JP7802633B2 - Autonomous driving method, automatic driving system, and program - Google Patents

Description

The present invention relates to an automated driving method, an automated driving system, and a program.

In order for a work vehicle to travel autonomously within a field, the field area must be registered in advance. The conventional method is for the operator to operate the work vehicle along the perimeter of the field, and the field area is registered from the work vehicle's position information obtained during this process. The registered field area is an area in which the work vehicle can travel safely, and can be used as a permitted travel area.

Patent Document 1 discloses a configuration that issues a warning when an attempt is made to register an area outside the actual driving locus area as a permitted driving area, preventing the creation of a driving route outside the driving locus area.

Japanese Patent Application Laid-Open No. 2017-163922

However, in farm fields, work may be carried out by placing work equipment outside the permitted travel area. Examples of such work include ridge painting and weeding. It would be convenient if such work could also be carried out using automated travel.

In view of the above, the present invention aims to provide technology that enables work on the periphery of a field to be performed automatically.

An exemplary automated driving method of the present invention is a method for automated driving of a work vehicle that includes a traveling body and a work implement attached to the traveling body. The automated driving method includes registering a travel-permitted area in which the traveling body is permitted to travel, selecting a work mode from a first mode in which work is performed inside the travel-permitted area, and a second mode in which work is performed outside the travel-permitted area, and prohibiting automated driving in the first mode when the work implement is located outside the travel-permitted area and permitting it in the second mode.

An exemplary automated driving system of the present invention includes a work vehicle equipped with a traveling machine body and a work implement attached to the traveling machine body, and a control device that controls the automated driving of the work vehicle. The control device registers a travel-permitted area in which the traveling machine body is permitted to travel, selects one of two work modes: a first mode in which work is performed inside the travel-permitted area, and a second mode in which work is performed outside the travel-permitted area, and prohibits automated driving when the work implement is located outside the travel-permitted area in the first mode and permits it in the second mode.

An exemplary program of the present invention is a program that causes a computer to execute an automatic driving method for a work vehicle that includes a traveling body and a work implement attached to the traveling body. The program causes the computer to function as a means for registering a permitted driving area in which the traveling body is permitted to drive, selecting one of two work modes: a first mode in which work is performed inside the permitted driving area, and a second mode in which work is performed outside the permitted driving area, and prohibiting automatic driving in the first mode when the work implement is located outside the permitted driving area, and permitting it in the second mode.

According to an exemplary embodiment of the present invention, work on the periphery of a field can be performed automatically.

A diagram showing the general configuration of an automated driving system FIG. 1 is a side view showing a schematic configuration of a work vehicle; FIG. 1 is a schematic diagram illustrating a work machine provided on a work vehicle; A block diagram showing the general configuration of a control device Flowchart showing the flow of the automated driving method FIG. 10 is a schematic diagram illustrating the registration of work machine information for an offset work machine; Diagram for explaining permitted work area FIG. 10 is a diagram illustrating an example of setting a first working area. FIG. 10 is a diagram for explaining an example of generating a first work path; FIG. 10 is a schematic diagram showing a state immediately before the work vehicle starts autonomous traveling along a first work route; FIG. 1 is a schematic diagram showing a state in which a work vehicle has automatically traveled only along a first work route and arrived at an end point. A diagram for explaining a reversal path A diagram for explaining a reversal path A diagram for explaining a reversal path FIG. 10 is a diagram for explaining generation of a second work path;

Embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or equivalent parts will be designated by the same reference symbols, and unless particularly necessary, their description will not be repeated. Furthermore, directions are defined as follows in this specification. The direction in which a work vehicle travels straight ahead is defined as the longitudinal direction, and longitudinal is defined as the position of the steering wheel in front of the driver's seat of the work vehicle. Furthermore, the right side as viewed from the driver sitting in the driver's seat facing forward is defined as the right, and the left side as the left, defining the left-right direction perpendicular to the longitudinal direction. Furthermore, the direction perpendicular to the longitudinal and lateral directions is defined as the vertical direction, with the direction of gravity being defined as down and the opposite side as up. The above directions are simply names used for the purpose of explanation and are not intended to limit the actual positional relationships or directions.

<1. Overview of the Autonomous Driving System>
1 is a diagram showing a schematic configuration of an automated driving system 100 according to an embodiment of the present invention. As shown in FIG. 1, the automated driving system 100 includes a work vehicle 1 and a control device 2.

[1-1. Work vehicles]
FIG. 2 is a side view showing a schematic configuration of a work vehicle 1 according to an embodiment of the present invention. The work vehicle 1 of this embodiment is a field work vehicle that performs work while traveling in a field 200. The work vehicle 1 includes a traveling body 11 and a work implement 12. The traveling body 11 travels in the field 200. The work implement 12 is attached to the traveling body 11. In this embodiment, the work implement 12 is attached to the rear of the traveling body 11. Specifically, the work vehicle 1 is a tractor that tows the work implement 12 with the traveling body 11. However, the work implement 12 may also be attached to the front of the traveling body 11. In other words, the work vehicle of the present invention may be configured so that the work implement 12 is attached to the front of the traveling body 11.

The traveling vehicle body 11 includes a body section 13 and a pair of traveling units 14 that support the body section 13 and are spaced apart in the left-right direction. Each traveling unit 14 includes a front wheel 14a and a rear wheel 14b. At least one of the front wheels 14a and the rear wheels 14b is configured to be able to transmit driving force from an engine 15 located in front of the body section 13. The transmission of this driving force from the engine 15 to the traveling units 14 enables the traveling vehicle body 11 to travel across the field 200. The body section 13 includes a driver's section 16 in which the driver sits. The driver's section 16 includes a driver's seat 16a for the driver to sit in, a steering wheel 16b for steering the traveling vehicle body 11, and an operating unit (not shown) that allows the driver to perform various operations. The steering wheel 16b is located in front of the driver's seat 16a.

