AUTOMATIC TRAVELING METHOD, AUTOMATIC TRAVELING SYSTEM, AND AUTOMATIC TRAVELING PROGRAM

A vehicle control device causes a work vehicle to automatically travel in accordance with a target route set in advance. The generation processing unit generates, in a case where setting information related to automatic traveling is changed after the work vehicle starts automatic traveling corresponding to the target route, a target route with reference to a work-completed route along which the work vehicle has performed work immediately before. The vehicle control device causes the work vehicle to automatically travel in accordance with the target route.

TECHNICAL FIELD

The present invention relates to an automatic traveling method, an automatic traveling system, and an automatic traveling program for causing a work vehicle to automatically travel in accordance with a target route in a field or the like.

BACKGROUND ART

Conventionally, as a work vehicle capable of automatic traveling, there is known a work vehicle that automatically travels in accordance with a target route only when traveling straight ahead, and travels (manually travels) in response to manual steering (manual operation) by an operator when turning. In addition, a technique is known in which a traveling trajectory along which a work vehicle travels straight by manual steering is set as a reference line, and a target route including a plurality of straight routes substantially parallel to the reference line is generated based on a width of a work machine (work width) and a width in which adjacent work areas overlap each other (lap width) (see, for example, Patent Document 1).

PRIOR ART DOCUMENT

Patent Document

SUMMARY OF INVENTION

Technical Problem

After the work vehicle starts automatic traveling based on the target route, when setting information related to the automatic traveling such as the work width and the lap width is changed, the target route is regenerated. In this case, in the conventional technique, since the target route is regenerated based on the reference line, there is a problem in that an unworked area is generated between a work area worked in accordance with the target route generated in advance and a work area worked in accordance with the regenerated target route, or an overlap amount between both work areas becomes larger than the set and changed lap width (seeFIG.13described below).

An object of the present invention is to provide an automatic traveling method, an automatic traveling system, and an automatic traveling program capable of causing a work vehicle to automatically travel in an appropriate manner even when setting information related to automatic traveling is changed.

Solution to Problem

An automatic traveling method according to the present invention includes: causing a work vehicle to automatically travel in accordance with a first target route set in advance; generating, in a case where setting information related to automatic traveling is changed after the work vehicle starts automatic traveling corresponding to the first target route, a second target route with reference to a work-completed route along which the work vehicle has performed work immediately before; and causing the work vehicle to automatically travel in accordance with the second target route.

An automatic traveling system according to the present invention includes a first travel processing unit, a generation processing unit, and a second travel processing unit. The first travel processing unit causes the work vehicle to automatically travel in accordance with a first target route set in advance. The generation processing unit generates, in a case where setting information related to automatic traveling is changed after the work vehicle starts automatic traveling corresponding to the first target route, a second target route with reference to a work-completed route along which the work vehicle has performed work immediately before. The second travel processing unit causes the work vehicle to automatically travel in accordance with the second target route.

An automatic traveling program according to the present invention is an automatic traveling program for causing one or more processors to execute causing a work vehicle to automatically travel in accordance with a first target route set in advance; generating, in a case where setting information related to automatic traveling is changed after the work vehicle starts automatic traveling corresponding to the first target route, a second target route with reference to a work-completed route along which the work vehicle has performed work immediately before; and causing the work vehicle to automatically travel in accordance with the second target route.

Advantageous Effects of Invention

According to the present invention, it is possible to provide an automatic traveling method, an automatic traveling system, and an automatic traveling program capable of causing a work vehicle to automatically travel in an appropriate manner even when setting information related to automatic traveling is changed.

DESCRIPTION OF EMBODIMENTS

Embodiments below are examples that embody the present invention and are not intended to limit the technical scope of the present invention.

The automatic traveling system according to an embodiment of the present invention includes a work vehicle10, a satellite (not illustrated), and a base station (not illustrated). In the present embodiment, a case where the work vehicle10is a tractor will be described as an example. Note that, as another embodiment, the work vehicle10may be a rice transplanter, a combine harvester, a construction machine, a snowplow, or the like. The work vehicle10performs a predetermined work (for example, cultivation work) while traveling in accordance with a target route in response to an operation of an operator (user) in a field F (seeFIG.10). In particular, the work vehicle10travels straight on the target route in response to automatic steering and travels while turning in response to manual steering (driving operation) by the operator. The work vehicle10travels in the field F and performs work while switching between automatic traveling along straight routes and manual traveling along turning routes. The target route may be generated in advance based on the operator's operations and stored as route data.

The work vehicle10travels in the field F illustrated inFIG.10, for example, repeating straight traveling and turning traveling until the work is completed. A target route R1for automatic traveling includes a plurality of straight routes (work routes). The plurality of straight routes are substantially parallel to one another.FIG.10illustrates work routes Ra1to Ra12. For example, the work vehicle10sequentially executes automatic traveling along the work route Ra1, manual traveling along a turning route Rc1, automatic traveling along a work route Ra2, manual traveling along a turning route Rc2, and automatic traveling along a work route Ra3. A reference sign A1illustrated inFIG.10indicates a work trajectory (a work-completed area) in which the work vehicle10has traveled and worked.

The target route R1illustrated inFIG.10is an example, and the target route R1is appropriately determined in accordance with the size of the work vehicle10, a width of a work machine14(work width), a width in which adjacent work areas overlap each other (lap width), a work content, the shape of the field F, and the like.

Note that, the automatic traveling system may include an operation terminal (tablet terminal, smartphone, etc.) which is operated by the operator. The operation terminal can communicate with the work vehicle10via a communication network such as a cellular telephone line network, a packet line network, or a wireless LAN. For example, the operator operates the operation terminal to register various types of information (such as work vehicle information, field information, work information, etc.) and the like. Furthermore, the operator can confirm traveling conditions, working conditions, and the like of the work vehicle10at a location away from the work vehicle10by the traveling trajectory displayed on the operation terminal. The operation terminal may be an operation device17(seeFIG.1) disposed in the work vehicle10.

