JP2023127874A - Automatic travelling method, automatic travelling system, and automatic travelling program - Google Patents

Abstract

To provide an automatic travelling method, an automatic travelling system, and an automatic travelling program capable of starting automatic travelling even when part of a work vehicle is positioned outside a farm field.SOLUTION: A travelling processing part 111 causes a work vehicle 10 to automatically travel according to a target route R set in a farm field F. In the case where part of the work vehicle 10 is located outside the region of the farm field F, the travelling processing part 111 permits automatic travelling of the work vehicle 10 if a travelling direction of the work vehicle 10 is a direction that a range B1 of the part located outside the region in the work vehicle 10 does not increase.SELECTED DRAWING: Figure 4A

Description

The present invention relates to an automatic driving method, an automatic driving system, and an automatic driving program for automatically driving a work vehicle.

In recent years, advances in automation technology for agricultural machinery have led to the introduction of work vehicles that perform work while automatically traveling in fields. In order to start automatic travel along a set travel route (target route) in a field, the operator must manually travel (drive) the work vehicle to the travel start position, which is time consuming. BACKGROUND ART Conventionally, a technique is known that allows a work vehicle to automatically travel from a current position to a travel start position (see, for example, Patent Document 1). According to this technology, for example, it becomes possible to automatically drive a work vehicle to a travel start position in a headland area.

Japanese Patent Application Publication No. 2019-135670

However, in the conventional technology, automatic travel cannot be started if, for example, a part of the work vehicle (such as a work implement) is located outside the field (protruding from the field). Therefore, the operator is required to manually move the work vehicle until at least the entire body of the work vehicle fits within the field, which is still time-consuming.

An object of the present invention is to provide an automatic driving method, an automatic driving system, and an automatic driving program that can start automatic driving even when a part of a work vehicle is located outside the field.

An automatic driving method according to the present invention includes automatically driving a working vehicle according to a target route set in a field, and in a case where a part of the working vehicle is located outside the area of the field, the driving direction of the working vehicle is is in a direction in which the range of a portion of the work vehicle located outside the area does not increase, permitting automatic travel of the work vehicle.

The automatic driving system according to the present invention includes a driving processing section that causes a work vehicle to automatically travel according to a target route set in a field. The traveling processing unit is configured to set a traveling direction of the working vehicle in a direction in which a range of a portion of the working vehicle located outside the field does not increase when a part of the working vehicle is located outside the field. In certain cases, automatic driving of the work vehicle is permitted.

The automatic driving program according to the present invention automatically travels a working vehicle according to a target route set in a field, and when a part of the working vehicle is located outside the field, the driving direction of the working vehicle is is a direction in which the range of a portion of the work vehicle located outside the area does not increase, an automatic driving program for causing one or more processors to execute the following: permitting automatic driving of the work vehicle. It is.

According to the present invention, it is possible to provide an automatic driving method, an automatic driving system, and an automatic driving program that can start automatic driving even when a part of the work vehicle is located outside the field.

FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. FIG. 3 is a diagram showing an example of a field and a target route according to the embodiment of the present invention. FIG. 4A is a diagram illustrating a specific example of a traveling method for a work vehicle according to an embodiment of the present invention. FIG. 4B is a diagram illustrating a specific example of the traveling method of the work vehicle according to the embodiment of the present invention. FIG. 4C is a diagram showing a specific example of the traveling method of the work vehicle according to the embodiment of the present invention. FIG. 4D is a diagram illustrating a specific example of a traveling method for a work vehicle according to an embodiment of the present invention. FIG. 5 is a diagram illustrating an example of a determination target range of a work vehicle according to an embodiment of the present invention. FIG. 6 is a diagram showing an example of a menu screen displayed on the operating terminal according to the embodiment of the present invention. FIG. 7 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 8 is a flowchart illustrating an example of the procedure of automatic driving processing executed by the automatic driving system according to the embodiment of the present invention. FIG. 9A is a diagram illustrating an example of a target route according to another embodiment of the present invention. FIG. 9B is a diagram illustrating an example of a target route according to another embodiment of the present invention. FIG. 10 is a diagram illustrating an example of a work vehicle replenishment process according to an embodiment of the present invention. FIG. 11 is a diagram showing an example of an operation screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 12 is a diagram showing an example of a route generation screen displayed on the operating terminal according to the embodiment of the present invention.

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

As shown in FIG. 1, an automatic driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. Work vehicle 10 and operation terminal 20 can communicate via 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.

In this embodiment, a case where the work vehicle 10 is a tractor will be described as an example. Note that in other embodiments, 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 that is configured to be able to automatically travel (autonomously) within a pre-registered field. For example, the operator registers a field to be worked on, and sets a travel route (target route) for automatically driving the work vehicle 10 to the field. The work vehicle 10 automatically travels along a target route set in advance for the field based on position information of the current position of the work vehicle 10 calculated by the positioning device 16. Further, the work vehicle 10 can perform predetermined work while automatically traveling in the field.

For example, the work vehicle 10 automatically travels along a target route R in a field F shown in FIG. Specifically, the work vehicle 10 starts automatic travel from the travel start position S according to the movement route R1, and starts work when it reaches the work start position A1. The work vehicle 10 performs work while automatically traveling along a work route R2 from a work start position A1 to a work end position A2. When the work vehicle 10 reaches the work end position A2, it ends the work and automatically travels to the travel end position G along the movement route R3. The target route R includes a travel route R1, a work route R2, and a travel route R3. The work route R2 includes a plurality of straight routes and a plurality of turning routes. The target route R is not limited to the route shown in FIG. 3, but is appropriately set depending on the work content. Further, the travel start position S and the travel end position G can be set at any position within the field F (eg, near the entrance or the ridge).

Here, when the work vehicle 10 is to automatically travel along the target route R, the operator manually travels the work vehicle 10 to the travel start position S or the vicinity of the travel start position S. For example, when the operator manually drives the work vehicle 10 to the travel start position S, the work vehicle 10 becomes ready for automatic travel. When the work vehicle 10 is in a state where it can automatically travel, the operator can issue an instruction to the work vehicle 10 to start automatic travel (travel start instruction) using the operating terminal 20. When the operator issues the travel start instruction, the work vehicle 10 starts automatically traveling along the target route R.