The work implement 12 is connected to the rear of the machine body 13 via a connecting mechanism 17. A PTO shaft (power take-off shaft) 18 is disposed at the rear of the machine body 13 to output the driving force of the engine 15 to the work implement 12. The driving force of the engine 15 is transmitted to the PTO shaft 18 via a transmission 19.

The work vehicle 1 of this embodiment is equipped with multiple types of interchangeable work implements 12. The multiple types of work implements 12 may include, for example, at least one of cultivating implements, plows, fertilizer applicators, pesticide sprayers, harvesters, and harvesters. In this embodiment, the multiple types of work implements 12 also include work implements that are mounted offset to the left or right relative to the traveling body 11. Hereinafter, such work implements 12 will be referred to as offset work implements 12A. The offset work implement 12A may be, for example, a ridger that enables ridge painting, or a brush cutter (offset mower) that enables grass cutting.

Figure 3 is a schematic diagram illustrating the offset implement 12A. Figure 3 is a plan view of the work vehicle 1 from above. In Figure 3, the work vehicle 1 is moving straight forward. As shown in Figure 3, by attaching the offset implement 12A, the work vehicle 1 can perform traveling work on the outer edge 201 of the field 200. In Figure 3, within the outer edge 201 of the field 200, the hatched area 201a indicates a worked area, and the white area 201b indicates an unworked area.

The work vehicle 1 is equipped with a mechanism that allows the offset direction of the offset implement 12A to be switched. In the example shown in Figure 3, the outer edge 201 to be worked on is located on the right side of the work vehicle 1, so the offset implement 12A is offset to the right relative to the traveling body 11. If the outer edge 201 to be worked on is located on the left side of the work vehicle 1, the offset implement 12A is offset to the left relative to the traveling body 11. Note that an offset implement 12A that is offset to the right will have at least a portion protruding to the right relative to the traveling body 11. An offset implement 12A that is offset to the left will have at least a portion protruding to the left relative to the traveling body 11.

In this embodiment, the work vehicle 1 is capable of automatically switching the left/right offset direction of the offset work implement 12A. For example, the offset direction of the offset work implement 12A may be configured to be automatically switched in response to instructions from the operator. Instructions from the operator may be given, for example, using an operation button (not shown) provided on the driver's unit 16 of the work vehicle 1 or a mobile communication terminal (not shown) carried by the operator. The offset direction of the offset work implement 12A may also be configured to be automatically switched in response to a command from a control device that is capable of controlling the operation of the offset work implement 12A. The control device referred to here may be, for example, the control device 2 shown in FIG. 1.

The offset direction of the offset work unit 12A may be switched, for example, by a mechanism that slides the position of the offset work unit 12A left and right. Alternatively, the offset direction of the offset work unit 12A may be switched, for example, by a mechanism that rotates the offset work unit 12A. Alternatively, the offset direction of the offset work unit 12A may be switched, for example, by a combination of sliding movement and rotation.

The offset work implement 12A may be configured to be usable by driving the work vehicle 1 in at least one of forward and reverse directions before and after the offset direction is switched. For example, the offset work implement 12A may be configured to be usable when the work vehicle 1 is traveling forward or backward, regardless of the offset direction. The offset work implement 12A may also be configured to be usable by keeping the forward and backward directions of the work vehicle 1 the same before and after the offset direction is switched. The offset work implement 12A may also be configured to be usable by switching the forward and backward directions of the work vehicle 1 before and after the offset direction is switched. To give a specific example, the offset work implement 12A may be configured to be able to perform traveling work by driving the work vehicle 1 forward both before and after the offset direction is switched. The offset work implement 12A may also be configured to be able to perform traveling work by switching the forward and reverse directions of the work vehicle 1 before and after the offset direction is switched.

[1-2. Control Device]
FIG. 4 is a block diagram showing a schematic configuration of a control device 2 according to an embodiment of the present invention. The control device 2 is a computer including, for example, a calculation unit, an input/output unit, and a storage unit 21. The calculation unit is, for example, an integrated circuit such as a processor or a microprocessor. The storage unit 21 is a main storage device such as a read-only memory (ROM) and a random access memory (RAM). The storage unit 21 may further include an auxiliary storage device such as an HDD (hard disk drive) or an SSD (solid state drive). Various programs, data, etc. are stored in the storage unit 21. The calculation unit reads and executes the various programs from the storage unit 21.

In this embodiment, the above hardware and software work together to allow the control device 2 to operate as various functional units. As shown in FIG. 4, the various functional units include a field registration processing unit 22, a work mode selection unit 23, a work implement information registration processing unit 24, an area setting unit 25, a route generation unit 26, an automatic driving control unit 27, and a display control unit 28. The control device 2 may be configured as a single piece of hardware, or may be configured as multiple pieces of hardware that can communicate with each other.

As described above, the functional units 22-28 of the control device 2 may be implemented by having the calculation unit execute a program, i.e., by software, but they may also be implemented by other methods. The functional units 22-28 may be implemented using, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). That is, the functional units 22-28 may be implemented by hardware using a dedicated IC or the like. The functional units 22-28 may also be implemented using a combination of software and hardware. The functional units 22-28 are conceptual components. The function performed by one component may be distributed among multiple components. Furthermore, the functions of multiple components may be integrated into a single component.

