JP2023158318A - Automated travelling system - Google Patents

Abstract

To provide a technology to give operation instructions in an automated travelling system easily.SOLUTION: An exemplary automated travelling system is an automated travelling system to cause a work vehicle to perform automated travelling in a farm field, and includes a reception part for receiving instructions to the work vehicle and a control part provided so as to change an automated travelling mode of the work vehicle according to an operation to the reception part. The control part is capable of shifting the automated travelling mode to a first automated travelling mode in which the work vehicle is caused to travel along the travelling route set beforehand by a first operation mode to the reception part. The control part is capable of shifting the automated travelling mode to a second automated travelling mode different from the first automated travelling mode by a second operation mode to the reception part.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automatic driving system for automatically driving a work vehicle in a field.

Patent Document 1 discloses a technology related to a control device for a work vehicle that moves within a predetermined range of work areas. The control device is provided with a control means for controlling the traveling means of the work vehicle as follows. The control means moves the working vehicle from the current working position to the auxiliary working position in response to a command to move the working vehicle to the auxiliary working position at the work site, and moves the working vehicle to the auxiliary working position in response to a command to return to the current working position. to move the work vehicle from the auxiliary work position to the current work position. The control device is provided with a switch for instructing movement to the auxiliary work position and a switch for instructing return to the current work position.

Further, Patent Document 2 discloses that during automatic driving, the traveling aircraft is temporarily stopped for a predetermined period of time so that the driver or supervisor can decide whether or not to replenish mat-shaped seedlings. . Further, it is disclosed that when it is determined that the mat seedlings are to be replenished, the traveling body is moved to a position along the outer periphery by automatic traveling or manual traveling.

Japanese Patent Application Publication No. 9-154315 JP 2021-108594 Publication

By the way, if it is possible for the operator to shift to another automatic driving mode at his/her will during automatic driving work, for example, it will be easier to take a break or replenish at the operator's desired timing. The convenience of automatic driving systems can be improved. However, if the operation for transitioning to another automatic driving mode or the configuration of the operation part for performing the operation becomes complicated, the operator's work efficiency may decrease.

In view of the above points, an object of the present invention is to provide a technology that allows easy operation instructions in an automatic driving system.

An exemplary automatic driving system of the present invention is an automatic driving system that automatically travels a working vehicle in a field, and includes a reception section that receives instructions for the working vehicle, and a reception section that receives instructions for the working vehicle, and a and a control section that is provided to be able to change the automatic driving mode. The control unit can shift the automatic travel mode to a first automatic travel mode in which the work vehicle travels along a preset travel route in response to a first operation performed on the reception unit. The control unit can shift the automatic driving mode to a second automatic driving mode different from the first automatic driving mode by a second operation mode to the reception unit.

According to the exemplary embodiment of the present invention, operation instructions in an automatic driving system can be easily given.

Diagram showing the configuration of an automated driving system Schematic plan view of rice transplanter Block diagram showing the configuration of the rice transplanter Schematic diagram showing an example of an automatic travel switch Block diagram showing the configuration of a mobile communication terminal Diagram schematically showing a field and work routes Flowchart showing an example of automatic driving system operation Flowchart showing an example of automatic driving system operation

Embodiments of the present invention will be described with reference to the drawings. In addition, in the drawings, the same reference numerals are given to the same or corresponding parts, and the description will not be repeated. Further, in this specification, a direction perpendicular to a traveling plane S on which the working vehicle 1 shown in FIG. Further, the direction in which the work vehicle 1 travels straight is defined as a front-rear direction, and the front and rear directions are defined as the steering handle 26 being on the front side with respect to the driver's seat 25. Further, the direction perpendicular to the up-down direction and the front-back direction is defined as the left-right direction, and left and right are defined as the right side from the rear to the front, and the left side as the left side. Note that these directions are simply names used for explanation, and are not intended to limit the actual positional relationships and directions.

<1. Automated driving system configuration>
FIG. 1 is a diagram showing the configuration of an automatic driving system 100 according to an embodiment of the present invention. The automatic driving system 100 is a system for automatically driving the work vehicle 1 in a field. Here, automatic driving means that a device related to driving is controlled by a control unit included in the work vehicle 1, so that at least steering is performed autonomously along a predetermined route. In addition to steering, automatic driving may be configured such that, for example, at least one of vehicle speed and work performed by a work device is performed autonomously. Moreover, automatic driving may include both a case where a person is riding in the work vehicle 1 and a case where a person is not riding in the work vehicle 1.

In this embodiment, the work vehicle 1 is a rice transplanter. However, the work vehicle 1 may be other than a rice transplanter. The work vehicle 1 may be, for example, a combine harvester or a tractor. Further, the work vehicle 1 may be a vehicle that travels while consuming agricultural materials, for example. In addition to a rice transplanter, such a work vehicle 1 may be, for example, a seeding machine that runs while sowing seeds in a field, a fertilizer applicator that runs while applying fertilizer to a field, or a fertilizer applicator that runs while spraying a chemical onto a field. Examples include chemical spray machines.

In this embodiment, the automatic driving system 100 includes a rice transplanter 1 and a mobile communication terminal 7. In the automatic driving system 100, for example, by giving an instruction using the mobile communication terminal 7, an operator can cause the rice transplanter 1 to perform tasks such as planting seedlings while causing the rice transplanter 1 to travel automatically. . For example, a worker may bring the mobile communication terminal 7 into the rice transplanter 1 and use it. Further, the mobile communication terminal 7 may be used by a person who closely monitors the operation of the rice transplanter 1 without riding on the rice transplanter 1.

Note that the instruction for automatic travel may be given by operating an operating member provided on the rice transplanter 1 instead of using the mobile communication terminal 7. In this embodiment, as will be described later, some instructions related to automatic travel can be accepted by an operating member provided in the rice transplanter 1.

[1-1. Rice transplanter】
FIG. 2 is a schematic plan view of the rice transplanter 1 according to the embodiment of the present invention. FIG. 3 is a block diagram showing the configuration of the rice transplanter 1 according to the embodiment of the present invention. An overview of the rice transplanter 1 will be described with reference to FIGS. 1, 2, and 3.

As shown in FIGS. 1 and 2, the rice transplanter 1 includes a vehicle body 11, a front wheel 12, a rear wheel 13, and a planting section 14. A pair of left and right front wheels 12 are provided with respect to the vehicle body portion 11 . Similarly, a pair of left and right rear wheels 13 are provided with respect to the vehicle body portion 11 . The planting section 14 is an example of a working device. For example, when the working vehicle is other than a rice transplanter, the working device may be a seeding device, a fertilizing device, a chemical spraying device, a tilling device, a reaping device, or the like.

The vehicle body portion 11 includes a bonnet 21. The bonnet 21 is provided at the front part of the vehicle body part 11. An engine 22 is provided inside the hood 21. The power generated by the engine 22 is transmitted to the front wheels 12 and the rear wheels 13 via the transmission case 23. The power generated by the engine 22 is also transmitted to the planting section 14 via the mission case 23 and a power take-off shaft (hereinafter referred to as "PTO shaft 24") located at the rear of the vehicle body section 11. be done.