As illustrated inFIG.1andFIG.2, the work vehicle10includes a vehicle control device11, a storage unit12, a traveling device13, the work machine14, the communication unit15, a positioning device16, and the operation device17. The vehicle control device11is electrically connected to the storage unit12, the traveling device13, the work machine14, the positioning device16, the operation device17, and the like. Note that, the vehicle control device11and the positioning device16may be capable of wireless communication. Furthermore, the vehicle control device11and the operation device17may be capable of wireless communication.

The communication unit15is a communication interface for connecting the work vehicle10to a communication network by wired or wireless means and executing data communication in accordance with a predetermined communication protocol with an external device (such as an operation terminal) via the communication network.

The storage unit12is a non-volatile storage unit such as a Hard Disk Drive (HDD) or a Solid State Drive (SSD) that stores various types of information. The storage unit12stores a control program such as an automatic traveling program for causing the vehicle control device11and an operation control unit71to execute an automatic traveling process (seeFIGS.15and18) described below. For example, the automatic traveling program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, which is read by a predetermined reading device (not illustrated) and stored in the storage unit12. Note that, the automatic traveling program may be downloaded from a server (not illustrated) to the work vehicle via a communication network and stored in the storage unit12. Further, the storage unit12may also store data of the target route generated at the operation device17.

The traveling device13is a driving part that causes the work vehicle10to travel. As illustrated inFIG.2, the traveling device13includes an engine131, front wheels132, rear wheels133, a transmission134, a front axle135, a rear axle136, a steering wheel137, and the like. Note that the front wheels132and the rear wheels133are provided on left and right of the work vehicle10, respectively. Furthermore, the traveling device13is not limited to a wheel type having the front wheels132and the rear wheels133, and may be a crawler type having crawlers provided on the right and left of the work vehicle10.

The engine131is a drive source such as a diesel engine or a gasoline engine driven using fuel that is supplied by a fuel tank which is not illustrated. The traveling device13may also be equipped with an electric motor as a drive source, either together with the engine131or instead of the engine131. Note that a power generator, which is not illustrated, is connected to the engine131, and electric power is supplied from the power generator to electrical components such as the vehicle control device11, a battery, and the like which are provided in the work vehicle10. Note that the battery is charged by the power supplied by the power generator. Additionally, the electrical components such as the vehicle control device11, the positioning device16, the operation device17, and the like provided in the work vehicle10can be driven by the power supplied from the battery even after the engine131is stopped.

The driving force of the engine131is transmitted to the front wheels132via the transmission134and the front axle135, and to the rear wheels133via the transmission134and the rear axle136. The driving force of the engine131is also transmitted to the work machine14via a PTO shaft (not illustrated). The traveling device13performs a traveling action according to a command from the vehicle control device11.

The work machine14may be, for example, a cultivator, a seeder, a mower, a plow, a fertilizer applicator, or the like, which can be attached to and detached from the work vehicle10. This allows the work vehicle10to perform various types of work by using each work machine14.FIG.2illustrates a case where the work machine14is a cultivator. The work machine14may be supported in the work vehicle10by a lift mechanism (not illustrated) capable of lifting and lowering. The vehicle control device11can control the lift mechanism to lift and lower the work machine14.

The steering wheel137is an operation part operated by the operator or the vehicle control device11. For example, the traveling device13changes the angle of the front wheels132by means of a hydraulic power steering mechanism (not illustrated) or the like in response to the operation of the steering wheel137by the operator or the vehicle control device11, thereby changing an advancing direction of the work vehicle10.

In addition to the steering wheel137, the traveling device13includes a shift lever, an accelerator, a brake, and the like (not illustrated) that are operated by the vehicle control device11. Also, in the traveling device13, the gear of the transmission134is switched to a forward gear, a reverse gear, or the like according to the operation of the shift lever by the vehicle control device11, thereby switching the traveling mode of the work vehicle10to forward, reverse, or the like. Furthermore, the vehicle control device11also controls the rotational frequency of the engine131by operating the accelerator. Additionally, the vehicle control device11also operates the brake to stop the rotation of the front wheels132and the rear wheels133by using an electromagnetic brake.

The positioning device16is a communication device equipped with a positioning control unit161, a storage unit162, a communication unit163, a positioning antenna164, and the like. For example, as illustrated inFIG.2, the positioning device16is provided on an upper portion of a cabin18in which the operator boards. In addition, an installation position of the positioning device16is not limited to the cabin18. Furthermore, the positioning control unit161, the storage unit162, the communication unit163, and the positioning antenna164of the positioning device16may be separately disposed at different positions in the work vehicle10. Note that, as mentioned above, the battery is connected to the positioning device16, so the positioning device16can operate even when the engine131is stopped. In addition, as the positioning device16, for example, a mobile phone terminal, a smart phone, a tablet terminal, or the like may be substituted.

The positioning control unit161is a computer system that includes one or more processors and a storage memory such as such as a non-volatile memory and a RAM. The storage unit162is a nonvolatile memory or the like that stores a positioning control program for causing the positioning control unit161to execute positioning processing, and data such as positioning information and movement information. For example, the positioning control program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, which is read by a predetermined reading device (not illustrated) and stored in the storage unit162. Note that, the positioning control program may be downloaded from a server (not illustrated) to the positioning device16via a communication network and stored in the storage unit162.

The communication unit163is a communication interface for connecting the positioning device16to a communication network by wired or wireless means and executing data communication in accordance with a predetermined communication protocol with an external device such as a base station server via the communication network.

The positioning antenna164is an antenna to receive a radio wave (GNSS signal) transmitted from a satellite.

The positioning control unit161calculates a current position of the work vehicle10based on the GNSS signal received by the positioning antenna164from the satellite. For example, in a case where the work vehicle10travels automatically in the field F, when the positioning antenna164receives radio waves (transmission time, orbital information, and the like) transmitted from each of a plurality of satellites, the positioning control unit161calculates a distance between the positioning antenna164and each satellite, and calculates, based on the calculated distance, a current position (latitude and longitude) of the work vehicle10. Alternatively, the positioning control unit161may perform positioning using the real-time kinematic method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the work vehicle10using correction information corresponding to a base station (reference station) near the work vehicle10. Thus, the work vehicle10automatically travels using the positioning information by the RTK method. Note that, the current position of the work vehicle10may be the same as the positioning position (for example, the position of the positioning antenna164), or may be a position that is offset from the positioning position.