The control device 2 may be mounted on, for example, the work vehicle 1. Also, for example, the control device 2 may be mounted on a mobile communication terminal (not shown) that is capable of communicating with the work vehicle 1. The mobile communication terminal may be, for example, a tablet terminal, smartphone, laptop computer, remote controller, etc. Also, for example, the control device 2 may be composed of a control device mounted on the work vehicle 1 and a control device mounted on the mobile communication terminal. Also, for example, at least some of the functions of the control device 2 may be implemented by a server that is capable of communicating with the work vehicle 1 and the mobile communication terminal via a network such as the Internet. Also, for example, some of the information stored in the memory unit 21 may be stored on the server.

Figure 4 shows not only the control device 2, but also elements 3-6 that are directly or indirectly connected to the control device 2. These elements 3-6 and the control device 2 may be connected, for example, by wire or wirelessly. Furthermore, for example, these elements 3-6 may be connected, by wire or wirelessly, to a device that can communicate with the control device 2, and may be indirectly connected to the control device 2 via that device.

The positioning communication unit 3 is provided on the work vehicle 1. The positioning communication unit 3 includes a positioning antenna (not shown) and uses positioning signals received by the positioning antenna from positioning satellites to acquire the position of the work vehicle 1 as, for example, latitude and longitude information. The positioning communication unit 3 outputs the position information of the work vehicle 1 to the control device 2. For example, the positioning communication unit 3 may receive positioning signals from a reference station (not shown) using an appropriate method, and then perform positioning using the well-known RTK-GNSS (Real Time Kinematic GNSS) method. Furthermore, for example, the positioning communication unit 3 may perform positioning using the DGNSS (Differential GNSS) method.

The sensor 4 is mounted on the work vehicle 1. The sensor 4 detects information related to the work vehicle 1 and outputs the detected information to the control device 2. It is preferable that the work vehicle 1 be equipped with multiple types of sensors 4. In this case, each of the multiple types of sensors 4 may output detected information to the control device 2. The multiple types of sensors may include, for example, an inertial measurement unit, an obstacle sensor, etc.

The inertial measurement unit may be a device that includes a three-axis angular velocity sensor and a three-directional acceleration sensor and is capable of measuring the attitude of the work vehicle 1. The obstacle sensor is a sensor that detects obstacles present around the work vehicle 1, and may be, for example, an ultrasonic sensor, a camera, radar, or LiDAR (Light Detection and Ranging).

The operation unit 5 enables the operator to issue commands to the control device 2. The operator may be a person riding in the work vehicle 1 or a person not riding in the work vehicle 1. The operation unit 5 may be provided, for example, on at least one of the work vehicle 1 and the mobile communication terminal. The operation unit 5 may be, for example, a button, lever, dial, or touch panel. The operation unit 5 may be a software switch instead of a hardware switch.

The display unit 6 displays information appropriately in response to commands from the control device 2. The display unit 6 may be, for example, a liquid crystal display or an organic EL (electroluminescence) display. The display unit 6 may be configured with a touch panel, in which case the display unit 6 may also serve as the operation unit 5 described above. The display unit 6 may be provided, for example, on at least one of the work vehicle 1 and the mobile communication terminal.

The field registration processing unit 22 performs the registration process for the field 200 in response to commands from an operator using the operation unit 5, for example. By performing the registration process for the field 200, information such as the shape of the field 200 is stored in the memory unit 21. Note that the functions of the field registration processing unit 22 may also include editing and deleting information about registered fields.

When registering the field 200, for example, the operator manually drives the work vehicle 1 along the perimeter of the field 200, such as along the ridges. The shape of the field 200 is identified from the travel trajectory of the work vehicle 1 obtained using the positioning communication unit 3 during this travel. The area inside the identified shape of the field 200 is the field area. In this embodiment, the field area is the permitted travel area. The permitted travel area is an area that is deemed safe for the traveling machine body 11 to travel in, and is an area in which the traveling machine body 11 is permitted to travel. In this embodiment, the field registration process by the field registration processing unit 22 includes registering this permitted travel area.

The work mode selection unit 23 selects the work mode. The work mode is selected, for example, by a command from the operator using the operation unit 5. However, the work mode may also be selected automatically by the control device 2. In this embodiment, the work modes include a first mode and a second mode. The first mode is a work mode in which the work target is an area inside the permitted travel area. The second mode is a work mode in which the work target is an area outside the permitted travel area.

In this embodiment, in the first mode, only the area inside the travel-allowed area is the work target. In the second mode, only the area outside the travel-allowed area may be the work target, or a portion of the travel-allowed area adjacent to the travel-allowed area may also be the work target in addition to the area outside the travel-allowed area.

The work machine information registration processing unit 24 performs a process to register information about the work machine 12 used when performing work by autonomous driving. This process stores the work machine information in the memory unit 21. For example, the work machine information registration processing unit 24 requests the operator to input information about the work machine 12. The request to input information may be made, for example, using the display unit 6. The work machine information registration processing unit 24 then registers the information about the work machine 12 input by the operator using the operation unit 5 or the like. The information about the work machine 12 may include, for example, the size and shape of the work machine 12, its mounting position relative to the traveling body 11, etc.

The area setting unit 25 sets the work area. The work area is the area where work is performed by the work implement 12. In this embodiment, in the first mode, the work area is set inside the permitted travel area. In the second mode, the work area is set outside the permitted travel area. Note that the work area set in the second mode may extend from outside the permitted travel area to inside the permitted travel area.