The vehicle body section 11 further includes a driver's seat 25 and a plurality of operating members. A worker can sit on the driver's seat 25. The driver's seat 25 is arranged between the front wheels 12 and the rear wheels 13 in the longitudinal direction of the vehicle body 11. The plurality of operating members include a steering handle 26, a shift operation pedal 27, a main shift lever 28, and a planting clutch lever 29.

The steering handle 26 is a handle for an operator to steer the rice transplanter 1. The speed change operation pedal 27 is a pedal used by an operator to adjust the traveling speed of the rice transplanter 1. The main shift lever 28 is a lever that allows the operator to select, for example, "forward", "reverse", "stop", etc. When the main speed change lever 28 is operated to the "forward" position, power is transmitted so that the rear wheels 13 rotate in a direction that moves the rice transplanter 1 forward. On the other hand, when the main speed change lever 28 is operated to the "reverse" position, power is driven so that the rear wheels 13 rotate in a direction that causes the rice transplanter 1 to move backward. When the main shift lever 28 is operated to the "stop" position, power transmission to the front wheels 12 and rear wheels 13 is cut off. Note that "forward" may be divided into "low speed" for traveling inside the field and "high speed" for traveling outside the field. The planting clutch lever 29 is used by the operator to select a transmission state in which the planting clutch transmits power to the PTO shaft 24 (i.e., the planting section 14) and a transmission state in which the planting clutch transmits power to the PTO shaft 24 (i.e., the planting section 14). This lever is used to switch between the cut-off state and the cut-off state in which no signal is transmitted.

The planting section 14 is arranged at the rear of the vehicle body section 11. The planting section 14 is connected to the vehicle body section 11 via an elevating link mechanism 31. The elevating link mechanism 31 is composed of parallel links including a top link 31a and a lower link 31b. In the lift link mechanism 31, a lift cylinder 32 of a lift device is connected to the top link 31a. The lifting device can move the planting section 14 up and down with respect to the vehicle body 11 by expanding and contracting the lifting cylinder 32.

The planting section 14 includes a planting input case section 33 , a plurality of planting units 34 , a seedling platform 35 , a plurality of floats 36 , and a preliminary seedling platform 37 . The planting unit 14 sequentially supplies seedlings from the seedling stand 35 to each planting unit 34 and continuously plants the seedlings.

Each planting unit 34 has a planting transmission case part 41 and a rotating case part 42. Power is transmitted to the planting transmission case section 41 via the PTO shaft 24 and the planting input case section 33. The rotating case part 42 is rotatably attached to the planting transmission case part 41. The rotating case section 42 is arranged on both sides of the planting transmission case section 41 in the left-right direction. Two planting claws 43 are attached to one side of each rotating case portion 42 in the left-right direction. The two planting claws 43 are arranged in the front-back direction of the rice transplanter 1. The two planting claws 43 are displaced as the rotating case portion 42 rotates. By displacing the two planting claws 43, one row of seedlings is planted.

The seedling stand 35 is arranged above and in front of the plurality of planting units 34. The seedling table 35 can place a seedling mat. The seedling table 35 is configured to be able to supply seedlings on the seedling mat placed on the seedling table 35 to each planting unit 34. Specifically, the seedling platform 35 is configured to be able to move laterally (that is, to be slidable laterally) so as to reciprocate in the left-right direction. Further, the seedling platform 35 is configured to be able to intermittently feed the seedling mat vertically downward at the end of the reciprocating movement of the seedling platform 35 .

The float 36 is swingably provided at the lower part of the planting section 14. By bringing the lower surface of the float 36 into contact with the field surface, the planting posture of the planting section 14 is stabilized with respect to the field surface.

A pair of spare seedling mounting stands 37 are provided in front of the vehicle body 11 on the left and right sides of the vehicle body 11 . The spare seedling stand 37 is arranged outside the bonnet 21 in the left-right direction. The spare seedling table 37 can mount a seedling box containing a spare seedling mat. When the seedling mat on the seedling table 35 runs out, the operator moves the seedling mat on the preliminary seedling table 37 to the seedling table 35.

The upper parts of the pair of left and right preliminary seedling mounting stands 37 are connected to each other by a connecting frame 15 extending in the vertical direction and the horizontal direction. A housing 16 is provided at the center of the connection frame 15 in the left-right direction. Inside the housing 16, a positioning antenna 61, an inertial measurement device 62, and a communication antenna 63 are arranged.

The positioning antenna 61 receives radio waves (positioning signals) from positioning satellites that constitute a global navigation satellite system (GNSS). The inertial measurement device 62 includes a three-axis angular velocity sensor and a three-direction acceleration sensor. The communication antenna 63 is an antenna for performing wireless communication with the mobile communication terminal 7. For wireless communication, wireless LAN (Local Area Network) such as Wi-Fi (registered trademark), short-range wireless communication such as Bluetooth (registered trademark), etc. may be used. Furthermore, the rice transplanter 1 may be provided with a mobile communication antenna (not shown) for communication using a mobile phone line and the Internet.

As shown in FIG. 3, the rice transplanter 1 includes a control section 50. The control unit 50 is, for example, a computer including an arithmetic unit, an input/output unit, and a storage unit 55. The arithmetic device is a processor, a microprocessor, or the like. The storage unit 55 is a main storage device such as ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit 55 may further include an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage unit 55 stores various programs, data, and the like. The arithmetic device reads various programs from the storage unit 55 and executes them.

Through cooperation between the hardware and software described above, the control section 50 can be operated as the automatic travel control section 51, the work equipment control section 52, the operation determination section 53, and the notification control section 54. The control unit 50 may be one piece of hardware or may be a plurality of pieces of hardware that can communicate with each other.

Note that each of the functional units 51 to 54 included in the control unit 50 may be realized by causing a calculation device to execute a program, that is, by software, as described above, but may also be realized by other methods. Each of the functional units 51 to 54 may be realized using, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). That is, each of the functional units 51 to 54 may be realized by hardware using a dedicated IC or the like. Furthermore, each of the functional units 51 to 54 may be realized using a combination of software and hardware. Further, each of the functional units 51 to 54 is a conceptual component. A function performed by one component may be distributed among multiple components. Further, functions possessed by a plurality of components may be integrated into one component.

In addition to the inertial measurement device 62 described above, the control unit 50 includes a position acquisition unit 64, a communication processing unit 65, a vehicle speed sensor 66, a steering angle sensor 67, a planting clutch sensor 68, an automatic travel switch 69, and an automatic travel switch. Lamp 70 is connected.

The position acquisition unit 64 uses the positioning signal that the positioning antenna 61 receives from the positioning satellite to acquire the position of the rice transplanter 1, for example, as latitude and longitude information. The position acquisition unit 64 may, for example, receive a positioning signal from a reference station (not shown) using an appropriate method, and then perform positioning using a known RTK-GNSS (Real Time Kinematic GNSS) method. Reference stations are installed at known locations around the field. Further, for example, the position acquisition unit 64 may perform positioning using the DGNSS (Differential GNSS) method. Further, for example, the position acquisition unit 64 may perform position acquisition based on the radio field intensity of a wireless LAN or the like, or position acquisition by inertial navigation using the measurement results of the inertial measurement device 62.