The operation device17is a device operated by the operator boarding the work vehicle10, and displays various types of information and accepts the operator's operation. Specifically, the operation device17displays various setting screens to accept various setting operations from the operator and displays information about the work vehicle10during traveling. A specific configuration of the operation device17will be described below.

The vehicle control device11has control apparatuses such as a CPU, a ROM, a RAM, and the like. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit that previously stores control programs such as a BIOS and an OS for causing the CPU to execute various types of arithmetic processing. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for various processing executed by the CPU. Then, the vehicle control device11causes the CPU to execute various types of control programs previously stored in the ROM or the storage unit12, thereby controlling the work vehicle10. In addition, the vehicle control device11executes various processing according to the automatic traveling program with the CPU.

Specifically, the vehicle control device11controls the traveling of the work vehicle10. For example, the vehicle control device11causes the work vehicle10to travel manually based on the operator's operation (manual steering) when the traveling mode of the work vehicle10is manual traveling (manual traveling mode). For example, the vehicle control device11acquires operation information corresponding to driving operations by the operator, such as a steering wheel operation, a gear change operation, a shift operation, an accelerator operation, a brake operation, or the like, and causes the traveling device13to execute the traveling action based on the operation information.

Alternatively, when the traveling mode of the work vehicle10is automatic traveling (automatic traveling mode), the vehicle control device11causes the work vehicle10to automatically travel based on position information (positioning information) indicating the current position of the work vehicle10that is positioned by the positioning control unit161. For example, when the work vehicle10satisfies an automatic traveling start condition and receives a travel start instruction from the operator, the vehicle control device11starts automatic traveling of the work vehicle10based on the positioning information. Further, the vehicle control device11causes the work vehicle10to automatically travel in accordance with the target route R1(work route) (seeFIG.10) generated in advance.

Furthermore, the vehicle control device11switches the traveling mode to manual traveling when the work vehicle10reaches an end of a straight route. The vehicle control device11may switch the traveling mode to manual traveling when it is determined that the work vehicle10has reached the end, or the vehicle control device11may switch the traveling mode to manual traveling in response to the operator's operation. When the traveling mode is switched to manual traveling, for example, the operator causes the work vehicle10to travel while turning (manually travel) by manual steering (seeFIG.10). The position of the end of each work route is a position inside an end portion of the field F by a predetermined distance, a position specified in advance by the operator, a position alongside a position where the operator switches from automatic traveling to manual traveling on an immediately previous work-completed route (a position where the work route intersects with a line that is perpendicular to the work-completed route and passes through the position where the switch to manual is performed, or alternatively a position where the work route intersects with a line that is parallel to an edge of the field F and passes through the position where the switch to manual is performed), a position where the work route intersects with a line that is perpendicular to the reference line L1and passes through point B of the reference line L1(e.g., position Pe inFIG.9C), or the like.

As described above, the vehicle control device11switches the traveling mode in response to the operation by the operator on the operation device17to cause the work vehicle10to automatically travel on a straight route (target route R1) by automatic steering and to travel manually on a turning route by manual steering. Although the details will be described below, when the setting information related to the automatic traveling is changed, the vehicle control device11causes the work vehicle10to automatically travel in accordance with a regenerated target route (target route R2). The vehicle control device11is an example of a first travel processing unit and a second travel processing unit of the present invention.

As illustrated inFIG.1, the operation device17includes the operation control unit71, a storage unit72, and an operation display unit73, and the like. The operation device17may be a device that can be attached to and detached from the work vehicle10. Alternatively, the operation device17may be a portable terminal (tablet terminal, smartphone, etc.) that can be carried by the operator. The operation device17is communicably connected to the vehicle control device11by wired or wireless means.

The operation display unit73is a user interface equipped with a display part, such as a liquid crystal display or an organic EL display, that displays various types of information, and an operation part, such as operation buttons or a touch panel, that accepts operations. The operation display unit73displays various setting screens, operation screens, travel screens, and the like in accordance with instructions from the operation control unit71. In addition, the operation display unit73accepts the operator's operation on each of the screens.

Furthermore, the operation part also includes an automatic traveling button for the operator to give the travel start instruction when causing the work vehicle10to start automatic traveling, a shift button for performing a correction operation (shift operation) to correct a positional deviation between the work vehicle10and the target route, and a plurality of selection buttons for performing selection operations on each screen (all are not illustrated). These operation buttons may be physical buttons or electronic image buttons displayed on a touch panel.

The operation device17is, for example as illustrated inFIG.2andFIG.3, installed near the steering wheel137in the cabin18.

The storage unit72is a non-volatile storage unit, such as an HDD, an SSD, or the like, that stores various types of information. The storage unit72stores control programs such as an automatic traveling program for causing the vehicle control device11and the operation device17to execute automatic traveling processing (seeFIG.15andFIG.18) that will be described below. For example, the automatic traveling program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, which is read by a predetermined reading device (not illustrated) and stored in the storage unit72. Note that the automatic traveling program may be downloaded from a server (not illustrated) to the operation device17via a communication network and stored in the storage unit72. Alternatively, the automatic traveling program may be stored in the storage unit12of the work vehicle10. Further, the storage unit72may also store the data of the target route generated at the operation device17. The automatic traveling program may include a route generation program that generates a target route.

The operation control unit71has control apparatuses such as a CPU, a ROM, a RAM, and the like. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit that previously stores control programs such as a BIOS and an OS for causing the CPU to execute various types of arithmetic processing. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for various processing executed by the CPU. Then, the operation control unit71causes the CPU to execute the various control programs previously stored in the ROM or the storage unit72, thereby controlling the operation device17.

More specifically, as illustrated inFIG.1, the operation control unit71includes various processing units such as a display processing unit711, an acceptance processing unit712, a generation processing unit713, and a change processing unit714. The operation device17functions as the various processing units by executing various processing with the CPU in accordance with the automatic traveling program. In addition, some or all of the processing units may be composed of electronic circuits. Note that the automatic traveling program may be a program to cause a plurality of processors to function as the processing units.