The route generation unit 26 generates an automatic driving route for automatically driving the work vehicle 1 in the field 200. The method for generating the automatic driving route may differ between the first mode and the second mode. Note that automatic driving means that the driving-related devices equipped on the work vehicle 1 are controlled by the control device 2, and at least steering is performed autonomously so as to follow a predetermined route. In addition to steering, automatic driving may also be configured so that at least one of the vehicle speed and the work performed by the work implement 12 is performed autonomously. Furthermore, automatic driving may include both cases where a person is on board the work vehicle 1 and cases where a person is not on board the work vehicle 1.

For example, autonomous driving may be autonomous straight-line driving in which only steering operation (operation of the steering wheel) is controlled automatically. In autonomous straight-line driving, for example, control of vehicle speed, control of raising and lowering of the work implement 12, and control of on/off of the operation of the work implement 12 are performed manually. Furthermore, for example, autonomous driving may be manned autonomous driving in which work by straight-line driving and turning are performed automatically while a driver is in the driver's section of the work vehicle 1. In manned autonomous driving, for example, control of vehicle speed and control of raising and lowering of the work implement 12 can be switched between automatic and manual. Furthermore, for example, autonomous driving may be unmanned autonomous driving (robot driving) in which all operations are performed automatically without a driver in the driver's section of the work vehicle 1.

Furthermore, in automated driving, the pre-set automated driving route may become inappropriate, for example, due to road conditions that differ from those expected or due to inappropriate tire sizes. Furthermore, for example, the vehicle's own position information obtained by positioning may become inappropriate, resulting in deviation from the automated driving route. Taking such points into consideration, the automated driving route may be corrected as appropriate based on commands from the operator or commands from the control device 2 using a feedback control function. The route generation unit 26 may be equipped with such an automated driving route correction function.

The automatic driving control unit 27 automatically controls at least part of the driving system of the work vehicle 1, for example, when automatic driving is selected by a command from the operation unit 5. For example, if the automatic driving mode is an automatic straight-line driving mode, the automatic driving control unit 27 automatically controls steering operation so that the work vehicle 1 drives along a predetermined route. For example, if the automatic driving mode is a manned automatic driving mode or an unmanned automatic driving mode, the automatic driving control unit 27 automatically controls steering operation and vehicle speed adjustment. Furthermore, in the manned automatic driving mode or the unmanned automatic driving mode, the automatic driving control unit 27 automatically controls the lifting and lowering of the work implement 12, etc.

The display control unit 28 controls the display unit 6 to appropriately display information about the work vehicle 1 on the display unit 6 for the operator on board the work vehicle 1 and for an operator operating the work vehicle 1 from outside.

<2. Autonomous driving method>
Next, an automatic traveling method executed by the automatic traveling system 100 of this embodiment will be described. In detail, the automatic traveling method of this embodiment is an automatic traveling method for a work vehicle 1 equipped with a traveling machine body 11 and a work machine 12, and is executed by a control device 2 (e.g., a computer device). Figure 5 is a flowchart showing the flow of the automatic traveling method according to this embodiment of the present invention.

In step S1, the field registration processing unit 22 performs a field area registration process. As a result, the field area is recorded in the memory unit 21. As described above, in this embodiment, the field area is synonymous with the travel-permitted area. That is, the automatic traveling method of this embodiment registers the travel-permitted area in which the traveling machine body 11 is permitted to travel. In detail, the control device 2 performs this process. A program that causes a computer to execute the automatic traveling method of this embodiment causes the computer to function as a means for registering the travel-permitted area in which the traveling machine body 11 is permitted to travel.

The field area (permitted travel area) registration process is carried out, for example, by the operator pressing a measurement start button that measures the travel trajectory of the work vehicle 1, and then having the operator drive the work vehicle 1 along the perimeter of the field. Instead of the operator pressing the measurement start button, the field area registration process may be automatically started when the control device 2 determines that predetermined conditions for starting field area measurement have been met. Once the field area registration process is complete, processing proceeds to the next step S2. If the field area (permitted travel area) has already been registered, step S1 may be skipped.

In step S2, the work mode selection unit 23 selects a work mode. In this embodiment, either a first mode, in which the work target is an area inside the allowed travel area, or a second mode, in which the work target is an area outside the allowed travel area, is selected. That is, the automated driving method of this embodiment selects either the first mode or the second mode as the work mode. In detail, the control device 2 executes this processing. A program that causes a computer to execute the automated driving method of this embodiment causes the computer to function as a means for selecting either the first mode or the second mode as the work mode.

In the first mode, work is mainly performed using a work machine 12 other than the offset work machine 12A, such as a tiller. However, work may also be performed using the offset work machine 12A in the first mode. In the second mode, work is performed using the offset work machine 12A. Selection of either the first mode or the second mode may be determined by an operator's instruction, or may be determined automatically by the control device 2. For example, the control device 2 may be configured to automatically determine whether to use the first mode or the second mode depending on the type of work machine 12 attached to the traveling body 11. If the selected work mode is the first mode, processing proceeds to step S3. If the selected work mode is the second mode, processing proceeds to step S3A.

The processes of steps S3, S4, S5, and S6, which are performed when the first mode is selected, are performed when a work area is set within the permitted travel area and the work machine 12 performs work while automatically traveling through that work area. These processes may be similar to known processes, so they will only be briefly described.