The communication processing unit 65 transmits and receives data to and from the mobile communication terminal 7 via the communication antenna 63.

Vehicle speed sensor 66 detects the vehicle speed of rice transplanter 1 . The vehicle speed sensor 66 is provided on the axle of the front wheel 12 or the like. When the vehicle speed sensor 66 is provided on the axle of the front wheel 12, the vehicle speed sensor 66 generates a pulse according to the rotation of the axle of the front wheel 12. The data of the detection results obtained by the vehicle speed sensor 66 is output to the control section 50.

The steering angle sensor 67 detects the steering angle of the front wheels 12. The steering angle sensor 67 is provided, for example, at the kingpin of the front wheel 12. However, the steering angle sensor 67 may be provided on the steering handle 26 or the like. The data of the detection results obtained by the steering angle sensor 67 is output to the control section 50.

The planting clutch sensor 68 detects the position of the planting clutch lever 29. The detection result data obtained by the planting clutch sensor 68 is output to the control section 50. The control unit 50 can specify whether the planting unit 14 is performing planting work based on the detection result of the planting clutch sensor 68. Note that the control unit 50 performs the planting operation based on the state of another member (for example, whether or not the PTO shaft 24 downstream of the planting clutch is rotating) rather than the planting clutch lever 29. It may also be possible to specify whether the

The automatic travel switch 69 is an example of a reception section of the present invention. That is, the automatic driving system 100 includes a reception unit 69 that receives instructions for the work vehicle 1. Specifically, the automatic travel switch 69 receives instructions related to automatic travel for the rice transplanter 1. The automatic travel switch 69 outputs a signal to the control unit 50 in accordance with the operation of the switch.

FIG. 4 is a schematic diagram showing an example of the automatic travel switch 69. As shown in FIG. 4, in this embodiment, the automatic travel switch 69 is a button type switch. However, the automatic travel switch 69 is not limited to a button type switch, and may be a dial type switch, a lever type switch, or the like, for example. Further, the automatic travel switch 69 may be a soft switch such as a virtual button displayed on a screen, instead of a switch configured as a physical device (hard switch). The automatic travel switch 69 may be provided at a suitable location on the rice transplanter 1. For example, the automatic travel switch 69 may be provided on a front panel (a component of the vehicle body 11) in front of the driver's seat 25, or the like.

Note that the automatic travel switch may be provided in the mobile communication terminal 7 instead of the rice transplanter 1 or in addition to the rice transplanter 1. Furthermore, if the automatic driving system 100 is provided with a remote control device separately from the mobile communication terminal 7 for the purpose of remotely performing an emergency stop, for example, the remote control device is provided with an automatic driving switch. Good too. The automatic travel switch provided on the mobile communication terminal 7 or the remote control device may be a hard switch or a soft switch.

The automatic travel switch lamp 70 is an example of the notification section of the present invention. That is, the automatic driving system 100 includes a notification section 70 that notifies the state of the automatic driving mode. Note that the automatic driving mode will be described later. The automatic travel switch lamp 70 is configured using a light emitting part such as a light emitting diode, for example. The automatic travel switch lamp 70 notifies the automatic travel mode state by changing its lighting state. Changing the lighting state may include, for example, changing the lighting color and changing the lighting time interval. Notification of the state of the automatic driving mode may include, for example, notifying which automatic driving mode is being executed or which automatic driving mode is available for use. By providing the notification section 70, convenience for the worker can be improved.

As shown in FIG. 4, in this embodiment, the automatic travel switch lamp 70 has an annular shape surrounding the automatic travel switch 69. Specifically, the automatic travel switch lamp 70 has an annular shape surrounding the circular automatic travel switch 69. With this configuration, the operator can easily understand that the automatic travel switch lamp 70 is a notification means related to the automatic travel switch 69. However, the shape and arrangement of the automatic travel switch lamp 70 may be changed as appropriate.

Note that when the automatic travel switch is a virtual button displayed on the screen, the automatic travel switch lamp may also be a virtual lamp displayed on the screen. Moreover, the automatic travel switch lamp may be provided on the mobile communication terminal 7 or the remote control device instead of the rice transplanter 1 or in addition to the rice transplanter 1, similarly to the automatic travel switch. Further, the notification section that notifies the state of the automatic driving mode is not limited to the light emitting means, but may be a sound generating means, a display means, or the like. Further, although the notification section does not need to be provided, by providing the notification section, it becomes possible to easily grasp the state of the automatic driving mode of the work vehicle.

The automatic travel control unit 51 performs control related to travel of the rice transplanter 1, such as vehicle speed control and steering control. Under the control of the automatic travel control unit 51, the rice transplanter 1 can autonomously move forward, backward, turn, and the like. Further, the automatic travel control unit 51 can also control the rice transplanter 1 to travel in response to remote control by a worker using the mobile communication terminal 7. Furthermore, the automatic travel control unit 51 can perform autonomous steering, for example, and can also perform control to change the vehicle speed in accordance with an operator's operation.

When changing the vehicle speed autonomously, the automatic travel control unit 51 performs control to bring the current vehicle speed detected by the vehicle speed sensor 66 closer to the target vehicle speed. Vehicle speed control is achieved by changing at least one of the gear ratio of the transmission in the transmission case 23 or the rotational speed of the engine 22. Note that the control of vehicle speed also includes control to reduce the vehicle speed to zero so that the rice transplanter 1 stops.

When steering is performed autonomously, the automatic travel control unit 51 performs control to bring the current steering angle detected by the steering angle sensor 67 closer to the target steering angle. Control of the steering angle is realized, for example, by driving a steering actuator provided on the rotation shaft of the steering handle 26. Note that the automatic travel control unit 51 may directly adjust the steering angle of the front wheels 12 instead of driving the steering actuator.

The working device control unit 52 controls the operation of the planting unit 14, which is an example of a working device, based on predetermined conditions. Specifically, the work device control unit 52 controls the raising and lowering operation of the planting unit 14, the planting work, and the like. Control of the planting work may include, for example, on/off control of a PTO switch (not shown) that performs a switching operation between transmitting and cutting off power to the PTO shaft 24.

The operation determination unit 53 makes a determination regarding the operation of the automatic travel switch 69. Specifically, the operation determination unit 53 determines the manner in which the automatic travel switch 69 is operated. More specifically, the operation determination unit 53 determines the manner in which the automatic travel switch 69 is operated, and determines which automatic travel mode has been instructed based on the determination result. The automatic travel control unit 51 and the working device control unit 52 control automatic travel of the rice transplanter 1 in the determined automatic travel mode. In other words, the automatic driving system 100 includes the control unit 50 that is provided to be able to change the automatic driving mode of the work vehicle 1 according to an operation on the reception unit 69.

Note that an example of controlling automatic travel of the rice transplanter 1 according to the operation mode of the automatic travel switch 69 will be described later. Further, as described above, since the mobile communication terminal 7 may be provided with the automatic travel switch, the operation determination section may be a function provided in the mobile communication terminal 7.