The display processing unit711causes the operation display unit73to display various types of information. For example, the display processing unit711causes the operation display unit73to display a setting screen for performing various settings (for example, setting screens P1to P4ofFIGS.4,5A,5B,6, and7), an operation screen when generating a target route (for example, operation screen D1ofFIGS.8A and8B), a travel screen including travel information such as traveling conditions, working conditions, and the like of the work vehicle10(for example, travel screen D2ofFIG.12).

The acceptance processing unit712accepts various operations by the operator. For example, the acceptance processing unit712receives, on the setting screen, an operation of inputting setting information for causing the work vehicle10to automatically travel from the operator, and receives, on the operation screen, an operation for generating the target route, that is, various operations related to route generation work from the operator.

For example, the setting screen P1(work setting screen) illustrated inFIG.4includes a selection column K1for “route creation mode” and a selection column K2for “reference line creation”. When the operator selects the selection column K1, the display processing unit711displays a setting screen P2(route creation mode setting screen) illustrated inFIGS.5A and5B. On the setting screen P2, a “work width reference mode” and an “own vehicle position reference mode” are displayed in a selectable manner as selection candidates of the route creation mode. The “work width reference mode” is a route creation mode of generating a target route in accordance with the work width and the lap width, and the “own vehicle position reference mode” is a route creation mode of generating a target route with reference to the current position of the work vehicle. The route creation mode selected by the operator on the setting screen P2ofFIGS.5A and5Bis displayed in the selection column K1on the setting screen P1ofFIG.4.

When the operator selects the selection column K2on the setting screen P1(seeFIG.4), the display processing unit711causes a plurality of creation methods of creating a reference line to be displayed in a selectable manner (not illustrated). The creation methods include, for example, a method of creating a reference line by designating point A (first reference point) and point B (second reference point) (“point A+point B”), a method of creating a reference line from the point A and a direction of the work vehicle (“point A+vehicle azimuth”), and a method of creating a reference line from the point A and a set azimuth (“point A+set azimuth”). In the present embodiment, it is assumed that the creation method of “point A+point B” is selected by the operator (seeFIG.4).

A setting screen P3(work width setting screen) illustrated inFIG.6includes an input column for inputting a work width. The operator inputs the width of the work machine14(here, “180 cm”) on the setting screen P3.

The setting screen P4(lap width setting screen) illustrated inFIG.7includes an input column for inputting a lap width. On the setting screen P4, the operator inputs a width in which adjacent work-completed areas overlap each other (here, “+10 cm”). Note that a negative numerical value is input when it is desired to form a gap between the adjacent work-completed areas. In the example illustrated inFIGS.6and7, since the work width is set to “180 cm” and the lap width is set to “+10 cm”, a work interval (work pitch) between the work routes adjacent to each other is set to “170 cm” (seeFIG.11).

The generation processing unit713generates the target route R1which includes the reference line L1that is set in response to the operator's setting operation. For example, the generation processing unit713generates the target route R1including a plurality of straight routes (work routes) arranged at a predetermined interval (equal interval) based on the reference line L1passing through the point A (first reference point) and the point B (second reference point) in the field F. The generation processing unit713is an example of the generation processing unit of the present invention.

Hereinafter, an example of a procedure of generating the target route R1will be described. For example, the display processing unit711causes the operation display unit73to display the operation screen D1(seeFIG.8A) on which the setting operation from the operator to set the reference line L1is accepted. The operator moves the work vehicle10to a desired location in the field F and presses a point A registration button Ka. For example, the operator moves the work vehicle10to an outer peripheral end portion of the field F and presses the point A registration button Ka. When the operator presses the point A registration button Ka, the generation processing unit713registers the current position of the work vehicle10as the first reference point (point A). When the generation processing unit713registers the point A, the display processing unit711causes the operation display unit73to display the operation screen D1(seeFIG.8B), on which the registration operation of the second reference point (point B) is accepted. The operator causes the work vehicle10to manually travel in a direction (target direction) in which the work vehicle10is desired to travel and work (seeFIG.9A). Specifically, the operator causes the work vehicle10to travel straight in a direction parallel to a work direction (for example, cultivation direction) when the work vehicle10is working in the work area. At this time, the work vehicle10may perform predetermined work (for example, cultivation work) while traveling manually. Then, the operator presses a point B registration button Kb (seeFIG.8B) at another desired location (for example, an outer peripheral end portion of the field F). When the operator presses the point B registration button Kb, the generation processing unit713registers the current position of the work vehicle10as the second reference point (point B).

When the generation processing unit713obtains position information of the point A and the point B, a straight line passing through the point A and the point B is set as the reference line L1(seeFIG.9A). Note that the generation processing unit713may be able to adjust the orientation of the created reference line L1. For example, the generation processing unit713causes the operation screen D1to display the created reference line L1, and sets (registers) the reference line L1when the registration operation from the operator is accepted. On the other hand, when the generation processing unit713accepts an operation (for example, a screen touch operation or the like) from the operator to change the orientation of the reference line L1, the orientation of the reference line L1is adjusted in response to the operation. When the operation to register the point B is accepted, the generation processing unit713may cause a selection screen for registering or adjusting the reference line L1to be displayed.

The generation processing unit713generates a travel route (the target route R1) that includes the reference line L1and a plurality of straight lines parallel to the reference line L1. For example, the generation processing unit713generates, with reference to the reference line L1, a plurality of parallel straight lines at an equal interval (here, interval of “170 cm”) based on a work width (lateral width of the work machine14) and a lap width (a width in which adjacent work-completed areas overlap each other) set in advance (seeFIG.9B). The generation processing unit713registers the generated target route R1in the storage unit72and causes the operation display unit73to display the generated target route R1.

According to the method described above, the target route R1can be generated by the reference line L1passing through two points (point A and point B) at both end portions of the field F, thus improving the accuracy of work by the work vehicle10. Note that the generation processing unit713may be able to register the point B in the case where the work vehicle travels for a predetermined distance (for example, 5 m) after the point A is registered. In this way, a more accurate reference line L1can be set.

After the target route R1is generated, the operator gives an instruction (travel start instruction) to cause the work vehicle to start automatic traveling in the field F. For example, when the work vehicle10is located within a predetermined distance from the target route R1and within a predetermined orientation relative to the target route R1(seeFIG.9C), and the automatic traveling start condition is satisfied and automatic traveling is possible, the operator can press the automatic traveling button (not illustrated) on the operation display unit73to give the travel start instruction.