In step S3, the work machine information registration processing unit 24 performs a process to register information about the work machine 12 to be used for work by automatic driving in the first mode. The information about the work machine 12 may be configured to be input by the operator using the operation unit 5 in response to a request from the control device 2, for example. The information about the work machine 12 may include, for example, the distance from the center of the traveling body 11 in the left-right direction to one end of the work machine 12 in the left-right direction, the overall width of the work machine 12, and the position of the work machine 12. Once step S3 has been processed, processing proceeds to the next step, S4.

In this embodiment, the first mode or the second mode is selected before registering the work machine information, but the first mode or the second mode may be selected during the work machine information registration process. Furthermore, if work machine information has already been registered, step S3 may be skipped.

In step S4, the area setting unit 25 sets a work area (work area within the permitted area) within the previously registered permitted travel area. The work area within the permitted area may be, for example, an area where the work vehicle 1 performs work using a work implement 12 such as a tiller while traveling straight ahead. A headland area may be provided inside the permitted travel area but outside the permitted travel area. The headland area is an area where the work vehicle 1, having traveled straight along a straight path within the permitted travel area, must turn to move to the next straight path within the permitted travel area. Turning may or may not be automatic. Once the working area within the permitted area has been set, processing proceeds to the next step, S5. If a working area within the permitted area has already been registered, processing in step S4 may be skipped.

In step S5, the route generation unit 26 generates an automated driving route for the work vehicle 1 to automatically travel within the work area within the permitted area. The automated driving route is, for example, a straight route established within the work area within the permitted area. Once the automated driving route has been generated, processing proceeds to the next step, S6. Note that if an automated driving route has already been registered, processing in step S5 may be skipped.

In step S6, under the control of the automatic driving control unit 27, automatic driving is performed along the generated automatic driving route. For example, automatic driving is performed along a straight line set in the work area within the permitted area.

The automated driving method of this embodiment prohibits automated driving in the first mode when the work machine 12 is located outside the permitted driving area. In detail, the control device 2 executes this process. The program that causes a computer to execute the automated driving method of this embodiment causes the computer to function as a means for prohibiting automated driving in the first mode when the work machine 12 is located outside the permitted driving area.

The work machine 12 being located outside the travel-permitted area may mean that at least a portion of the work machine 12 is located outside the travel-permitted area. Furthermore, prohibiting automatic driving when the work machine 12 is located outside the travel-permitted area may mean stopping automatic driving when it is determined that the work machine 12 is located outside the travel-permitted area during automatic driving. Stopping automatic driving may include, for example, stopping driving and transitioning from automatic driving to manual driving. Furthermore, prohibiting automatic driving when the work machine 12 is located outside the travel-permitted area may mean, for example, not permitting the generation of an automatic driving route that places the work machine 12 outside the travel-permitted area before automatic driving is performed.

In addition, the autonomous driving method of this embodiment prohibits autonomous driving in the first mode when the traveling vehicle body 11 is located outside the permitted driving area. In detail, the control device 2 executes this processing. The program that causes a computer to execute the autonomous driving method of this embodiment causes the computer to function as a means for prohibiting autonomous driving in the first mode when the traveling vehicle body 11 is located outside the permitted driving area.

Prohibiting automatic driving when the traveling vehicle 11 is located outside the permitted driving area may mean stopping automatic driving when it is determined that the traveling vehicle 11 is located outside the permitted driving area during automatic driving. Stopping automatic driving may include, for example, stopping driving and transitioning from automatic driving to manual driving. Furthermore, prohibiting automatic driving when the traveling vehicle 11 is located outside the permitted driving area may mean, for example, not allowing the generation of an automatic driving route that positions the traveling vehicle 11 outside the permitted driving area when automatic driving has not yet been performed.

Next, we will explain the processing of steps S3A, S4A, S5A, and S6A that is performed when the second mode is selected. These processing is performed when the offset implement 12A is attached to the traveling machine body 11 and work is performed on the outer edge of the field.

In step S3A, the work machine information registration processing unit 24 performs a process to register information about the work machine (i.e., the offset work machine 12A) to be used for work using automatic travel in the second mode. The information about the offset work machine 12A may be input by the operator using the operation unit 5, for example, in response to a request from the control device 2.

Figure 6 is a schematic diagram for explaining the registration of work machine information for the offset work machine 12A. The dashed line BL in Figure 6 indicates the left-right center position of the traveling machine body 11. The registered information for the offset work machine 12A may include the first horizontal distance W1, second horizontal distance W2, third horizontal distance W3, and first vertical distance L1 shown in Figure 6. The first horizontal distance W1 is the distance between the left-right center of the traveling machine body 11 and the inner left-right end of the offset work machine 12A. The second horizontal distance W2 is the left-right width of the offset work machine 12A. The third horizontal distance W3 is the distance between the left-right center of the traveling machine body 11 and the outer left-right end of the offset work machine 12A. For example, since the third lateral distance W3 is obtained by adding the first lateral distance W1 and the second lateral distance W2 (W3 = W1 + W2), the third lateral distance W3 does not need to be entered as long as the first lateral distance W1 and the second lateral distance W2 are entered. The first vertical distance L1 is the distance between the rear end of the traveling body 11 and the rear end of the offset work implement 12A. Note that, as mentioned above, the offset work implement 12A may be attached to the front of the traveling body 11. In this case, the first vertical distance L1 is the distance between the front end of the traveling body 11 and the front end of the offset work implement 12A.

In addition, if the dimensions of the traveling body 11 have not been registered in advance, the dimensions of the traveling body 11 may also be registered in conjunction with the registration of the information for the offset work machine 12A. The registered dimensions of the traveling body 11 may include, for example, the distance between the center position of the traveling body 11 in the left-right direction and one end of the traveling body 11 in the left-right direction (body half width Wa). In addition, the registered dimensions of the traveling body 11 may include, for example, the length of the traveling body 11 in the fore-and-aft direction (body length La).