The notification control unit 54 controls a notification unit 70 that notifies the state of the automatic driving mode. In this embodiment, the notification unit 70 is an automatic travel switch lamp as described above. The notification control unit 54 controls the lighting of the automatic travel switch lamp 70, for example, according to the type of automatic travel mode determined by the operation determination unit 53. Further, the notification control unit 54 controls the lighting of the automatic travel switch lamp 70 according to the type of selectable automatic travel mode, for example. An example of lighting control of the automatic travel switch lamp 70 will be described later. In addition, since the automatic travel switch lamp may be provided in the mobile communication terminal 7 as described above, the notification control section may be a function provided in the mobile communication terminal 7.

[1-2. Mobile communication terminal]
FIG. 5 is a block diagram showing the configuration of the mobile communication terminal 7 according to the embodiment of the present invention. As shown in FIG. 5, the mobile communication terminal 7 includes a communication antenna 71, a communication processing section 72, a display section 73, an operation section 74, and a control section 80. The mobile communication terminal 7 is a tablet terminal, a smartphone, a notebook computer, or the like. The mobile communication terminal 7 performs various processes related to the automatic running of the rice transplanter 1, but the control unit 50 of the rice transplanter 1 can also perform at least a part of these processes. Conversely, the mobile communication terminal 7 can also perform at least a part of the various processes related to automatic travel performed by the control unit 50 of the rice transplanter 1. Further, at least a portion of the functions of the mobile communication terminal 8 may be executed by a server that can communicate with at least one of the rice transplanter 1 and the mobile communication terminal 8 via a network such as the Internet.

The communication antenna 71 is an antenna for performing wireless communication with the rice transplanter 1. The communication processing unit 72 transmits and receives data to and from the rice transplanter 1 via the communication antenna 71.

As mentioned above, since the rice transplanter 1 can be connected to a mobile phone line, the mobile communication terminal 7 can connect to the mobile phone line via the rice transplanter 1 connected by wireless communication such as Wi-Fi (registered trademark). can be connected to. Therefore, for example, part of the information stored in the storage section 55 of the control section 50 of the rice transplanter 1 or the storage section 81 of the control section 80 can be stored in an external server. Note that a mobile communication antenna (not shown) may be provided not in the rice transplanter 1 but in the mobile communication terminal 7.

The display unit 73 is a liquid crystal display, an organic EL (Electroluminescence) display, or the like. The display unit 73 can display, for example, information regarding the field, information regarding automatic travel, information regarding the settings of the rice transplanter 1, detection results of various sensors, warning information, and the like.

The operation unit 74 includes at least one of a touch panel and hardware keys. The touch panel may be arranged to overlap the display section 73 and may be configured to be able to detect operations by the operator's fingers or the like. The hardware key may be arranged on the side surface of the casing of the mobile communication terminal 7 or around the display section 73, and may be configured to be able to detect a press by an operator's finger or the like.

The control unit 80 is, for example, a computer including an arithmetic unit, an input/output unit, and a storage unit 81. The arithmetic device is a processor, a microprocessor, or the like. The storage unit 81 is a main storage device such as ROM and RAM. The storage unit 81 may further include an auxiliary storage device such as an HDD or an SSD. The storage unit 81 stores various programs, data, and the like. The arithmetic device reads various programs from the storage unit 81 and executes them.

The control section 80 can be operated as the route creation section 82 through cooperation between the above-mentioned hardware and software. As described above, the route creation unit 82 may be realized by causing a calculation device to execute a program, that is, by software, but may also be realized by other methods. The route creation unit 82 may be realized using, for example, ASIC, FPGA, or the like. That is, the route creation unit 82 may be realized by hardware using a dedicated IC or the like. Further, the route creation unit 82 may be realized using a combination of software and hardware. Note that the route creation unit 82 may be a function included in the rice transplanter 1.

The function of the route creation unit 82 makes it possible to create a route on which the rice transplanter 1 automatically travels within the field. Here, an example of a work route generated in a field will be explained. Note that the work route is an example of a route on which the rice transplanter 1 automatically travels, and includes a route on which the rice transplanter 1 performs the work of planting seedlings.

FIG. 6 is a diagram schematically showing a field 90 and a work route 91. The farm field 90 includes a work area R1 and a headland area R2. The work area R1 is located in the center of the field 90, and is an area for performing work. The headland area R2 is located outside the work area R1, and is an area used for appropriately performing work in the work area R1. For example, the headland area R2 is an area for moving the rice transplanter 1 that has entered the field 90 to the starting position of the planting work, an area for turning the rice transplanter 1, and an area for moving the rice transplanter 1 to the seedling replenishment position. It is used as an area for moving. In addition, in this example, seedlings are eventually planted also in the headland area R2.

As a work route for automatically running the rice transplanter 1, for example, a work route 91 shown in FIG. 6 is created in advance by the route creation unit 82. The working route 91 is composed of at least an inner route 92 and an outer circumferential route 93. The inner route 92 is composed of a plurality of straight routes 92a that go straight through the work area R1 of the field 90, and a turning route 92b that connects the adjacent straight routes 92a. The outer circumferential route 93 is a route that exists on the outer periphery of the inner route 92 in the farm field 90 (namely, the headland region R2) and goes around the headland region R2 at least once. When the headland region R2 is sufficiently wide with respect to the working width (horizontal width) of the rice transplanter 1, the rice transplanter 1 needs to go around the headland region R2 multiple times. In addition, in FIG. 6, the arrow shown on the work route 91 shows the advancing direction of the rice transplanter 1.

The straight path 92a is a straight path, and is, for example, parallel to one side (for example, the short side) of the outline of the field 90 or the work area R1. The arrangement interval of the straight path 92a is determined based on the working width, turning radius, working interval, etc. The work interval is a length that indicates the distance between adjacent work ranges in the vehicle width direction (left and right direction). Information required by the route creation unit 82 when creating a route, such as the outline of the field 90, the work area R1, and the work width, may be stored in the storage unit 81, for example. Alternatively, the information required by the route creation unit 82 when creating the route may be stored in the storage unit 55. In this case, a configuration may be adopted in which the route creation section 82 transmits a command to request transmission of the information to the control section 50.

The route creation unit 82 sets the straight route 92a and the outer circumferential route 93 of the work route 91 as routes on which the planting unit 14 performs the seedling planting work. On the other hand, the route creation unit 82 sets the turning route 92b to a route where the planting unit 14 does not perform seedling planting work. The route creation unit 82 also sets the running direction, target vehicle speed, target steering angle, etc. of the rice transplanter 1 for each position on the work route 91.

Note that although the field 90 shown in FIG. 6 has a rectangular shape, it may have another shape. Moreover, the work route 91 shown in FIG. 6 is an example. The route creation unit 82 creates work suitable for the rice transplanter 1 and the planting unit 14 based on the turning radius and working width, etc., which differ depending on the model, etc., and the contour, size, etc., which differs depending on the field 90. A route 91 can be generated.