When the operator gives the travel start instruction, the vehicle control device11accepts the travel start instruction and starts automatic steering of the work vehicle10so that the work vehicle10follows the target route R1. As illustrated inFIG.10, the work vehicle10executes a predetermined work while automatically traveling along a plurality of work routes included in the target route R1, and switches to manual traveling at the end of each work route to travel while turning on a turning route by manual steering performed by the operator. In the present embodiment, as illustrated inFIG.11, the work vehicle10performs work while traveling back and forth along the plurality of work routes at 170 cm intervals.

Here, after the automatic traveling of the work vehicle is started, setting information related to the automatic traveling may be changed. For example, when the overlap amount between the adjacent work-completed areas is not in a state intended by the operator, the operator may change the lap width set in advance (seeFIG.7). In addition, for example, when the interval between the work routes is not an interval intended by the operator, the operator may change the work width set in advance. For example, the operator performs an operation of changing the work width, the lap width, and the like displayed on the travel screen D2illustrated inFIG.12. For example, the operator changes the work width and the lap width by selecting display columns G1and G2.

When the setting information related to the automatic traveling such as the work width and the lap width is changed, the target route is regenerated. In this case, in the conventional technique, since the target route is regenerated based on the reference line L1, there is a problem in that an unworked area is generated between a work area worked in accordance with the target route R1generated in advance and a work area worked in accordance with the regenerated target route R2, or an overlap amount between both work areas becomes larger than the set and changed lap width. For example, when the operator changes the lap width from “+10 cm” to “+5 cm”, the work interval (work pitch) of the work route is changed to “175 cm”. In this case, in the conventional technique, as illustrated inFIG.13, the target route R2(a route indicated by a dotted line inFIG.13) including a plurality of work routes Rb1to Rb6at 175 cm intervals is generated with reference to the reference line L1(work route Ra1).

For example, in a case where the operator changes the lap width to “+5 cm” after the work vehicle10automatically travels along a work route Ra4, the work vehicle10manually travels along a turning route Rc4and then automatically travels along a work route Rb5. In this case, the interval between a work route Ra5of the original target route R1and the work route Rb5of the changed target route R2becomes 20 cm, which is larger than a deviation amount (“5 cm”) intended by the operator. Therefore, although the operator wants to set the overlap amount to 5 cm, an unworked area B1of substantially 10 cm is actually generated.

When the operator changes the work width, the interval of the work route (work interval) is also changed, and thus the same problem occurs. As described above, in the conventional technique, there is a problem that the automatic traveling of the work vehicle is not appropriately executed when the setting information related to the automatic traveling is changed. In contrast, as described below, the automatic traveling system according to the present embodiment has a configuration capable of causing the work vehicle to automatically travel in an appropriate manner even when the setting information related to automatic traveling is changed.

To be specific, in a case where the setting information related to the automatic traveling is changed after the automatic traveling corresponding to the target route R1set in advance is started, the change processing unit714generates the target route R2with reference to the work-completed route along which the work vehicle10has performed work immediately before. That is, in a case where the setting information is changed after the automatic traveling corresponding to the target route R1set in advance is started, the change processing unit714changes the target route R1with reference to the work-completed route along which work is performed immediately before a time point at which the change operation is accepted. For example, the operator performs the operation of changing the setting information when the work vehicle10reaches the end of the work route and temporarily stops.

For example, the generation processing unit713generates the target route R1including a plurality of work routes arranged at predetermined intervals based on setting information set in advance. Further, in a case where the setting information is changed after the work vehicle10starts automatic traveling corresponding to the target route R1, the change processing unit714generates the target route R2with reference to a work-completed route which is a straight route immediately before a turning route along which the work vehicle10has traveled immediately before the current position. In addition, in a case where the setting information is changed after the work vehicle10starts automatic traveling corresponding to the target route R1, the change processing unit714generates the target route R2with reference to a work-completed route which is a work route along which the work vehicle10has performed work immediately before among the plurality of work routes.

The vehicle control device11causes the work vehicle10to automatically travel in accordance with the target route R1, and causes the work vehicle10to automatically travel in accordance with the target route R2when the setting information is changed.

Here, the setting information includes a work interval between the work routes adjacent to each other. In this case, the change processing unit714generates, in a case where the work interval is changed after the work vehicle10starts automatic traveling corresponding to the target route R1, the target route R2in which a plurality of work routes are arranged at the changed work interval with reference to the work-completed route.

For example, the setting information includes at least one of a work width or a lap width. In this case, the change processing unit714generates, in a case where an operation of changing at least one of the work width or the lap width is accepted after the work vehicle10starts automatic traveling corresponding to the target route R1, the target route R2based on at least one of the changed work width or the changed lap width with reference to the work-completed route.

For example, as illustrated inFIG.14, in a case where the operator changes the lap width to “+5 cm” after the work vehicle10automatically travels along the work route Ra4included in the target route R1, the change processing unit714sets the work interval (work pitch) between the work routes adjacent to each other to “175 cm”. In addition, the change processing unit714generates the target route R2with reference to the work route Ra4(work-completed route) along which the work vehicle10has performed the work immediately before (lastly) among the plurality of work routes Ra1to Ra6. In other words, the change processing unit714generates the target route R2with reference to the work route Ra4immediately before the work route Ra5or the work route Ra4adjacent to the work route Ra5along which the work vehicle10performs the work next among the plurality of work routes Ra1to Ra6. For example, as illustrated inFIG.14, the change processing unit714generates the target route R2including a plurality of work routes Rb1, Rb2, . . . arranged at an interval of “175 cm” from the work route Ra4.

When the setting information is changed, the vehicle control device11causes the work vehicle10to automatically travel on the work routes Rb1, Rb2, . . . in accordance with the target route R2(seeFIG.14).

According to the example illustrated inFIG.14, the interval between the work route Ra5of the original target route R1and the work route Rb1of the changed target route R2is 5 cm, which coincides with the deviation amount (“5 cm”) intended by the operator. That is, the actual lap width coincides with the set lap width. Therefore, it is possible to prevent an occurrence of a situation that is not intended by the operator, such as an occurrence of an unworked area B1(seeFIG.13).