In addition, the registered information about the offset work machine 12A may include, for example, information about whether or not the offset direction has been switched. Also, for example, if there is a change in the registered information due to a switch in the offset direction, the registered information about the offset work machine 12A may include information related to that change.

Returning to Figure 5, once the process of registering information about the offset work machine 12A is complete, processing proceeds to the next step S4A. Note that if information about the offset work machine 12A has already been registered, processing in step S3A may be skipped.

In step S4A, the area setting unit 25 first sets the work allowed area 220. Figure 7 is a diagram for explaining the work allowed area 220. The work allowed area 220 is an area through which the offset work machine 12A is permitted to pass. The automated driving method of this embodiment sets the work allowed area 220, which has an outer periphery outside the travel allowed area 210, based on information about the travel allowed area 210 and information about the work machine 12.

In detail, the information on the travel allowed area 210 is the outer periphery position of the travel allowed area 210. The information on the work implement 12 is information on the offset work implement 12A, and is the amount of protrusion (protrusion distance) Wx of the offset work implement 12A from the side of the traveling body 11. This protrusion distance Wx is obtained by subtracting the half width Wa of the body from the third lateral distance W3 shown in FIG. 6 (Wx = W3 - Wa). The area setting unit 25 sets the outer periphery position of the travel allowed area 210 as the outer periphery position of the work allowed area 220, which is a position obtained by expanding the outer periphery position of the travel allowed area 210 outward by the protrusion distance Wx. The area inside this outer periphery position corresponds to the work allowed area 220. The work allowed area 220 is an area that includes the travel allowed area 210.

In the second mode, automatic travel is permitted when the work implement 12 (specifically, the offset work implement 12A) is located within the permitted work area 220. Conversely, automatic travel is prohibited when the offset work implement 12A is located outside the permitted work area 220. In other words, even in the second mode, there are cases where automatic travel is prohibited depending on the position of the work implement 12, ensuring the safety of automatic travel. Note that in this embodiment, a state in which the offset work implement 12A is located outside the permitted work area 220 corresponds to a state in which the traveling machine body 11 is located outside the permitted travel area 210.

When the area setting unit 25 sets the work allowed area 220, it sets a work area included in the work allowed area 220. This work area corresponds to the first work area of the present invention. In other words, the automated driving method of this embodiment executes the setting of a first work area within the work allowed area 220 where work is performed by the work implement 12 (specifically, the offset work implement 12A).

An example of setting the first working area 230 will be described with reference to Figure 8. Note that Figure 8 is a diagram for explaining an example of setting the first working area 230. In Figure 8, the dashed-dotted line DL indicates a portion of the periphery of the travel-allowed area 210. Furthermore, the dashed-two-dotted line DDL indicates a portion of the periphery of the work-allowed area 220. Figure 8 shows a method for setting the first working area 230 for one side of the travel-allowed area 210. The first working area 230 is set for each side that makes up the periphery of the travel-allowed area 210.

The area setting unit 25 first sets a fourth lateral distance W4, which is the distance between one side of the travel-allowed area 210 and the inner left-right edge of the offset work implement 12A. The fourth lateral distance W4 is set based on instructions from the operator or the judgment of the control device 2. By setting the fourth lateral distance W4, the position where work will be performed by the offset work implement 12A is identified, using the outer periphery of the travel-allowed area 210 as a reference.

The inner left-right end position of the offset work machine 12A may be set on the outer periphery of the permitted travel area 210. In this case, the fourth lateral distance W4 is zero. An example of such a case is when the offset work machine 12A is used as a ridger to form ridges adjacent to the outer periphery of the permitted travel area 210.

The inner edge position in the left-right direction of the offset implement 12A may be set outside the outer periphery of the travel-allowed area 210. In this case, the fourth lateral distance W4 may be set to a positive value for convenience. An example of such a case is when a brush cutter is used as the offset implement 12A to cut weeds located away from the outer periphery of the travel-allowed area 210. An example of a case where weeds are located away from the outer periphery of the travel-allowed area 210 is when a ditch is located adjacent to the outside of the outer periphery of the travel-allowed area 210. Ditch information (e.g., ditch width) may be registered in advance in the memory unit 21, and the fourth lateral distance W4 may be automatically set using the ditch information.

The inner left-right end position of the offset work implement 12A may also be set inside the outer periphery of the permitted travel area 210. In this case, the fourth lateral distance W4 may be set to a negative value for convenience. In this configuration, a portion of the first work area 230 is set within the permitted travel area 210. With this configuration, when performing grass cutting work using a brush cutter as the offset work implement 12A, grass can be cut evenly both inside and outside the outer periphery of the permitted travel area 210.

After setting the fourth lateral distance W4, the area setting unit 25 sets a first straight line Li1 that is parallel to one side of the travel-allowed area 210 and passes through a position that is the fourth lateral distance W4 away from that side in the left-right direction. The area setting unit 25 also sets a second straight line Li2 that is parallel to the first straight line Li1 and passes through a position that is the second lateral distance W2 (see FIG. 6) away from the first straight line Li1 to the left-right outward. The strip-shaped area sandwiched between the first straight line Li1 and the second straight line Li2 may be the first working area 230 that is set on one side of the travel-allowed area 210. However, in this example, the area setting unit 25 further sets a third straight line Li3 and a fourth straight line Li4 to set the first working area 230.