Further, in the present embodiment, the route creation unit 82 creates, for example, a route from a certain work position to a replenishment position 94 for replenishing seedlings, medicines, fertilizers, fuel, etc., and a route from the replenishment position 94 to return to the work position. It is also possible to create a round trip route consisting of a route. The round trip route is set in an area where no work is being performed. Note that, among the functions of the route creation unit 82, the function of creating the work route 91 may be provided in the mobile communication terminal 7, and the function of creating a round trip route may be provided in the rice transplanter 1.

Further, in this embodiment, the work route 91 and the like generated by the route creation unit 82 are stored in the storage unit 81. The work route 91 and the like stored in the storage section 81 can be displayed on the display section 73.

The control unit 80 of the mobile communication terminal 7 transmits information such as the work route 91 stored in the storage unit 81 to the control unit 50 in response to a transmission request command from the control unit 50 of the rice transplanter 1. The control unit 50 stores the received information such as the work route 91 in the storage unit 55. Regarding the transmission of information on the work route 91, for example, the control unit 80 transmits all information on the work route 91 from the storage unit 81 to the control unit 50 at once at a stage before the rice transplanter 1 starts automatic travel. You can do it like this. Alternatively, the control unit 80 divides the work route 91 into a plurality of divided route information each having a predetermined distance, and each time the traveling distance of the rice transplanter 1 reaches a predetermined distance from a stage before the rice transplanter 1 starts automatic travel. Alternatively, a predetermined number of divided route information corresponding to the route of the rice transplanter 1 may be sequentially transmitted from the storage unit 81 to the control unit 50.

<2. Operation examples related to automatic driving>
Next, an example of the operation of the automatic driving system 100 configured as described above will be described. 7 and 8 are flowcharts illustrating an example of the operation of the automatic driving system 100 according to the embodiment of the present invention. FIG. 8 is a flowchart showing the processing continued from the part indicated by "α" in FIG.

Note that at the start of the flowcharts shown in FIGS. 7 and 8, a work route (planned route) for performing work in the field has already been determined. Moreover, the rice transplanter 1 is traveling toward the planned route. Furthermore, in the examples shown in FIGS. 7 and 8, it is assumed that a worker is riding on the rice transplanter 1. However, as described above, the automatic travel switch 69 may be provided in a device other than the rice transplanter 1, such as the mobile communication terminal 7, and in such a configuration, if the operator is not on the rice transplanter 1, It's okay.

In step S1, for example, the notification control unit 51 monitors whether the rice transplanter 1 is located on the planned route. Whether or not the rice transplanter 1 is located on the planned route is determined based on information obtained from the position acquisition unit 64. For example, when the position of the positioning antenna 61 deviates from the planned route within a predetermined range in the left and right directions, it is determined that the rice transplanter 1 is located on the planned route. The predetermined range may be, for example, 50 cm. When determining whether or not the rice transplanter 1 is located on the planned route, in addition to the left and right deviations, for example, the deviation of the orientation of the rice transplanter 1 relative to the planned path may also be determined. If it is determined that the rice transplanter 1 is located on the planned route (Yes in step S1), the process proceeds to the next step S2.

In step S2, the notification control unit 54 controls the automatic travel switch lamp 70 to blink the automatic travel switch lamp 70 in a blinking pattern A. Blinking pattern A is a blinking pattern in which lighting is performed in a predetermined lighting color at predetermined time intervals. The predetermined lighting color and the predetermined time interval are not particularly limited and may be set as appropriate. The operator can recognize that the automatic driving switch lamp 70 starts blinking in the blinking pattern A, and that the automatic driving switch lamp 70 is ready to start automatic driving. In addition, in this embodiment, the "state in which automatic driving can be started" referred to here includes automatic driving in the first automatic driving mode and automatic driving in the second automatic driving mode. The first automatic driving mode and the second automatic driving mode will be described later. When the automatic travel switch lamp 70 starts blinking in the blinking pattern A, the process proceeds to the next step S3.

In step S3, the operation determination unit 53 monitors whether the automatic travel switch 69 is pressed. If it is determined that the automatic travel switch 69 has been pressed (Yes in step S3), the process proceeds to the next step S4.

In step S4, the operation determination unit 53 determines whether the time period during which the automatic travel switch 69 is pressed is within a predetermined time period. The predetermined time may be set as appropriate, and may be, for example, 2 seconds. If it is determined that the press time of the automatic travel switch 69 is within the predetermined time (Yes in step S4), it is determined that the first automatic travel mode has been instructed, and the process proceeds to the next step S5. On the other hand, if it is determined that the pressing time of the automatic travel switch 69 is longer than the predetermined time (No in step S4), it is determined that the second automatic travel mode has been instructed, and the process proceeds to step S13 shown in FIG. 8.

Note that the operation mode in which the automatic travel switch 69 is pressed within a predetermined time is the first operation mode for the reception section. Further, the operation mode in which the automatic travel switch 69 is pressed for a longer time than the predetermined time is a second operation mode for the reception section. That is, in the present embodiment, the operation time for the reception unit 69 is different between the first operation mode and the second operation mode. However, such a configuration is an example. The first operation mode and the second operation mode are not limited to the operation time, but may differ in the number of times the reception unit 69 is operated, for example. For example, the first operation mode may be a configuration in which the reception section 69 is pressed once, and the second operation mode may be a configuration in which the reception section 69 is pressed twice. Further, the first operation mode and the second operation mode may have a configuration in which the operation time and the number of operations are different. That is, the first operation mode and the second operation mode may have a configuration in which at least one of the operation time and the number of operations for the reception unit 69 is different. By having a configuration in which different instructions can be given to one receiving section 69 depending on the operation mode, an increase in the number of receiving sections 69 can be suppressed.

In step S5, the automatic travel control unit 51 shifts the automatic travel mode to the first automatic travel mode and causes the rice transplanter 1 to start automatic work travel. That is, the control unit 50 can shift the automatic travel mode to the first automatic travel mode in which the work vehicle 1 travels along a preset travel route by a first operation performed on the reception unit 69. Specifically, the first automatic travel mode is a mode in which the rice transplanter 1 is driven along a work route. The automatic travel control unit 51 that has started automatic travel in the first automatic travel mode controls the vehicle speed and steering angle based on various detection results from the position acquisition unit 64 and the like. Further, with the start of automatic travel in the first automatic travel mode, the working device control unit 52 lowers the planting unit 14 while the rice transplanter 1 is automatically traveling along the straight path 92a (see FIG. 6). At the same time, the planting clutch is switched from the disconnected state to the transmitting state, and the planting section 14 is caused to perform seedling planting work. Further, while the rice transplanter 1 is turning along the turning path 92b, the working device control unit 52 switches the planting clutch from the transmission state to the disconnection state to interrupt the seedling planting work. When automatic travel (automatic work travel) in the first automatic travel mode is started, the process proceeds to the next step S6.