Here, the display processing unit711may display the target route R2on the operation display unit73. For example, the display processing unit711causes the operation display unit73to display the target route R1and the target route R2illustrated inFIG.14. Further, the display processing unit711may display the target route R1and the target route R2in display modes different from each other. Accordingly, the operator can check, before restarting the automatic traveling, the changed target route R2or compare the target route R1before the change with the changed target route R2.

In addition, the display processing unit711may display a work trajectory (work-completed area A1) (an example of a first work trajectory of the present invention) when the work vehicle10travels in accordance with the target route R1(seeFIGS.12and14). Further, the display processing unit711may display, in a display mode different from that of the work-completed area A1, a work trajectory (work-completed area A2) (an example of a second work trajectory of the present invention) when the work vehicle10travels in accordance with the target route R2(seeFIG.14). Accordingly, the operator can check the range in which the work is completed, and can compare the work-completed area A1before the target route is changed with the work-completed area A2after the target route is changed. Moreover, it is possible to check the degree of overlap (overlap amount) between the work-completed area A1and the work-completed area A2.

Hereinafter, an example of the automatic traveling process executed by the vehicle control device11and the operation control unit71of the operation device17will be described with reference toFIG.15. Note that the present invention may be viewed as an invention of an automatic traveling method in which the vehicle control device11and the operation device17execute part or all of the automatic traveling process, or as an invention of an automatic traveling program with the purpose of causing the vehicle control device11and the operation device17to execute part or all of the automatic traveling method.

In step S1, the vehicle control device11determines whether or not the work vehicle10is in a state where automatic traveling is possible. When the vehicle control device11determines that the work vehicle10is in a state where automatic traveling is possible (S1: Yes), the process proceeds to step S2. The vehicle control device11is on standby until the work vehicle10is in a state where automatic traveling is possible (S1: No). Specifically, when the work vehicle10satisfies the automatic traveling start condition, the vehicle control device11determines that the work vehicle10is in a state where automatic traveling is possible.

In step S2, the vehicle control device11causes the work vehicle10to start automatic traveling in accordance with the target route R1. Specifically, when the work vehicle10satisfies the automatic traveling start condition and the operator gives the travel start instruction, the vehicle control device11starts automatic traveling process corresponding to the target route R1set in advance (seeFIG.14). For example, the vehicle control device11causes the work vehicle10to automatically travel by automatic steering in accordance with a work route (straight route). Further, the vehicle control device11also causes the work vehicle10to travel while turning in response to the operator's manual steering on turning route. The vehicle control device11causes the work vehicle10to travel in the field F while switching between automatic traveling along work routes and manual traveling along turning routes. Further, the vehicle control device11also drives the work machine14to execute a predetermined work (for example, cultivation work) while the work vehicle10is traveling automatically on a work route.

Next, in step S3, the operation control unit71determines whether or not a change operation of changing at least one of the work width or the lap width is accepted from the operator. When the operation control unit71accepts the change operation from the operator (S3: Yes), the process proceeds to step S4. On the other hand, when the operation control unit71does not accept the change operation from the operator (S3: No), the process proceeds to step S6. For example, in a case where the operator performs an operation of changing the lap width on the travel screen D2(seeFIG.12) after the work vehicle10starts automatic traveling, the operation control unit71accepts the change operation (S3: Yes), and the process proceeds to step S4.

In step S4, the operation control unit71specifies a work route serving as a reference for generating the target route R2. For example, in the example illustrated inFIG.14, the operation control unit71specifies, as the reference work route, the work route Ra4along which the work vehicle10has performed work immediately before (lastly) the time point at which the change operation is accepted, among the plurality of work routes Ra1to Ra6included in the target route R1.

Next, in step S5, the operation control unit71generates a target route R2with reference to the work route (work-completed route) specified in step S4. Here, the operation control unit71generates the target route R2with reference to the work route Ra4. For example, the operation control unit71generates the target route R2including the plurality of work routes Rb1, Rb2, . . . arranged at a work interval set based on the lap width changed by the operator (seeFIG.14). In this way, in a case where the operation control unit71accepts an operation of changing the setting information such as the work width and the lap width from the operator after the work vehicle starts automatic traveling, the operation control unit71executes a process of changing the target route R1set before the work vehicle10starts automatic traveling (target route regeneration process).

Next, in step S6, the vehicle control device11determines whether or not the work vehicle10finishes the work. When the vehicle control device11determines that the work vehicle10finishes the work (S6: Yes), the vehicle control device11ends the automatic traveling process. When the vehicle control device11determines that the work vehicle10does not finish the work (S6: No), the vehicle control device11causes the work vehicle10to continue traveling automatically in accordance with the target route (the target route R1or the target route R2), and the process proceeds to step S3.

The vehicle control device11and the operation control unit71repeatedly execute the processes of steps S3to S5described above until the work vehicle10finishes the work.

As mentioned above, the vehicle control device11and the operation control unit71execute the automatic traveling process.

As described above, the work vehicle10according to the present embodiment causes the work vehicle10to automatically travel in accordance with the target route R1set in advance, and generates, in a case where setting information related to automatic traveling is changed after the work vehicle10starts automatic traveling corresponding to the target route R1, the target route R2with reference to the work-completed route along which the work vehicle10has performed work immediately before, and causes the work vehicle10to automatically travel in accordance with the target route R2.

According to the above-described configuration, even in a case where the setting information such as the work width and the lap width is changed after the work vehicle10starts automatic traveling in accordance with the target route R1set in advance, it is possible to appropriately execute the automatic traveling corresponding to the setting information. For this reason, for example, it is possible to prevent an unworked area (seeFIG.13) from being generated, and to prevent the overlap amount between both work areas from being in an unintended state. Therefore, even when the setting information related to the automatic traveling is changed, it is possible to cause the work vehicle10to automatically travel in an appropriate manner.

Other Embodiments

The present invention is not limited to the embodiment described above. Other embodiments of the present invention are described as follows.