The work vehicle 10 can start automatic travel as described above. However, in the conventional technology, for example, if a part of the work vehicle 10 (such as the work implement 14) is located outside the area of the field F (protruding from the area), automatic driving cannot be started. ing. Therefore, the operator must manually move the work vehicle 10 to a position where the entire body of the work vehicle 10 fits within the field F, which is still time-consuming. Further, in the conventional technology, the travel start position S cannot be set at a location where a part of the work vehicle 10 is located outside the field F. For this reason, since it is necessary to set the travel start position S at a location away from the boundary of the field F, the operator must manually travel the work vehicle 10 to the location, resulting in poor work efficiency. In contrast, the automatic driving system 1 according to the present embodiment is capable of starting automatic driving even when a part of the work vehicle 10 is located outside the field F, as shown below. It is.

[Work vehicle 10]
As shown in FIGS. 1 and 2, the work vehicle 10 includes a vehicle control device 11, a storage section 12, a traveling device 13, a working machine 14, a communication section 15, a positioning device 16, and the like. The vehicle control device 11 is electrically connected to a storage unit 12, a traveling device 13, a working machine 14, a positioning device 16, and the like. Note that the vehicle control device 11 and the positioning device 16 may be able to communicate wirelessly.

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 operating terminal 20 via the communication network N1. communication interface. Work vehicle 10 can perform wireless communication with operating terminal 20 via communication unit 15 .

The storage unit 12 is a nonvolatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute automatic driving processing. For example, the automatic driving program is recorded non-temporarily 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. is memorized. 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, the storage unit 12 may store route data of the target route R generated by the operation terminal 20.

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 handle 137, and the like. Note that 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 a wheel type including front wheels 132 and rear wheels 133, but may be a crawler type including 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 supplied to a fuel tank (not shown). The traveling device 13 may include an electric motor as a drive source together with or in place of the engine 131. Note that 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 provided in the work vehicle 10, a battery, and the like. Note that the battery is charged by power supplied from the generator. Electrical components 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 engine 131 is transmitted to front wheels 132 via transmission 134 and front axle 135, and then transmitted to rear wheels 133 via transmission 134 and rear axle 136. Further, the driving force of the engine 131 is also transmitted to the working machine 14 via a PTO shaft (not shown). When the work vehicle 10 performs automatic travel, the travel device 13 performs a travel operation according to commands from the vehicle control device 11.

The work equipment 14 is, for example, a tiller, a grass cutter, a plow, a fertilizer applicator, a seeding machine, a spreader, etc., and is detachable from the work vehicle 10. Thereby, the work vehicle 10 can perform various works using each of the work machines 14. FIG. 2 shows a case where the working machine 14 is a tiller.

The work machine 14 may be supported in the work vehicle 10 so as to be movable up and down by a lift mechanism (not shown). The vehicle control device 11 is capable of raising and lowering the working machine 14 by controlling the lifting mechanism. For example, the vehicle control device 11 lowers the work implement 14 when the work vehicle 10 travels straight forward in the forward direction on the work route R2, and lowers the work implement 14 when the work vehicle 10 travels in a turning direction or travels on the travel routes R1 and R3. Raise the work machine 14. Further, when the vehicle control device 11 obtains a work stop instruction, it outputs a work stop command to the work machine 14 . For example, the vehicle control device 11 acquires the stop instruction from the operating terminal 20 when the operator performs a stop instruction operation on the operating terminal 20. When the vehicle control device 11 receives the instruction to stop the work, it stops driving the PTO shaft and stops the work of the work implement 14.

The handle 137 is an operating section operated by the operator or the vehicle control device 11. For example, in the traveling device 13, the angle of the front wheels 132 is changed by an unillustrated hydraulic power steering mechanism or the like in response to the operation of the handle 137 by the vehicle control device 11, and the traveling direction of the work vehicle 10 is changed. When the operator performs a teaching operation to register the field F, the operator operates the handle 137 to manually drive the work vehicle 10. Further, when moving the work vehicle 10 to the travel start position S, the operator operates the handle 137 to manually move the work vehicle 10.

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

The positioning device 16 is a communication device that includes a positioning control section 161, a storage section 162, a communication section 163, a positioning antenna 164, and the like. For example, as shown in FIG. 2, the positioning device 16 is provided in the upper part of a cabin 138 in which an operator rides. Further, the installation location of the positioning device 16 is not limited to the cabin 138. Further, 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. Note that, as described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. Further, as the positioning device 16, for example, a mobile phone terminal, a smartphone, a tablet terminal, or the like may be used instead.

The positioning control unit 161 is a computer system including one or more processors and storage memories such as nonvolatile memory and RAM. The storage unit 162 is a nonvolatile memory that stores a program for causing the positioning control unit 161 to execute positioning processing, and data such as positioning information and movement information. For example, the program is recorded non-temporarily 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 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 a satellite.

The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signal that the positioning antenna 164 receives from a satellite. For example, when the work vehicle 10 automatically travels in the field F, when the positioning antenna 164 receives radio waves (transmission time, orbit information, etc.) transmitted from each of a plurality of satellites, the positioning control unit 161 The distance between antenna 164 and each satellite is calculated, and the current position (latitude and longitude) of work vehicle 10 is calculated based on the calculated distance. Furthermore, the positioning control unit 161 uses a real-time kinematic method (RTK-GPS positioning method (RTK method) to calculate the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. )) positioning may be performed. In this way, the work vehicle 10 automatically travels using positioning information based on the RTK method. Note that 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 may be a position shifted from the positioning position. For example, in the example shown in FIG. 4A, the current position P1 of the work vehicle 10 is the same as the position of the positioning antenna 164.

The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit that stores in advance control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes. 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 stored in advance in the ROM or the storage unit 12.

Vehicle control device 11 controls the operation of work vehicle 10 according to various user operations on work vehicle 10 . Furthermore, the vehicle control device 11 executes automatic travel processing for the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning device 16 and the target route R set in advance.

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 causing the CPU to execute various processes according to the automatic driving program. Further, a part or all of the processing section may be constituted by an electronic circuit. Note that the automatic driving program may be a program for causing a plurality of processors to function as the processing units.