In step S6, the notification control unit 54 controls the automatic travel switch lamp 70 to turn on the automatic travel switch lamp 70. That is, by starting automatic travel in the first automatic travel mode, the automatic travel switch lamp 70 changes from a blinking state in blinking pattern A to a constantly lit state. This allows the worker to recognize that automatic work travel has started. Since it is sufficient for the worker to be able to recognize the start of automatic work travel, a configuration other than the configuration in which the blinking pattern A changes to a constantly lit state may be used. The configuration may be such that the blinking pattern A changes to another blinking pattern. Other blinking patterns may have a configuration different from blinking pattern A in lighting color or blinking time interval. When the automatic travel switch lamp 70 starts lighting, the process proceeds to the next step S7.

In step S7, the automatic travel control unit 51 determines whether the vehicle has traveled all the planned trips, that is, whether the planned trips have been completed. Whether or not the planned journey has been completed can be determined, for example, from the travel history of the rice transplanter 1 determined by information from the position acquisition unit 64. If it is determined that the planned process has been completed (Yes in step S7), the process proceeds to the next step S8. If it is determined that the planned process has not been completed (No in step S7), the process proceeds to step S10.

In step S8, the automatic travel control unit 51 performs processing to stop automatic travel in the first automatic travel mode. In accordance with the automatic travel stop processing by the automatic travel control unit 51, the work device control unit 52 switches the planting clutch from the transmission state to the disconnection state and raises the planting unit 14 to finish the seedling planting work. . Once the process of stopping automatic travel in the first automatic travel mode is performed, the process proceeds to the next step S9.

In step S9, the notification control unit 54 controls the automatic travel switch lamp 70 to turn off the automatic travel switch lamp 70. By turning off the automatic travel switch lamp 70, the worker can recognize that automatic work travel has ended. Upon completion of the process in step S9, the operations shown in FIGS. 7 and 8 are temporarily ended.

In step S10, which is performed when it is determined that the planned journey has not been completed, the operation determination unit 53 determines whether the automatic travel switch 69 has been pressed. If it is determined that the automatic travel switch 69 has been pressed (Yes in step S10), the process proceeds to the next step S11. If it is determined that the automatic travel switch 69 is not pressed (No in step S10), the process returns to step S7 described above. That is, after automatic driving in the first automatic driving mode has started, automatic driving in the first automatic driving mode will continue unless the planned journey is completed or the automatic driving switch 69 is operated. It will be done.

In step S11, the operation determination unit 53 determines whether or not the time period during which the automatic travel switch 69 is pressed is within a predetermined time period. If it is determined that the press time of the automatic travel switch 69 is within the predetermined time (Yes in step S11), it is determined that the third automatic travel mode has been instructed, and the process proceeds to the next step S12. On the other hand, if it is determined that the pressing time of the automatic travel switch 69 is longer than the predetermined time (No in step S11), it is determined that the second automatic travel mode has been instructed, and the process proceeds to step S13 shown in FIG. 8.

As a preferable form, the predetermined time in step S11 is the same as the predetermined time in step S4. In other words, in step S11, it is determined whether the automatic travel switch 69 is operated in the first operation mode or the second operation mode. If it is determined that the first operation mode is selected (Yes in step S11), it is determined that the third automatic driving mode has been instructed, and the process proceeds to step S12. If it is determined that the second operation mode is selected (No in step S11), it is determined that the second automatic driving mode has been instructed, and the process proceeds to step S13 shown in FIG. 8. Note that the predetermined time in step S11 may be different from the predetermined time in step S4. That is, in step S11, a determination regarding an operation mode different from the first operation mode and the second operation mode may be made.

In step S12, the automatic travel control unit 51 shifts the automatic travel mode to the third automatic travel mode and temporarily stops the rice transplanter 1. That is, the automatic driving mode includes a third automatic driving mode in which traveling of the work vehicle 1 is temporarily stopped. The control unit 50 changes the automatic driving mode to the third automatic driving mode in response to the first operation performed on the reception unit 69 after the transition to the first automatic driving mode. Depending on the driving state of the work vehicle 1, different instructions can be given to the reception unit 69 even if the operation mode is the same. For this reason, the receiving section 69 can be made simple. As a result, the work efficiency of the worker can be improved. When the process of temporarily stopping the rice transplanter 1 is performed, the process returns to step S2 described above. That is, the automatic travel switch lamp 70 starts blinking in the blinking pattern A. By starting the flashing pattern A, the operator can recognize that automatic driving can be performed in either the first automatic driving mode or the second automatic driving mode.

In step S13, the automatic travel control unit 51 shifts the automatic travel mode to the second automatic travel mode and causes the rice transplanter 1 to start automatic travel. In two cases: when preparations are made to start automatic driving in the first automatic driving mode, and when automatic driving is in progress in the first automatic driving mode, the automatic driving mode is activated by the second operation mode for the automatic driving switch 69. The second automatic driving mode is entered.

That is, the control unit 50 can shift the automatic driving mode to a second automatic driving mode different from the first automatic driving mode by a second operation mode to the reception unit 69. By operating the reception unit 69 in an operation mode different from the operation mode for shifting to the first automatic running mode, it is possible to shift from the first automatic running mode to another automatic running mode. Therefore, the configuration of the receiving section 69 can be simplified. Moreover, as a result, it becomes easier for the worker to operate the reception section 69, and work efficiency can be improved. Specifically, the control unit 50 can shift the automatic travel mode to the second automatic travel mode by a second operation on the reception unit 69 after the transition to the first automatic travel mode. Note that there may be multiple types of automatic driving modes to which the first automatic driving mode can be transferred. A configuration may be adopted in which one of a plurality of possible automatic driving modes can be selected by changing the operation mode for the reception unit 69.

Moreover, when preparations for starting automatic travel are completed, it means that the rice transplanter 1 is capable of automatic travel. That is, the control unit 50 can shift the automatic driving mode to the second automatic driving mode by the second operation mode to the reception unit 69 when the work vehicle 1 is capable of automatic driving. In detail, when the work vehicle 1 is capable of automatically traveling in the first automatic driving mode, the control unit 50 changes the automatic driving mode to the first automatic driving mode, not the first automatic driving mode, by the second operation mode to the reception unit 69. It is possible to shift to the second automatic driving mode. By making it possible to shift to an automatic driving mode other than the first automatic driving mode not only during automatic driving but also in a state where automatic driving is possible, it is possible to expand the options for the types of automatic driving. As a result, convenience for the operator can be improved. Since different automatic driving modes can be selected according to different operating modes for the same reception section 69, the configuration of the reception section 69 can be simplified.

As a preferable form, the second automatic driving mode is an automatic driving mode in which the work vehicle 1 is moved to a preset stopping position in the field. In this embodiment, the work vehicle 1 is a rice transplanter, and the stopping position is, for example, a replenishment position for replenishing materials. The materials to be replenished at the replenishment position include, for example, seedlings, medicines, fertilizers, agricultural materials, or fuel. The stopping position may be, for example, a position where a worker takes a break, a position where the work vehicle 1 is repaired, a position where the drive battery is charged, or the like. That is, the worker can select the second automatic driving mode not only when he wants to replenish materials, but also when he wants to take a break or repair the vehicle. Further, when the work vehicle is a combine harvester, the stopping position may be a discharge position where agricultural products are discharged. The replenishment position is, for example, the replenishment position 94 shown in FIG. 6, and more specifically, it is near the shore.