The setting information of the present invention is not limited to the work width and the lap width described above, and may be information on a generation mode of generating a target route. For example, the setting information may include a work width reference mode (seeFIG.5A) (an example of a first generation mode of the present invention) of generating a target route including a plurality of work routes arranged at a predetermined interval based on the reference line L1set in advance, and an own vehicle position reference mode (seeFIG.5B) (an example of a second generation mode of the present invention) of generating a target route with reference to a current position of the work vehicle10. In the own vehicle position reference mode, a straight route passing through the current position of the work vehicle and parallel to the reference line L1is generated as a target route.

For example, in a case where the operator selects the own vehicle position reference mode and the generation processing unit713generates the target route R1in the own vehicle position reference mode, the vehicle control device11causes the work vehicle10to automatically travel in accordance with the target route R1corresponding to the own vehicle position reference mode. For example, when the operator positions the work vehicle10at a work start position and causes the work vehicle10to start automatic traveling, the vehicle control device11causes the work vehicle10to automatically travel in accordance with the work route (target route R1) that passes through the work start position and is parallel to the reference line L1. When the automatic traveling and the work of one work route are finished, the operator causes the work vehicle10to manually travel and position the work vehicle10at the work start position of the next work route, and then causes the work vehicle10to start automatic traveling again in accordance with the work route (target route R1) that passes through the work start position and is parallel to the reference line L1. As described above, in the own vehicle position reference mode, the vehicle control device11causes the work vehicle10to automatically travel based on the current position of the work vehicle10, which is positioned by the operator for each work route.

Here, in a case where the work vehicle10is changed into the work width reference mode after starting the automatic traveling in accordance with the target route R1generated in the own vehicle position reference mode, the above-mentioned unworked area B1may occur. For example, in the example illustrated inFIG.16, the work routes Ra1to Ra4(target route R1) along which the work vehicle10traveled in the own vehicle position reference mode are illustrated. Here, in a case where the operator changes the mode to the work width reference mode after the work vehicle10automatically travels along the work route Ra4, the work vehicle10automatically travels in accordance with the target route R2including the plurality of work routes Rb1to Rb6arranged at a work interval (for example, “170 cm”) corresponding to the work width (for example, “180 cm”) and the lap width (for example, “10 cm”) with reference to the reference line L1. In this case, for example, when the work route Ra4(work-completed route)) of the target route R1and the work route Rb4of the target route R2are misaligned, the work is not started from the position intended by the operator in the work route Rb5next to the work route Ra4, and the unworked area B1is generated (seeFIG.16).

Therefore, in a case where the work vehicle10is changed into the work width reference mode after the work vehicle10starts automatic traveling in accordance with the target routes R1generated in the own vehicle position reference mode, the change processing unit714generates the target routes R2with reference to the work-completed routes along which the work vehicle10has performed the work immediately before. For example, as illustrated inFIG.17, the change processing unit714generates the target route R2including a plurality of work routes Rb1, Rb2, . . . arranged at the work interval (for example, “170 cm”) with reference to the work route Ra4along which the work vehicle10has performed the work immediately before.

As a result, since the next work route Rb1can be worked at the work interval (here, “170 cm”) intended by the operator from the immediately previous work route Ra4, it is possible to prevent the occurrence of a situation unintended by the operator, such as the occurrence of the unworked area B1(seeFIG.16). In addition, it is possible to cause the work vehicle10to automatically travel the subsequent work routes in accordance with the target route R2corresponding to the work width reference mode.

FIG.18illustrates an example of the automatic traveling process corresponding toFIG.17. Hereinafter, description of the same processes as those of the automatic traveling process illustrated inFIG.15will be simplified or omitted as appropriate.

In step S11, the vehicle control device11determines whether or not the work vehicle10is in a state where automatic traveling is possible. When the vehicle control device11determines that the work vehicle10is in a state where automatic traveling is possible (S11: Yes), the process proceeds to step S12. The vehicle control device11is on standby until the work vehicle10is in a state where automatic traveling is possible (S11: No). Here, it is assumed that the own vehicle position reference mode is set and the target route R1is generated in the own vehicle position reference mode.

In step S12, the vehicle control device11causes the work vehicle10to start automatic traveling in accordance with the target route R1. More specifically, when the work vehicle10satisfies the automatic traveling start condition and the operator gives the travel start instruction, the vehicle control device11starts automatic traveling process corresponding to the work route (target route R1) parallel to the reference line L1with reference to the current position (own vehicle position) of the work vehicle10.

Next, in step S13, the operation control unit71determines whether or not a change operation of changing to the work width reference mode from the operator is accepted. When the operation control unit71accepts the change operation from the operator (S13: Yes), the process proceeds to step S14. On the other hand, when the operation control unit71does not accept the change operation from the operator (S13: No), the process proceeds to step S16.

In step S14, the operation control unit71specifies a work route serving as a reference for generating the target route R2. For example, in the example illustrated inFIG.17, the operation control unit71specifies, as the reference work route, the work route Ra4along which the work vehicle10has performed the work immediately before (lastly) among the plurality of work routes Ra1to Ra4(target route R1).

Next, in step S15, the operation control unit71generates the target route R2with reference to the work route specified in step S14. Here, the operation control unit71generates the target route R2with reference to the work route Ra4. For example, the operation control unit71generates the target route R2including the plurality of work routes Rb1, Rb2, . . . arranged at the work interval set based on the work width and the lap width set by the operator with reference to the work route Ra4(seeFIG.17).

Next, in step S16, the vehicle control device11determines whether or not the work vehicle10finishes the work. When the vehicle control device11determines that the work vehicle10finishes the work (S16: Yes), the vehicle control device11ends the automatic traveling process. When the vehicle control device11determines that the work vehicle10does not finish the work (S16: No), the vehicle control device11causes the work vehicle10to continue traveling automatically in accordance with the target route (the target route R1or the target route R2), and the process proceeds to step S13.

The vehicle control device11and the operation control unit71repeatedly execute the processes of steps S13to S15described above until the work vehicle10finishes the work.

As described above, in a case where the setting information (work width, lap width, generation mode of generating the target route, and the like) related to automatic traveling is changed after the work vehicle10starts automatic traveling corresponding to the target route R1, the vehicle control device11and the operation control unit71generate the target route R2with reference to the work-completed route along which the work vehicle10has performed work immediately before and cause the work vehicle10to automatically travel in accordance with the target route R2.