The travel processing unit 111 controls the travel of the work vehicle 10 . Specifically, the travel processing unit 111 causes the work vehicle 10 to automatically travel according to the target route R set in the field F. The travel processing unit 111 also determines whether the work vehicle 10 is in a state where it is possible to start automatic travel. For example, the travel processing unit 111 determines whether the current position P1 (see FIG. 4A) of the work vehicle 10 satisfies a predetermined condition (travel start condition) with respect to the travel start position S set in the field F. . The travel start conditions include "the distance from the travel start position S to the work vehicle 10 is within 5 m", "the left and right distances from the target route R to the work vehicle 10 are within 1 m each", and " Examples include "the direction of the work vehicle 10 is within 35 degrees from the direction of the target route R" and "the remaining distance from the straight route to the turning position is 10 m or more". The travel processing unit 111 determines that the work vehicle 10 is in a state where it can automatically travel when all of these travel start conditions are satisfied.

Further, the travel processing unit 111 determines whether a part of the work vehicle 10 is located outside the field F. FIG. 4A shows a state in which the rear portion of the body of the work vehicle 10 is located outside the field F. For example, as shown in FIG. 5, the travel processing unit 111 stores position information (or image information) of a virtual area C0 set around the work vehicle 10 in map data (map image) and position information (or image information) of a field F, as shown in FIG. Based on the image information), it is determined whether the entire work vehicle 10 is within the area of the field F or whether a part of the work vehicle 10 is protruding outside the area of the field F. Note that FIG. 5 shows a first virtual area C1 (area marked by a dotted line) located outside the field F in the virtual area C0 (area marked by a solid line).

Based on the result of the process of determining whether the travel start condition is satisfied and the result of the process of determining whether a part of the work vehicle 10 is located outside the field F, the travel processing unit 111 performs the following steps. It is determined whether or not to permit automatic travel of the work vehicle 10.

For example, the travel processing unit 111 allows the work vehicle 10 to travel automatically when the travel start conditions are satisfied and the work vehicle 10 is entirely located within the field F. In this case, upon acquiring the travel start instruction from the operation terminal 20, the travel processing unit 111 causes the work vehicle 10 to start automatic travel.

For example, if the travel start condition is satisfied and a part of the work vehicle 10 is located outside the area of the field F, the travel processing unit 111 further determines that the travel direction of the work vehicle 10 is It is determined whether the range B1 of the portion located outside the area (the rear portion in FIG. 4A) is in a direction in which it will not increase. In the example shown in FIGS. 4A and 4B, the direction in which the work vehicle 10 moves from the travel start position S (see FIG. 4A) (traveling direction) or the vehicle body orientation is the direction in which the range B1 decreases. In this case, the travel processing unit 111 determines that the range B1 is in a direction that does not increase, and allows the work vehicle 10 to automatically travel. In this way, when part of the work vehicle 10 is located outside the area of the field F, the travel processing unit 111 controls the work vehicle 10 when the travel direction of the work vehicle 10 is in a direction in which the range B1 does not increase. allow autonomous driving. In addition, when a part of the work vehicle 10 is located outside the field F, the travel processing unit 111 performs work when the travel direction of the movement route R1 of the work vehicle 10 is in a direction in which the range B1 does not increase. Automatic driving of the vehicle 10 is permitted. Furthermore, when the traveling direction of the work vehicle 10 is a direction in which the area of the first virtual region C1 (see FIG. 5) located outside the field F in the virtual region C0 does not increase, Automatic driving of the work vehicle 10 is permitted. For example, the travel processing unit 111 allows the work vehicle 10 to automatically travel when the area of the first virtual region C1 is decreasing.

On the other hand, when a part of the work vehicle 10 is located outside the field F and the travel direction of the work vehicle 10 is in the direction in which the range B1 increases, the travel processing unit 111 determines that the work vehicle 10 Prohibit automatic driving. In addition, when a part of the work vehicle 10 is located outside the field F and the traveling direction of the movement route R1 of the work vehicle 10 is in the direction in which the range B1 increases, the travel processing unit 111 performs the work Automatic driving of the vehicle 10 is prohibited. Furthermore, when the traveling direction of the work vehicle 10 is a direction in which the area of the first virtual region C1 (see FIG. 5) located outside the field F in the virtual region C0 increases, Automatic driving of the work vehicle 10 is prohibited.

For example, the travel processing unit 111 prohibits automatic travel of the work vehicle 10 when the travel start condition is not satisfied or when the work vehicle 10 is entirely located outside the field F. The travel processing unit 111 may notify the operator of predetermined information (error information, guidance information) when prohibiting automatic travel of the work vehicle 10.

When the travel processing unit 111 permits automatic travel of the work vehicle 10, it permits reception of the travel start instruction from the operation terminal 20. In this case, the operating terminal 20 displays an input button (start button) for a travel start instruction on the operation screen D2 (see FIG. 7), and receives a travel start instruction from the operator. When the travel processing unit 111 acquires the travel start instruction from the operation terminal 20, it causes the work vehicle 10 to start automatic travel from the travel start position S.

When the work vehicle 10 starts automatic travel, it automatically travels from the travel start position S according to the movement route R1 (see FIGS. 4A to 4C), and when it reaches the work start position A1, it lowers the work implement 14 and starts the work. (See FIG. 4D), the work is performed while automatically traveling along the work route R2. Note that the work vehicle 10 may lower the work implement 14 when the position of the positioning antenna 164 matches the work start position A1, or the work implement 14 may be lowered when the position of the work implement 14 (mounting position, center position, etc.) coincides with the work start position A1. The work implement 14 may be lowered when the position matches the position A1. That is, the vehicle control device 11 controls the elevation of the working machine 14 based on the position of the positioning antenna 164 or the position of the working machine 14.

In this way, even if part of the work vehicle 10 is located outside the field F, the travel processing unit 111 allows automatic travel if the travel direction of the work vehicle 10 satisfies the predetermined condition. Then, the work vehicle 10 is automatically driven according to the target route R (see FIG. 3) set in the field F.

Here, the work vehicle 10 may have a function of stopping automatic travel when a part of the work vehicle 10 jumps out of the area of the field F during automatic travel. This function allows the work vehicle 10 to stop if it deviates from the target route R and jumps out of the area of the field F due to the roughness of the soil in the field F, a decrease in positioning accuracy, etc. It becomes possible to ensure safety. For example, the travel processing unit 111 may detect the work vehicle 10 running out of the field based on the positional relationship between the virtual area C0 (see FIG. 5) and the field F, or the travel processing unit 111 may detect the running of the work vehicle 10 out of the field. Jumping out of the field of the work vehicle 10 may be detected based on a detection result of a sensor, camera, etc.