When the automatic travel control section 51 shifts to the second automatic travel mode, it raises the planting section 14, controls the PTO switch to turn off, and starts the automatic travel of the rice transplanter 1 toward the replenishment position. Note that the route to the replenishment position is created by the route creation section 82. When automatic travel in the second automatic travel mode is started, the process proceeds to the next step S14.

In step S14, the notification control unit 54 controls the automatic travel switch lamp 70 to blink the automatic travel switch lamp 70 in a blinking pattern B. Blinking pattern B is a different blinking pattern from blinking pattern A. The blinking pattern B differs from the blinking pattern A in at least one of the lighting color and the blinking time interval, for example. When the automatic travel switch lamp 70 becomes blinking pattern B, the operator can recognize that automatic travel to the replenishment position has started. When the automatic travel switch lamp 70 starts blinking in the blinking pattern B, the process proceeds to the next step S15.

In step S15, the automatic travel control unit 51 determines whether movement to the replenishment position is completed. Whether or not movement to the replenishment position has been completed can be determined, for example, based on information from the position acquisition unit 64. If it is determined that the movement to the replenishment position has been completed (Yes in step S15), the process proceeds to the next step S16. If it is determined that the movement to the replenishment position is not completed (No in step S15), the process proceeds to step S20.

In step S16, the notification control unit 54 controls the automatic travel switch lamp 70 to blink the automatic travel switch lamp 70 in the blinking pattern A. The operator can recognize that the automatic driving switch lamp 70 starts blinking in the blinking pattern A, thereby indicating that the automatic driving switch lamp 70 is in a standby state in which automatic driving can be started. When the automatic travel switch lamp 70 starts blinking in the blinking pattern A, the process proceeds to the next step S17.

In step S17, the operation determination unit 53 monitors whether the automatic travel switch 69 has been pressed for more than a predetermined time. If it is determined that the automatic travel switch 69 has been pressed for more than a predetermined time (Yes in step S17), the process proceeds to the next step S18. As a preferable form, the predetermined time in step S17 is the same as the predetermined time in step S4 and the like. That is, in step S17, it is monitored whether or not the automatic travel switch 69 has been operated in the second operation mode. When the second operation mode for the automatic travel switch 69 is detected, the process proceeds to the next step S18. Note that in this step, instead of the second operation mode, a configuration may be adopted in which the first operation mode or a third operation mode different from the first operation mode and the second operation mode is monitored.

In step S18, the automatic travel control unit 51 shifts the automatic travel mode to the fourth automatic travel mode and returns the rice transplanter 1 to the work route. That is, in this embodiment, the automatic driving mode includes a fourth automatic driving mode in which the work vehicle 1 is returned to the driving route in the first automatic driving mode. Specifically, if the rice transplanter 1 moves to the replenishment position during automatic travel in the first automatic travel mode, the rice transplanter 1 is returned to its original position by following the movement route to the replenishment position in the opposite direction. Bring it back. If the rice transplanter 1 has not started automatic travel in the first automatic travel mode, the rice transplanter 1 is returned to the position where it starts automatic work travel along the planned route (work route). Once the automatic return is started, the process proceeds to the next step S19.

In step S19, the notification control unit 54 controls the automatic travel switch lamp 70 to always turn on the automatic travel switch lamp 70. In this embodiment, the lighting state is the same as the lighting state in step S6, but may be different. It is sufficient if the lighting state is such that the worker can see the automatic travel switch lamp 70 and know that automatic work travel will start thereafter. When the process of step S19 is completed, the process returns to "β" shown in FIG. The rice transplanter 1 returns to the work route and performs automatic work travel.

In step S20, the operation determination unit 53 determines whether the automatic travel switch 69 was pressed during movement to the replenishment position. If it is determined that the automatic travel switch 69 has been pressed (Yes in step S20), the process proceeds to the next step S21. If it is determined that the automatic travel switch 69 is not pressed (No in step S20), the process returns to step S15 described above. That is, after automatic driving in the second automatic driving mode has started, unless the movement to the replenishment position is completed or the automatic driving switch 69 is operated, automatic driving in the second automatic driving mode will start. You can continue running.

In step S21, the operation determination unit 53 determines whether or not the time period during which the automatic travel switch 69 is pressed is within a predetermined time period. If it is determined that the press time of the automatic travel switch 69 is within the predetermined time (Yes in step S21), it is determined that the third automatic travel mode has been instructed, and the process proceeds to the next step S22. On the other hand, if it is determined that the pressing time of the automatic travel switch 69 is longer than the predetermined time (No in step S21), it is determined that the fourth automatic travel mode has been instructed, and the process proceeds to step S18 described above.

As a preferable form, the predetermined time in step S21 is the same as the predetermined time in step S4 and the like. In other words, in step S21, it is determined whether the automatic travel switch 69 is operated in the first operation mode or the second operation mode. If it is determined that the first operation mode is selected (Yes in step S21), it is determined that the third automatic driving mode has been instructed, and the process proceeds to step S22. If it is determined that the second operation mode is selected (No in step S21), it is determined that the fourth automatic driving mode has been instructed, and the process proceeds to step S18. In this case, the vehicle will return to the planned route (work route) before reaching the replenishment position.

That is, the control unit 50 shifts the automatic running mode to the third automatic running mode in response to the first operation performed on the reception unit 69 after shifting to the second automatic running mode. Further, the control unit 50 shifts the automatic running mode to the fourth automatic running mode in response to a second operation performed on the reception unit 69 after shifting to the second automatic running mode. Even after the transition to the second automatic driving mode, the transition to another automatic driving mode can be performed by the first operation mode or the second operation mode to the reception unit 69, and the operation is suppressed from becoming complicated. be able to.

In step S22, the automatic travel control unit 51 shifts the automatic travel mode to the third automatic travel mode and temporarily stops the rice transplanter 1. When the rice transplanter 1 is temporarily stopped, the process proceeds to the next step S23.

In step S23, the operation determination unit 53 monitors whether the automatic travel switch 69 is pressed. If it is determined that the automatic travel switch 69 has been pressed (Yes in step S23), the process proceeds to the next step S24.

In step S24, the operation determination unit 53 determines whether or not the press time of the automatic travel switch 69 is within a predetermined time. If it is determined that the pressing time of the automatic travel switch 69 is within the predetermined time (Yes in step S24), it is determined that restart of the second automatic travel mode has been instructed, and the process returns to step S13 described above. On the other hand, if it is determined that the pressing time of the automatic travel switch 69 is longer than the predetermined time (No in step S24), it is determined that the fourth automatic travel mode has been instructed, and the process proceeds to step S18 described above.

As a preferable form, the predetermined time in step S24 is the same as the predetermined time in step S4 and the like. In other words, in step S24, it is determined whether the automatic travel switch 69 is operated in the first operation mode or the second operation mode. If it is determined that the first operation mode is selected (Yes in step S24), it is determined that the third automatic driving mode has been instructed, and the process proceeds to step S22. If it is determined that the second operation mode is selected (No in step S24), it is determined that the fourth automatic driving mode has been instructed, and the process proceeds to step S18. In this case, the vehicle will return to the planned route (work route) before reaching the replenishment position.

