit that registers an agricultural field including the work area and the non-work area;
and a field registration system. Acquiring position information of a work vehicle traveling in a predetermined area according to a user's travel operation;
Determining whether or not there is a change in the vehicle body of the work vehicle;
specifying a work area and a non-work area included in the predetermined area based on the position information and the determination result of the presence or absence of the vehicle body change;
Registering a farm field including the work area and the non-work area;
A field registration program for causing one or more processors to execute.