When the work vehicle 10 is provided with the function of jumping out of the field, the travel processing unit 111 may set the function to be disabled at the time when the work vehicle 10 starts automatic travel from the travel start position S. For example, as shown in FIG. 4A, when the rear portion of the work vehicle 10 is located outside the field F, the travel processing unit 111 disables the function. Further, the traveling processing unit 111 disables the function until the working vehicle 10 starts automatic traveling and the entire working vehicle 10 falls within the area of the field F. Then, when the entire work vehicle 10 falls within the area of the field F (see FIG. 4C), the traveling processing unit 111 sets the function to be valid.

In this way, when part of the work vehicle 10 is located outside the area of the field F, the travel processing unit 111 disables the function when allowing the work vehicle 10 to travel automatically. When automatic travel is started and the entire work vehicle 10 is located within the field F, the function is set to be valid. Thereby, it is possible to avoid a situation where the work vehicle 10 is stopped due to the function immediately after the start of automatic travel.

Further, the travel processing unit 111 may control the travel speed (vehicle speed) when a part of the work vehicle 10 is located outside the field F. Specifically, when the work vehicle 10 starts automatic travel when a part of the work vehicle 10 is located outside the field F, the travel processing unit 111 sets the work vehicle 10 to the first travel speed. When the entire field F is located within the area of the field F, the second traveling speed is set to be faster than the first traveling speed. For example, when the driving speed when going straight is set to "8 km/h" on the operation terminal 20, the driving processing unit 111 determines the speed when the working vehicle 10 automatically travels with a part of it protruding outside the area of the field F. The traveling speed is set to "5 km/h" (an example of the first traveling speed), and when the entire work vehicle 10 falls within the field F, the traveling speed is set to "8 km/h" (an example of the second traveling speed). example). In this way, by setting the traveling speed to a low speed when a part of the work vehicle 10 is located outside the field F, traveling stability can be improved.

The travel processing unit 111 executes well-known processing in addition to the above-mentioned processing. For example, when the travel processing unit 111 receives a travel stop instruction from the operating terminal 20, it stops the automatic travel of the work vehicle 10. For example, when the operator presses a pause button (not shown) on the operation screen D2 (see FIG. 7) 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 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 in front of the work vehicle 10, the travel processing unit 111 stops the work vehicle 10.

[Operation terminal 20]
As shown in FIG. 1, the operation terminal 20 is an information processing device that includes an operation control section 21, a storage section 22, an operation display section 23, a communication section 24, and the like. The operation terminal 20 may be configured with a mobile 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 with external devices such as one or more work vehicles 10 via the communication network N1 according to a predetermined communication protocol. 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 register various information (work vehicle information, field information, work information, etc. to be described later) by operating the operation section on the operation screen displayed on the display section. For example, the operator performs an operation to register the field F to be worked on using the operation section.

Further, the operator can instruct the work vehicle 10 to start traveling, stop traveling, etc. by operating the operation section. Furthermore, the operator can grasp the running state of the working vehicle 10 that automatically travels in the field F along the target route R from the traveling trajectory displayed on the operating terminal 20 at a location away from the working vehicle 10.

The storage unit 22 is a nonvolatile storage unit such as an HDD or an SSD that stores various information. The storage unit 22 stores a control program for causing the operation control unit 21 to execute predetermined processing. For example, the control program is recorded non-temporarily 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. be remembered. Note that the control 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.

Furthermore, a dedicated application for automatically driving the work vehicle 10 is installed in the storage unit 22 . The operation control unit 21 activates the dedicated application and performs processing for setting various information regarding the work vehicle 10, processing for generating a target route R for the work vehicle 10, instructing the work vehicle 10 to travel automatically, and the like.

The storage unit 22 also stores data such as work vehicle information, which is information regarding the work vehicle 10, and target route information, which is information regarding the target route R. 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.

Further, the storage unit 22 may store the work vehicle information regarding one work vehicle 10, or may store the work vehicle information regarding 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 route name, field name, address, field area, and working time for each target route R. The route name is the route name of the target route R generated on the operation terminal 20. The field name is the name of the field F to be worked on, where the target route R is set. The address is the address of the field F, and the field area is the area of the field F. The working time is the time required for working on the field F by the working vehicle 10.

Further, the storage unit 22 may store the target route information regarding one target route R, or may store the target route information regarding a plurality of target routes R. For example, when a specific operator generates a plurality of target routes R for one or more fields F that he or she owns, the target route information regarding each target route R is stored in the storage unit 22. Note that for one field F, one target route R or a plurality of target routes R may be set.

In addition, 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 that can be accessed 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 (for example, a personal computer, a cloud server, etc.).

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

As shown in FIG. 1, the operation control section 21 includes various processing sections such as a setting processing section 211 and an output processing section 212. Note that the operation control unit 21 functions as the various processing units by causing the CPU to execute various processes according to the control program. Further, a part or all of the processing section may be constituted by an electronic circuit. Note that the control program may be a program for causing a plurality of processors to function as the processing units.

The setting processing unit 211 includes information regarding the work vehicle 10 (hereinafter referred to as work vehicle information), information regarding the field F (hereinafter referred to as field information), and information regarding how to specifically perform the work (hereinafter referred to as work vehicle information). (referred to as information). The setting processing unit 211 receives an operator's setting operation on the setting screen D1 shown in FIG. 6, for example, and registers each setting information.

Specifically, the setting processing unit 211 determines the model of the work vehicle 10 , the position where the positioning antenna 164 is attached on the work vehicle 10 , the type of work machine 14 , the size and shape of the work machine 14 , and the size and shape of the work machine 14 . The operator performs an operation on the operation terminal 20 to register information such as the position relative to the work vehicle 10, the traveling speed and engine rotation speed of the work vehicle 10 during work, the travel speed and engine rotation speed while turning the work vehicle 10, etc. Set the information by.

Further, the setting processing unit 211 performs an operation to register information such as the position and shape of the field F, the travel start position S to start traveling, the travel end position G to end travel, and the work direction on the operating terminal 20. Set the information by.

The information on the position and shape of the field F can be obtained by, for example, an operator boarding the work vehicle 10 and driving it around the outer circumference of the field F, and recording the transition of the position information of the positioning antenna 164 at that time. You can get it automatically by doing this. In addition, the position and shape of the field F are determined based on a polygon obtained by the operator specifying multiple points on the map by operating the operating terminal 20 with the map displayed on the operating terminal 20. You can also obtain it. The area specified by the acquired position and shape of the field F is an area (driving area) in which the work vehicle 10 can travel.