That is, the control unit 50 shifts the automatic running mode to the second automatic running mode in response to the first operation performed on the reception unit 69 after shifting to the third automatic running mode. Specifically, the control unit 50 shifts the automatic driving mode to the second automatic driving mode by the first operation mode applied to the reception unit 69 after the transition from the second automatic driving mode to the third automatic driving mode. Further, the control unit 50 shifts the automatic running mode to the fourth automatic running mode in response to the second operation performed on the reception unit 69 after shifting to the third automatic running mode. Specifically, the control unit 50 shifts the automatic driving mode to the fourth automatic driving mode by the second operation mode applied to the reception unit 69 after the transition from the second automatic driving mode to the third automatic driving mode. Since it is possible to shift to a plurality of types of automatic driving modes by selectively using the first operation mode and the second phase mode, the operation is simple and the work efficiency of the operator can be improved.

<3. Things to keep in mind>
Various changes can be made to the various technical features disclosed in this specification without departing from the spirit of the technical creation. Furthermore, the plurality of embodiments and modifications shown in this specification may be implemented in combination to the extent possible.

For example, at least some of the functions performed by the control unit 50 of the work vehicle 1 described above may be functions performed by the control unit 80 of the mobile communication terminal 7. Conversely, at least some of the functions performed by the control unit 80 of the mobile communication terminal 7 described above may be functions performed by the control unit 50 of the work vehicle 1. Further, at least some of the functions performed by the control unit 50 of the work vehicle 1 and the functions performed by the control unit 80 of the mobile communication terminal 7 described above are performed by the two control units 50 and 80. It may be a function that is achieved through collaboration between the two.

Further, the present invention is also applicable to an automatic driving system that automatically travels a work vehicle that is driven by an electric motor instead of an engine, for example.

<4. Additional notes＞
An exemplary automatic driving system of the present invention is an automatic driving system that automatically travels a working vehicle in a field, and includes a reception section that receives instructions for the working vehicle, and a reception section that receives instructions for the working vehicle, and a reception section that receives instructions for the working vehicle. a control unit configured to be able to change the automatic driving mode, the control unit changing the automatic driving mode so as to cause the work vehicle to move along a preset driving route in response to a first operation to the reception unit. The automatic driving mode can be shifted to a first automatic driving mode in which the vehicle is driven by the vehicle, and the automatic driving mode can be changed to a second automatic driving mode different from the first automatic driving mode by a second operation mode to the reception unit. configuration (first configuration).

In the first configuration, the second automatic driving mode may be an automatic driving mode in which the work vehicle is moved to a preset stopping position in the field (second configuration).

In the first or second configuration, the control unit changes the automatic driving mode to the second automatic driving mode by the second operation mode to the reception unit when the work vehicle is capable of automatic driving. It may be a configuration (third configuration) that can be migrated to.

In any one of the first to third configurations, the control unit changes the automatic driving mode to the second automatic driving mode by the second operation mode to the reception unit after the transition to the first automatic driving mode. It may be a configuration (fourth configuration) that allows transition to automatic driving mode.

In the third or fourth configuration, the second automatic driving mode is an automatic driving mode in which the work vehicle is moved to a preset stopping position in the field, and the automatic driving mode includes the second automatic driving mode. A third automatic driving mode is included in which traveling of the work vehicle is temporarily stopped, and the control unit controls the automatic driving mode by the first operation mode to the reception unit after transitioning to the second automatic driving mode. The configuration may be such that the driving mode is shifted to the third automatic driving mode (fifth configuration).

In the fifth configuration, the automatic driving mode includes a fourth automatic driving mode in which the work vehicle returns to the driving route, and the control unit is configured to: after transitioning to the second automatic driving mode, The vehicle may be configured to shift the automatic travel mode to the fourth automatic travel mode (sixth configuration) by the second operation mode applied to the reception unit.

In the sixth configuration, the control unit transfers the automatic driving mode to the second automatic driving mode according to the first operation mode applied to the reception unit after transitioning to the third automatic driving mode. , a configuration (seventh configuration) in which the automatic driving mode is transferred to the fourth automatic driving mode by the second operation mode to the reception unit after the transition to the third automatic driving mode. .

In any one of the first to seventh configurations above, the first operation mode and the second operation mode are configured such that at least one of the operation time and the number of operations for the reception unit is different (eighth configuration). It may be.

Any one of the first to eighth configurations described above may include a configuration (ninth configuration) including a notification section that notifies the state of the automatic driving mode.

1...Rice transplanter (work vehicle)
50...Control unit 69...Automatic travel switch (reception unit)
70... Automatic driving switch lamp (notification section)
90...Field 91...Work route (driving route)
94...Replenishment position (stop position)

Claims (9)

An automatic driving system that automatically runs a work vehicle in a field,
a reception unit that receives instructions for the work vehicle;
a control unit configured to be able to change the automatic driving mode of the work vehicle in accordance with an operation on the reception unit;
Equipped with
The control unit includes:
The automatic driving mode can be shifted to a first automatic driving mode in which the work vehicle travels along a preset driving route by a first operation mode to the reception unit,
The automatic driving system is capable of shifting the automatic driving mode to a second automatic driving mode different from the first automatic driving mode by a second operation mode applied to the reception unit. The automatic driving system according to claim 1, wherein the second automatic driving mode is an automatic driving mode in which the work vehicle is moved to a preset stopping position in the field. 2. The control unit according to claim 1, wherein the control unit is capable of shifting the automatic driving mode to the second automatic driving mode by the second operation mode to the reception unit when the work vehicle is capable of automatic driving. Automated driving system described. 1 . The control unit is capable of shifting the automatic driving mode to the second automatic driving mode by the second operation mode applied to the reception unit after the transition to the first automatic driving mode. Automated driving system described in . The second automatic driving mode is an automatic driving mode in which the work vehicle is moved to a preset stopping position in the field,
The automatic driving mode includes a third automatic driving mode in which traveling of the work vehicle is temporarily stopped,
5. The control unit according to claim 3 or 4, wherein the control unit transfers the automatic driving mode to a third automatic driving mode by the first operation mode applied to the reception unit after the transition to the second automatic driving mode. Automated driving system described. The automatic driving mode includes a fourth automatic driving mode in which the work vehicle returns to the driving route,
The control unit includes:
The automatic driving system according to claim 5, wherein the automatic driving mode is transferred to the fourth automatic driving mode by the second operation mode applied to the reception unit after the transition to the second automatic driving mode. The control unit includes:
Shifting the automatic driving mode to the second automatic driving mode by the first operation mode on the reception unit after the transition to the third automatic driving mode,
The automatic driving system according to claim 6, wherein the automatic driving mode is transferred to the fourth automatic driving mode by the second operation mode applied to the reception unit after the transition to the third automatic driving mode. The automatic driving system according to claim 1, wherein the first operation mode and the second operation mode differ in at least one of an operation time and a number of operations for the reception section. The automatic driving system according to claim 1, further comprising a notification unit that notifies the state of the automatic driving mode.

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