The third straight line Li3 is a line that intersects one side of the travel-allowed area 210 at right angles and passes through a position that is the first vertical distance L1 away in the direction extending from one end of that side. The fourth straight line Li4 is a line that intersects one side of the travel-allowed area 210 at right angles and passes through a position that is the first vertical distance L1 away in the direction extending from the other end of that side. The area setting unit 25 sets the area surrounded by the first straight line Li1, the second straight line Li2, the third straight line Li3, and the fourth straight line Li4 as the first working area 230.

The setting of the first working area 230 is completed by performing the above setting process for each side of the travel-allowed area 210. Note that, here, the first working area 230 is set for all sides of the travel-allowed area 210; however, the first working area 230 may be set for only some of the sides. Furthermore, multiple first working areas 230 may be set for each side of the travel-allowed area 210. When multiple first working areas 230 are set, it is assumed that automated driving operations along each side are performed multiple times, with the locations shifted. Furthermore, the first working areas 230 set for each side may be deleted as appropriate. Once the setting of the first working area 230 is complete, processing proceeds to the next step S5A (see FIG. 5). Note that if the first working area 230 has already been registered, the processing of step S4A may be skipped.

In step S5A, the path generation unit 26 generates an automated driving path that enables the offset work implement 12A to work in the first work area 230. This automated driving path is generated in the travel-allowed area 210 and corresponds to the first work path of the present invention. That is, the automated driving method of this embodiment executes the generation of a first work path 30 in the travel-allowed area 210 that enables the work implement 12 to work in the first work area 230. As a result, a work path is generated when the work implement 12 works outside the travel-allowed area 210, separate from a work path when the work implement 12 works within the travel-allowed area 210. As a result, an appropriate work path can be generated depending on the type of work implement 12, allowing the work implement 12 to work accurately.

Figure 9 is a diagram illustrating an example of generating a first work path 30. As shown in Figure 9, the first work path 30 (shown by a thick solid line) is generated to correspond to the first work area 230 provided on each side of the allowed travel area 210. The first work path 30 provided to correspond to each first work area 230 extends in a direction along each side of the allowed travel area 210. Each first work path 30 is set within the allowed travel area 210. Each first work path 30 is set to a position that passes through the center of the traveling machine body 11 in the left-right direction. Each first work path 30 is set at a position that is a predetermined distance inward from each side of the allowed travel area 210. Specifically, the predetermined distance is a position that is a distance inward from each side obtained by subtracting the fourth lateral distance W4 from the first lateral distance W1.

Once the setting of the first work path 30 is complete, processing proceeds to the next step S6A (see Figure 5). In this example, the first work path 30 is set to correspond to all sides of the travel allowed area 210. However, as described above, the first work area 230 may be set for only some of the sides of the travel allowed area 210. For this reason, the first work path 30 may also be set for only some of the sides of the travel allowed area 210. Furthermore, if there are multiple first work areas 230 set for each side of the travel allowed area 210, there may also be multiple first work paths 30 set for each side of the travel allowed area 210. Furthermore, if the first work path 30 has already been registered, processing in step S5A may be skipped.

In step S6A, under the control of the automatic driving control unit 27, automatic driving is performed along each of the generated first work routes 30. As can be seen from the above, the automatic driving method of this embodiment executes the process of permitting automatic driving in the second mode when the work machine 12 is located outside the permitted travel area 210. In detail, the control device 2 executes this process. The program that causes a computer to execute the automatic driving method of this embodiment causes the computer to function as a means for permitting automatic driving in the second mode when the work machine 12 is located outside the permitted travel area 210.

In this embodiment, in the first mode, in which the work area is set inside the travel-permitted area 210, automatic driving is prohibited when the work machine 12 is located outside the travel-permitted area 210. On the other hand, in the second mode, in which the work area is set outside the travel-permitted area 210, automatic driving is exceptionally permitted when the work machine 12 is located outside the travel-permitted area 210. By applying the exception in the second mode, the scope of application of automatic driving work can be expanded, and work efficiency can be improved.

The autonomous driving method of this embodiment also prohibits autonomous driving in the second mode when the traveling vehicle 11 is located outside the permitted traveling area 210, just as it does in the first mode. As a result, while placing greater emphasis on safety in the first mode, exceptions are allowed in the second mode as long as safety is not compromised, improving work efficiency.

The start position of automatic travel along each first work path 30, which is a straight path, may be, for example, a position where the rear end of the traveling machine body 11 touches the outer periphery of the allowed travel area 210. The end position of automatic travel along each first work path 30 may be a position where the front end of the traveling machine body 11 touches the outer periphery of the allowed travel area 210. The start and end positions may be changed as appropriate, and may be positions where the traveling machine body 11 does not touch the outer periphery of the allowed travel area 210.

Furthermore, the position of the traveling machine body 11 during automatic traveling, which has been initiated assuming that it will travel along the first work path 30, may be offset relative to the first work path 30 within the range of the allowed travel area 210. In other words, the first work path 30 may be offset within the range of the allowed travel area 210. This makes it possible to adjust the path for automatic traveling work to an appropriate position, for example, in cases where the setting of the fourth lateral distance W4 (see Figure 8, etc.) is inappropriate. Offset adjustment may be performed, for example, by providing an operation unit for offset adjustment, and the operator may use this operation unit to perform the offset adjustment as appropriate during automatic traveling. Furthermore, when offsetting is performed, the work path after the offset may be registered in the memory unit 21 as the correct work path.