The setting processing unit 211 includes, as work information, whether or not there is cooperative work between the work vehicle 10 (unmanned tractor) and the manned work vehicle 10, and the number of skips, which is the number of work routes skipped when the work vehicle 10 turns in a headland. , the width of headland, the width of non-cultivated land, etc. can be set.

For example, the setting processing unit 211 sets a work area for actually performing work in the registered field F. For example, when the operator selects "Register work area" on the setting screen D1 (see FIG. 6) and selects the field F in which to register the work area, the setting processing unit 211 registers the travel start position S and the travel end position G. display the registration screen (map screen). The operator registers the travel start position S and the travel end position G at any position within the field F on the registration screen. For example, the operator registers the travel start position S and the travel end position G near the entrance or exit of the field F (see FIG. 3). In this embodiment, the operator can register the travel start position S at a position where a part of the work vehicle 10 protrudes outside the area of the field F (near the boundary of the field F, etc.), for example.

Furthermore, the setting processing unit 211 generates a target route R on which the work vehicle 10 automatically travels in the field F based on each of the setting information. For example, when the operator selects "Create route" on the setting screen D1 (see FIG. 6), the setting processing unit 211 displays a registration screen (not shown) for generating a route. On the registration screen, the operator registers information such as the field F, the working machine 14, the turning method, the headland, the vehicle speed, and the engine rotation, and then issues a route generation instruction. When the setting processing unit 211 obtains the route generation instruction, it generates the target route R based on the travel start position S, the travel end position G, and each of the above information.

For example, as shown in FIG. 3, the setting processing unit 211 creates a target route including a travel start position S, a travel route R1, a work start position A1, a work route R2, a work end position A2, a travel route R3, and a travel end position G. Generate R. The setting processing unit 211 registers the generated target route R in association with the field F. Further, in the present embodiment, the setting processing unit 211 determines that when a part of the work vehicle 10 located at the travel start position S is located outside the area of the field F, the traveling direction of the work vehicle 10 is outside the area. A target route R is generated in which the range B1 (see FIG. 4A, etc.) of the portion located in the direction does not increase. Further, the setting processing unit 211 generates a movement route R1 from the travel start position S to the work start position A1 in which the range B1 of the portion of the work vehicle 10 located outside the area does not increase. For example, when a part of the work vehicle 10 located at the travel start position S is located outside the area of the field F, the setting processing unit 211 determines that the traveling direction of the work vehicle 10 is within the range of the part located outside the area. A target route R (see FIG. 3) in which B1 decreases is generated. Further, the setting processing unit 211 generates a movement route R1 in which a range B1 of a portion of the work vehicle 10 located outside the area is reduced.

The output processing unit 212 outputs route data of the target route R to the work vehicle 10. For example, when an operator selects a field F to be worked on and a work route (target route R) and performs a work start operation, the route data of the target route R corresponding to the field F is output to the work vehicle 10.

When the work vehicle 10 receives the route data of the target route R generated by the operation terminal 20, it stores it in the storage unit 12.

Further, as described above, when the travel start conditions are satisfied and the entire work vehicle 10 is located within the field F, the work vehicle 10 starts automatic travel in response to a travel start instruction from the operator. . Further, when the work vehicle 10 satisfies the travel start condition and a part of the work vehicle 10 is located outside the area of the field F, the travel direction of the work vehicle 10 is within the range B1 (see FIG. 4A, etc.). If the direction is not increasing, automatic traveling is started in response to an instruction from the operator to start traveling.

While the work vehicle 10 is automatically traveling, the operator can grasp the traveling state in the field F using the operating terminal 20.

Note that the operating 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 of the above-mentioned processing units and executes each process.

[Automatic driving processing]
Hereinafter, an example of the automatic driving process executed by the automatic driving system 1 will be described with reference to FIG. 8.

Note that the present invention can be regarded as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. Furthermore, one or more steps included in the automatic driving process described here may be omitted as appropriate. Note that the steps in the automatic driving process may be executed in a different order as long as similar effects are produced. Furthermore, here, a case will be described in which the vehicle control device 11 executes each step in the automatic driving process, but an automatic driving system in which one or more processors execute each step in the automatic driving process in a distributed manner Other embodiments of the method are also contemplated.

First, in step S1, the vehicle control device 11 of the work vehicle 10 starts manual travel of the work vehicle 10 in response to a driving operation by an operator. For example, the operator moves the work vehicle 10 from a farm road into the field F (see FIG. 4A).

Next, in step S2, the vehicle control device 11 determines whether the work vehicle 10 satisfies the travel start condition. For example, the vehicle control device 11 determines that "the distance from the travel start position S to the work vehicle 10 is within 5 m" at the position where the operator manually travels and stops the work vehicle 10 (see FIG. 4A); "The distance from the target route R to the work vehicle 10 on the left and right must be within 1 m each." "The direction of the work vehicle 10 must be within 35 degrees from the direction of the target route R." "The distance from the target route R to the turning position must be within 1 m." It is determined whether each travel start condition of "the remaining distance is 10 meters or more" is satisfied. When the vehicle control device 11 determines that the work vehicle 10 satisfies each of the travel start conditions (S2: Yes), the process proceeds to step S3. On the other hand, if the vehicle control device 11 determines that the work vehicle 10 does not satisfy any of the travel start conditions (S2: No), the process proceeds to step S21. In step S21, the vehicle control device 11 notifies the operator of information (error information) indicating that the travel start condition is not satisfied. Based on the error information, the operator continues manual travel until the work vehicle 10 satisfies the travel start conditions (S2: No, S21).

In step S3, the vehicle control device 11 determines whether a part of the work vehicle 10 is located outside the field F. For example, the vehicle control device 11 determines whether the virtual area C0 (virtual image) of the work vehicle 10 is within the field F in the map image of the field F (see FIG. 5). When the vehicle control device 11 determines that a part of the work vehicle 10 is located outside the field F (S3: Yes), the process proceeds to step S4. On the other hand, when the vehicle control device 11 determines that the entire work vehicle 10 is located within the field F (S3: No), the process proceeds to step S5.