Further, as another embodiment of the present invention, the work route serving as a reference for generating the target route R2may be a route along which the work vehicle10is currently working. For example, as illustrated inFIG.19, when the operator performs an operation of changing the setting information (for example, the lap width) while the work vehicle is automatically traveling along the work route Ra5of the target route R1, the change processing unit714may generate the target route R2with reference to the work route Ra5. In this case, the vehicle control device11causes automatic traveling corresponding to the target route R2to be executed on and after a next work route of the work route Ra5. That is, the “work-completed route along which the work vehicle has performed work immediately before” of the present invention includes the work route (work route Ra4inFIG.14) immediately before the turning route immediately before the current position of the work vehicle10, and the work route (work route Ra5inFIG.19) immediately before the current position of the work vehicle10.

Further, as another embodiment of the present invention, in a case where the setting information is changed in the middle of the work route Ra5of the target route R1, the vehicle control device11may cause the work vehicle10to automatically travel in accordance with the target route R2from the middle of the work route Ra5. For example, in a case where the setting information is changed in the middle of the work route Ra5of the target route R1and the change processing unit714generates the target route R2with reference to the work route Ra4, the vehicle control device11may cause the vehicle to automatically travel in accordance with the target route R2from the position at which the operation of changing the setting information is accepted in the work route Ra5.

Further, as another embodiment of the present invention, when the setting information is changed in the middle of the work route of the target route R1, the operation control unit71may be configured such that the operator can select whether to start the automatic traveling corresponding to the changed target route R2from the middle of the work route or to start the automatic traveling corresponding to the changed target route R2from a next work route of the work route. For example, in a case where the operation control unit71accepts an operation of changing the setting information in the middle of the work route of the target route R1, the operation control unit71causes the operation display unit73to display a work route for starting automatic traveling corresponding to the target route R2in a selectable manner. Note that the configuration in which the operator is caused to select the position at which the automatic traveling corresponding to the target route R2is started can also be applied to a case where the operation of changing the setting information from the operator is accepted while the work vehicle is temporarily stopped between the work routes (at the terminal position of the work route or the like).

According to the above-described configuration, the operator can appropriately set the position at which the changed target route R2is reflected in accordance with the work content, the working condition, and the like, so that the operability can be improved.

Note that the work vehicle of the present invention may also be able to automatically travel when turning. Further, in the work vehicle10, the operator may be able to switch between automatic traveling and manual traveling when turning. Furthermore, the work vehicle10may also be able to automatically travel along the target route unmanned. In this case, the operator may remotely control the operation terminal to give the travel start instruction or the like. The operation terminal that is used for the remote control may be the operation device17according to the present embodiment or may include each of the processing units in the operation device17.

The automatic traveling system of the present invention may be constituted by the vehicle control device11and the operation device17, or may be constituted by the vehicle control device11alone or the operation device17alone. Further, the automatic traveling system may be configured by a server including each of the processing units included in the vehicle control device11and the operation device17.

SUPPLEMENTARY NOTES OF THE INVENTION

The following is a summary of the invention extracted from the embodiments. The components and processing functions described in the following supplementary notes can be selected and combined as desired.

An automatic traveling method, comprising:causing a work vehicle to automatically travel in accordance with a first target route set in advance;generating, in a case where setting information related to automatic traveling is changed after the work vehicle starts automatic traveling corresponding to the first target route, a second target route with reference to a work-completed route along which the work vehicle has performed work immediately before; andcausing the work vehicle to automatically travel in accordance with the second target route.

The automatic traveling method according to Supplementary Note 1, whereinin a case where the setting information is changed after the work vehicle starts automatic traveling corresponding to the first target route, the second target route is generated with reference to the work-completed route that is a straight route immediately before a turning route along which the work vehicle has traveled immediately before a current position of the work vehicle.

The automatic traveling method according to Supplementary Note 1 or 2, whereinthe first target route including a plurality of work routes arranged at a predetermined interval is generated based on the setting information set in advance, andin a case where the setting information is changed after the work vehicle starts automatic traveling corresponding to the first target route, the second target route is generated with reference to the work-completed route that is a work route along which the work vehicle has performed work immediately before among the plurality of work routes.

The automatic traveling method according to Supplementary Note 3, whereinthe setting information includes a work interval between the work routes adjacent to each other, andin a case where the work interval is changed after the work vehicle starts automatic traveling corresponding to the first target route, the second target route in which the plurality of work routes are arranged at the changed work interval with reference to the work-completed route is generated.

The automatic traveling method according to Supplementary Note 3 or 4, whereinthe setting information includes at least one of a work width that is a width of a work machine or a lap width that is a width in which adjacent work areas overlap each other, andin a case where an operation of changing at least one of the work width or the lap width is accepted after the work vehicle starts automatic traveling corresponding to the first target route, the second target route is generated based on at least one of the changed work width or the changed lap width with reference to the work-completed route.

The automatic traveling method according to any one of Supplementary Notes 1 to 5, whereinthe setting information includes a first generation mode of generating a target route including a plurality of work routes arranged at a predetermined interval based on a reference line set in advance, and a second generation mode of generating a target route with reference to a current position of the work vehicle, andin a case where the work vehicle is changed into the first generation mode after the work vehicle starts automatic traveling in accordance with the first target route generated in the second generation mode, the second target route is generated with reference to the work-completed route.

The automatic traveling method according to any one of Supplementary Notes 1 to 6, whereinthe second target route is displayed on an operation terminal.

The automatic traveling method according to any one of Supplementary Notes 1 to 7, whereinthe first target route and the second target route are displayed on an operation terminal in display modes different from each other.

The automatic traveling method according to any one of Supplementary Notes 1 to 8, whereina first work trajectory when the work vehicle travels in accordance with the first target route is displayed on an operation terminal.

The automatic traveling method according to Supplementary Note 9, whereina second work trajectory when the work vehicle travels in accordance with the second target route is displayed on the operation terminal in a display mode different from that of the first work trajectory.

REFERENCE SIGNS LIST