In step S4, the vehicle control device 11 determines whether the traveling direction of the work vehicle 10 is a direction in which the range B1 of the portion of the work vehicle 10 located outside the area (the rear portion in FIG. 4A) decreases. do. For example, in the example shown in FIGS. 4A and 4B, the vehicle control device 11 determines that the direction (travel direction) in which the work vehicle 10 moves from the travel start position S (see FIG. 4A) is the direction in which the range B1 decreases. judge. When the vehicle control device 11 determines that the traveling direction of the work vehicle 10 is the direction in which the range B1 decreases (S4: Yes), the process proceeds to step S5. On the other hand, when the vehicle control device 11 determines that the traveling direction of the work vehicle 10 is the direction in which the range B1 increases (S4: No), the process proceeds to step S41.

In step S41, the vehicle control device 11 prohibits the work vehicle 10 from automatically traveling. After step S41, the vehicle control device 11 moves the process to step S2. Returning to step S2, the operator continues manual travel until the traveling direction of the work vehicle 10 becomes a direction in which range B1 decreases (S4: No, S41). Note that the vehicle control device 11 may notify the operator of error information when prohibiting automatic travel of the work vehicle 10.

In step S5, the vehicle control device 11 allows the work vehicle 10 to travel automatically. Specifically, the vehicle control device 11 allows reception of the travel start instruction from the operating terminal 20. The operation terminal 20 displays an input button (start button) for a travel start instruction on the operation screen D2 (see FIG. 7), and receives the travel start instruction from the operator.

Note that the vehicle control device 11 is configured to not display the start button on the operation screen D2 when the travel start condition is not satisfied (S2: No) and when automatic travel of the work vehicle 10 is prohibited (S41). Alternatively, it may be configured to display error information.

In step S6, the vehicle control device 11 determines whether or not the travel start instruction has been obtained from the operating terminal 20. When the vehicle control device 11 acquires the travel start instruction (S6: Yes), the vehicle control device 11 moves the process to step S7. The vehicle control device 11 waits until the travel start instruction is obtained (S6: No).

In step S7, the vehicle control device 11 causes the work vehicle 10 to start automatically traveling. In the example shown in FIG. 4A, the vehicle control device 11 causes the work vehicle 10 to start automatically traveling from the travel start position S according to the movement route R1. For example, the work vehicle 10 automatically travels along the movement route R1 with the work implement 14 raised.

Next, in step S8, the vehicle control device 11 determines whether the work vehicle 10 has reached the work start position A1. When the work vehicle 10 reaches the work start position A1 (see FIG. 4D) (S8: Yes), the vehicle control device 11 shifts the process to step S9. The vehicle control device 11 continues automatic traveling until the work vehicle 10 reaches the work start position A1 (S8: No).

In step S9, vehicle control device 11 causes work vehicle 10 to start work. For example, the vehicle control device 11 lowers the work implement 14 to start work. The work vehicle 10 performs work while automatically traveling along the work route R2 (see FIG. 3).

Next, in step S10, the vehicle control device 11 determines whether the work vehicle 10 has reached the travel end position G. For example, when the work vehicle 10 reaches the work end position A2, the vehicle control device 11 raises the work implement 14 to end the work, and causes the work vehicle 10 to automatically travel to the travel end position G along the movement route R3 (see FIG. 3). When the work vehicle 10 reaches the travel end position G (S10: Yes), the vehicle control device 11 ends the process. The vehicle control device 11 continues automatic travel until the work vehicle 10 reaches the travel end position G (S10: No). The vehicle control device 11 executes the automatic driving process as described above.

[Other embodiments]
As another embodiment of the present invention, as shown in FIG. 9A, when a part of the side of the work vehicle 10 is located outside the field F, the vehicle control device 11 moves the work vehicle 10 to the travel start position. Automatic traveling of the work vehicle 10 may be permitted when the direction of movement from S (traveling direction) or the vehicle body orientation is a direction in which range B1 decreases. In the example shown in FIG. 9A, the movement route R1 connecting the travel start position S and the work start position A1 is a route extending diagonally with respect to the work route R2. In this case, the work vehicle 10 is in a state where it straddles the boundary of the field F in parallel or diagonally at the travel start position S. In this way, even when the side of the work vehicle 10 is located outside the area of the field F, the vehicle control device 11 controls, if the traveling direction or the vehicle body orientation is a direction in which the range B1 decreases, Automatic travel may be permitted from the travel start position S. Note that according to the movement route R1 shown in FIG. 9A, the work vehicle 10 can arrive at the work start position A1 from the travel start position S by the shortest route.

Further, as another embodiment, the vehicle control device 11 is configured such that when a part of the side of the work vehicle 10 is located outside the area of the field F, as shown in FIG. 9B, the traveling direction is Automatic travel of the work vehicle 10 may be permitted when the range B1 of the portion located outside the area is in a direction that does not change. In the example shown in FIG. 9B, a part of the movement route R1 connecting the travel start position S and the work start position A1 is a route extending parallel to the boundary of the field F. In this case, when the work vehicle 10 starts automatic travel and travels along the movement route R1, it travels in a state where the range B1 does not change. Even in this case, the vehicle control device 11 may permit automatic travel from the travel start position S. According to the movement route R1 shown in FIG. 9B, the work vehicle 10 can move to the work start position A1 without trampling the work area in the field F. This is particularly effective when ridges are formed in the field F, such as in upland cultivation.

Note that in the movement route R1 shown in FIG. 9B, when the work vehicle 10 turns, it is conceivable that the area of the protruding portion of the work implement 14 in the range B1 increases. That is, the range B1 may increase when the work vehicle 10 turns around on the travel route R1. In this case, the vehicle control device 11 may add at least one of the following first configuration example, second configuration example, and third configuration example.

As a first configuration example, the vehicle control device 11 excludes the range (area) of the work implement 14 from the range B1. In this case, the vehicle control device 11 allows the work vehicle 10 to travel automatically when the travel direction of the work vehicle 10 is such that the range B1 excluding the work implement 14 does not change or decreases.

As a second configuration example, the vehicle control device 11 provides a predetermined margin in the range B1. For example, the vehicle control device 11 sets the determination range to be larger in area than the range B1. In this case, the vehicle control device 11 allows the work vehicle 10 to travel automatically if the range B1 does not exceed the determination range. That is, the vehicle control device 11 allows the work vehicle 10 to travel automatically when the travel direction of the work vehicle 10 is a direction in which the determination range does not change or decreases. The margin may be variable by the operator on the setting screen of the operating terminal 20. Further, the margin may be automatically set according to the travel start position S and the travel route R1.

As a third configuration example, the operation control unit 21 sets the travel start position S to a position where the range B1 does not increase when the work vehicle 10 turns and travels on the movement route R1. Thereby, when the work vehicle 10 travels (turns) on the movement route R1, it is possible to prevent the range B1 from increasing.

In this way, when a part of the work vehicle 10 is located outside the area of the field F, the vehicle control device 11 is configured such that the traveling direction of the work vehicle 10 is within the range B1 of the part of the work vehicle 10 located outside the area. It may be configured such that automatic travel of the work vehicle 10 is permitted when the range B1 is decreasing or unchanged, and automatic travel of the work vehicle 10 is prohibited when the range B1 is increasing. . Note that, as shown in FIG. 9A, the operation control unit 21 may generate a movement route R1 in which a range B1 of a portion of the work vehicle 10 located outside the area decreases from the travel start position S in the field F. good.

In the above-described embodiment, the configuration is such that the work vehicle 10 determines permission or prohibition of automatic travel when the work vehicle 10 starts automatic travel from the travel start position S. However, as another embodiment, the vehicle control device 11 10 may determine whether to permit or prohibit automatic travel while working on the work route R2. For example, as shown in FIG. 10, the work vehicle 10 may move to the evacuation area f1 while working on the work route R2. The evacuation area f1 is used for replenishing the work vehicle 10 with supplies (fuel, seedlings, fertilizer, spray materials, etc.) and for storing harvested products harvested by the work vehicle 10 in containers. This is the area for temporary evacuation.

For example, when the vehicle control device 11 acquires a replenishment instruction at the work interruption position A3, the vehicle control device 11 temporarily stops the work and automatically travels to the evacuation area f1 according to the movement route R4. The work vehicle 10 stops with a part of the vehicle body protruding into the evacuation area f1 outside the field F, and the operator performs a replenishment process. When the replenishment process is completed, the vehicle control device 11 determines whether or not to permit automatic travel to the work interruption position A3.

Here, when a part (front part) of the work vehicle 10 is located outside the area of the field F, the vehicle control device 11 controls whether the traveling direction (reverse direction) of the work vehicle 10 is outside the area of the work vehicle 10. Automatic travel of the work vehicle 10 is permitted when the range B1 of the portion located in is in a direction that does not increase (for example, a direction that decreases). In the example shown in FIG. 10, the vehicle control device 11 permits automatic travel from the evacuation area f1 to the work interruption position A3. Thereby, the work vehicle 10 can automatically return to the work interruption position A3 without relying on manual movement by the operator. Therefore, the operator does not need to step into the field F.

In this case as well, the vehicle control device 11 disables the jumping-out function until the entire working vehicle 10 is within the field F, and the vehicle control device 11 disables the jumping-out function until the entire working vehicle 10 is within the field F. If the field is settled, the above-mentioned jumping out of the field function is set to be valid. Further, the vehicle control device 11 sets the running speed to a low speed until the entire work vehicle 10 falls within the area of the field F, and sets the running speed at the time when the entire work vehicle 10 falls within the area of the field F. Increase speed.

As another embodiment of the present invention, the operation control unit 21 of the operation terminal 20 causes the operation terminal 20 to display the moving route R1 and the work route R2 in mutually different ways (route line type, route color, etc.). It's okay. For example, on the operation screen D2 shown in FIG. 11, the operation control unit 21 displays the moving route R1 in a first manner (dotted line) and displays the work route R2 in a second manner (solid line). The operation control unit 21 may display the movement route R1 in red and the work route R2 in blue.

Further, as another embodiment of the present invention, as shown in FIG. 11, the operation control unit 21 displays a frame image corresponding to the virtual area C0 (see FIG. 5) and a first virtual area C1 ( (see FIG. 5) may also be displayed. Further, the operation control unit 21 may display each image in a different manner. Further, the operation control unit 21 may delete the frame image when the entire body of the work vehicle 10 falls within the area of the field F.

Further, as another embodiment of the present invention, while the work vehicle 10 is automatically traveling with a part of the vehicle body located outside the area of the field F, the vehicle control device 11 and the operation control unit 21 are , a predetermined sound (buzzer sound, audio guidance, etc.) may be output from the work vehicle 10 and the operating terminal 20. Thereby, it is possible to alert the operator and the surroundings.

Further, as another embodiment of the present invention, the operation control unit 21 may cause a portion of the work vehicle 10 to be outside the area of the field F when generating the target route R, as shown in the route generation screen D3 of FIG. 12. A first generation mode that allows starting automatic driving in a state where the work vehicle 10 protrudes outside the field F, and a second generation mode that prohibits starting automatic driving with a part of the work vehicle 10 protruding outside the area of the field F. It may also be configured to be selectable. When the operator selects the first generation mode (“permit” in FIG. 12), the operation control unit 21 receives an operation from the operator to set the travel start position S at an arbitrary position within the field F. That is, the operator can set the travel start position S at a desired position within the field F, for example, near an entrance or a ridge. In this case, the operation control unit 21 generates the target route R based on the travel start position S set near the entrance/exit or the ridge. A target route R (see FIG. 3) is generated.

On the other hand, when the operator selects the second generation mode ("not allowed" in FIG. 12), the operation control unit 21 receives a command from the operator to set the travel start position S to a position within a predetermined range within the field F. Accept the operation to set. That is, the operator can set the travel start position S within a predetermined range within the field F, and can set the travel start position S at a position where a part of the work vehicle 10 protrudes outside the field F. I can't. In this case, the operation control unit 21 generates the target route R based on the travel start position S set within a predetermined range, so that the target route R is generated such that the entire work vehicle 10 falls within the field F. generate.

Furthermore, as another embodiment of the present invention, the vehicle control device 11 may determine whether to permit automatic travel based on an arbitrary position of the work vehicle 10, regardless of the travel start position S. For example, when the work vehicle 10 is stopped at an arbitrary position with a part of the vehicle body protruding outside the area of the field F, the direction of movement (traveling direction) from the position (current position) is A configuration may be adopted in which automatic travel of the work vehicle 10 is permitted when the range B1 of the portion of the work vehicle 10 located outside the area is in a direction that does not increase. According to this configuration, when the operator stops the work vehicle 10 at any position in the field with a part of the vehicle body protruding outside the area of the field F, it is possible to start automatic driving from that position. It becomes possible. For example, if the operator moves the work vehicle 10 from a farm road to the field F (manual driving) and stops the work vehicle 10 when a part of the work vehicle 10 enters the area of the field F, the operator starts automatic driving from that position. It is possible to start it. Note that the vehicle control device 11 may permit automatic travel after the work vehicle 10 starts entering the field F and becomes capable of acquiring position information (positioning possible state).

Further, as another embodiment of the present invention, the vehicle control device 11 stops automatic driving when the work vehicle 10 continues automatic driving for a predetermined time or more with a part of the vehicle body located outside the field F. It may be configured to stop. Further, the operation control unit 21 may generate a target route R in which the automatic traveling of the work vehicle 10 does not continue for a predetermined period of time or longer in a state where a part of the body of the work vehicle 10 is located outside the field F. Thereby, it is possible to prevent the work vehicle 10 from automatically traveling for a long time with a part of the work vehicle 10 protruding outside the area of the field F, so that safety can be improved.

As explained above, the automatic driving system 1 according to the present embodiment allows the working vehicle 10 to automatically travel according to the target route R set in the field F, and to move a part of the working vehicle 10 outside the area of the field F. If the working vehicle 10 is traveling in a direction in which the range B1 of the portion of the working vehicle 10 located outside the area does not increase, the automatic traveling of the working vehicle 10 is permitted. do.

According to the above configuration, even if part of the work vehicle 10 is located outside the field F, it is possible to start automatic travel. Further, as a condition for starting automatic travel when a part of the work vehicle 10 is located outside the area of the field F, the running direction of the work vehicle 10 is such that the range B1 of the part of the work vehicle 10 located outside the area is Safety can be ensured by setting the direction so that it does not increase.

Further, according to the above configuration, for example, the operator can start automatic travel by moving the work vehicle 10 to a travel start position S set near an entrance or a ridge. For this reason, work efficiency can be improved compared to the case where the travel start position S is set at a position away from the entrance/exit or the ridge. Further, since the operator can get off the work vehicle 10 near the entrance or exit or the ridge, the operator can start automatic travel without entering the field F.

The function of the travel processing section 111 of the vehicle control device 11 according to the present embodiment may be arranged outside the work vehicle 10 or may be included in the operation control section 21 of the operation terminal 20. That is, in the embodiment described above, the vehicle control device 11 corresponds to the automatic driving system according to the present invention, but the automatic driving system according to the present invention may be configured by the operation terminal 20 alone. Moreover, the automatic driving system according to the present invention may be configured to include the work vehicle 10 and the operation terminal 20. Further, the functions of the travel processing unit 111 may be included in a server that can communicate with the work vehicle 10.

1: Automatic driving system 10: Work vehicle 11: Vehicle control device 14: Work equipment 16: Positioning device 20: Operation terminal 21: Operation control section 111: Travel processing section 211: Setting processing section 212: Output processing section F: Field B1 : Range S of the part located outside the field area : Travel start position G : Travel end position A1 : Work start position A2 : Work end position A3 : Work interruption position R : Target route R1 : Movement route R2 : Work route R3 : Movement route R4: Movement route C0: Virtual area C1: First virtual area

Claims (12)

Automatically driving a work vehicle according to a target route set in the field;
In the case where a part of the work vehicle is located outside the area of the field, and the traveling direction of the work vehicle is a direction in which the range of the part of the work vehicle located outside the field does not increase, the work Allowing vehicles to drive automatically;
Automated driving method to perform. When a part of the work vehicle is located outside the field, and the traveling direction of the work vehicle is a direction in which the range of the part of the work vehicle located outside the field increases, the work Prohibiting autonomous driving of vehicles;
The automatic driving method according to claim 1, further comprising performing the following. When a part of the work vehicle is located outside the field, and the traveling direction of the work vehicle is a direction in which the range of the part of the work vehicle located outside the field decreases, the work allow vehicles to drive autonomously;
The automatic driving method according to claim 1 or 2. The target route includes a work route on which the work vehicle performs a predetermined work, and a movement route that connects the current position of the work vehicle and a work start position of the work route,
When a part of the work vehicle is located outside the field, and the traveling direction of the movement route of the work vehicle is a direction in which the range of the part of the work vehicle located outside the field does not increase. , permitting automatic travel of the work vehicle on the travel route;
The automatic driving method according to any one of claims 1 to 3. further displaying the work route and the movement route in mutually different manners on the operating terminal;
The automatic driving method according to claim 4. When the traveling direction of the working vehicle is a direction in which the area of a first virtual area located outside the field of the virtual area set around the working vehicle does not increase, the automatic driving of the working vehicle allow,
The automatic driving method according to any one of claims 1 to 5. permitting automatic travel of the work vehicle when the travel direction of the work vehicle is a direction in which the area of the first virtual region decreases;
The automatic driving method according to claim 6. The work vehicle has a function of stopping automatic travel when a part of the work vehicle jumps out of the field during automatic travel,
When part of the work vehicle is located outside the area of the field, when allowing the work vehicle to run automatically, the function is set to be disabled, and the work vehicle starts running automatically and the work vehicle does not move automatically. setting the function to be valid when the entire field is located within the area of the field;
The automatic driving method according to any one of claims 1 to 7. When a part of the work vehicle is located outside the field, when the work vehicle starts automatic travel, the first traveling speed is set, and the work vehicle is entirely located within the field. setting a second traveling speed faster than the first traveling speed in the case of
The automatic driving method according to any one of claims 1 to 8. accepting an operation for setting a travel start position of the work vehicle with respect to the field;
Generating a travel route from the travel start position to a work start position where the work vehicle starts work, the travel route not increasing the range of a portion of the work vehicle located outside the area;
The automatic driving method according to any one of claims 1 to 9, further comprising performing the following. Equipped with a travel processing unit that automatically travels the work vehicle according to the target route set in the field,
The traveling processing unit is configured to set a traveling direction of the working vehicle in a direction in which a range of a portion of the working vehicle located outside the field does not increase when a part of the working vehicle is located outside the field. in certain cases, permitting automatic driving of the work vehicle;
Automated driving system. Automatically driving a work vehicle according to a target route set in the field;
In the case where a part of the work vehicle is located outside the area of the field, and the traveling direction of the work vehicle is a direction in which the range of the part of the work vehicle located outside the field does not increase, the work Allowing vehicles to drive automatically;
An automatic driving program that causes one or more processors to execute.