Furthermore, the traveling machine body 11 may travel along a route that reverses its front-to-rear orientation during automatic travel along each first work path 30. In other words, the automatic travel method of this embodiment may reverse the orientation of the traveling machine body 11 during automatic travel along the first work path 30.

The reason for reversing the front-to-rear orientation of the traveling vehicle body 11 will now be explained with reference to Figures 10 and 11. Figure 10 is a schematic diagram showing the state immediately before the work vehicle 1 begins automatic travel along the first work path 30. Figure 11 is a schematic diagram showing the state in which the work vehicle 1 has arrived at the end position after automatically traveling only along the first work path 30 shown in the figure. In Figures 10 and 11, the hatched areas of the first work area 230 are the completed area 230a, and the white areas are the uncompleted area 230b. As can be seen from Figures 10 and 11, in a configuration in which the traveling vehicle body 11 of the work vehicle 1 performs work by automatically traveling only along the first work path 30, work by the offset work implement 12A will not be performed for at least the length of the traveling vehicle body 11. This problem can be resolved by reversing the front-to-rear orientation of the traveling vehicle body 11.

Here, an example of a reversing path that reverses the front-to-back orientation of the traveling machine body 11 is shown. Figures 12A to 12C are diagrams for explaining the reversing path 31. As shown in Figures 12A to 12C, the reversing path 31 is made up of a first turning path 31a, a second turning path 31b, and a position adjustment path 31c. Note that Figures 12A, 12B, and 12C are arranged in chronological order. Furthermore, the traveling machine body 11 travels forward along the first working path 30 until just before traveling along the reversing path 31.

In this example, as shown in FIG. 12A, the first turning path 31a is a path along which the traveling machine body 11 on the first work path 30 turns backward in a direction away from the work target edge 210a (to the left in this example). The work target edge is 210a, the edge of the periphery of the travel-allowed area 210 near which the traveling machine body 11, which is performing automatic travel, travels. The radius of the backward turning may be any radius around which the traveling machine body 11 can turn. The radius of the backward turning may be, for example, set in advance by an operator or automatically set by the control device 2. The first turning path 31a is a path from the start position of the reversing path 31 to a position where the traveling machine body 11 directly faces the work target edge 210a.

In this example, as shown in FIG. 12B, the second turning path 31b is a path that approaches the work target edge 210a while rotating forward in an arc that is opposite to the first turning path 31a. The first turning path 31a and the second turning path 31b have the same turning radius. In the example shown in FIG. 12B, the second turning path 31b is a path that causes the traveling machine body 11, which is located at the end position of the first turning path 31a, to move forward and turn to the right. The second turning path 31b is a path from the end position of the first turning path 31a to a position where the traveling machine body 11's fore-and-aft direction is parallel to the work target edge 210a (which may also be referred to as the first work path 30). At the end position of the second turning path 31b, the fore-and-aft direction of the traveling machine body 11 is opposite to that at the start position of the reversing path 31. In other words, the fore-and-aft direction of the traveling machine body 11 is reversed. Furthermore, at the point when this reversal is performed, the traveling machine body 11 returns to the first work path 30.

In this example, as shown in FIG. 12C , the traveling machine body 11 reverses front and rear and returns to the first working path 30 at a position where traveling work has already been completed. For this reason, the reversal path 31 in this example includes a position adjustment path 31c that aligns the position of the offset working implement 12A with the boundary between the completed area 230a and the unworked area 230b. On the position adjustment path 31c, the traveling machine body 11 is reversed along the first working path 30 so that the position of the offset working implement 12A aligns with the aforementioned boundary position. During this reverse movement, traveling work using the offset working implement 12A is not performed. After completing travel along the position adjustment path 31c, work by the offset working implement 12A is initiated, and the traveling machine body 11 is reversed along the first working path 30. This reverse movement may or may not be automatic. By performing work using the offset working implement 12A while reversing, it is possible to eliminate the creation of an unworked area equivalent to the length of the traveling machine body 11 described above.

In order to perform traveling work after the traveling machine body 11 has turned back and forth, the offset direction of the work implement 12 must be reversed before and after the vehicle turns back. In the example shown in Figures 12A to 12C, the offset direction of the offset work implement 12A is switched while the traveling machine body 11 is traveling on the first turning path 31a. However, the offset direction of the offset work implement 12A may be switched at other times.

In addition, the automated driving method of this embodiment may set a second work area 240 (see FIG. 13) in which work is performed by the work implement 12 within the travel-permitted area 210, and generate a second work path 40 (see FIG. 13) that enables work in the second work area 240 in the first mode following work in the second mode. This processing may be performed by the control device 2.

13 is a diagram illustrating the generation of the second work path 40. When generating the second work path 40, the second work area 240 is first set, similar to the way the first work area (shown by the dashed line in FIG. 13) was set before the generation of the first work path 30 (shown by the thick dashed line in FIG. 13). Then, similar to the generation of the first work path 30, the second work area 240 is generated based on the set second work area 240 so that the offset work implement 12A can perform work in the second work area 240. In the example shown in FIG. 13, it is assumed that work performed outside the allowed travel area 210 (e.g., mowing) is extended inside the allowed travel area 210. The second work path 40 is positioned inward from the first work path 30, as indicated by the hollow arrow in FIG. 13. This allows work outside the allowed travel area 210 to be carried out continuously, improving work efficiency.

<3. Things to keep in mind>
Various modifications can be made to the various technical features disclosed in this specification without departing from the spirit of the technical creation. Furthermore, multiple embodiments and variations shown in this specification may be combined to the extent possible. Furthermore, the field shapes shown in the drawings are merely examples, and the field shapes may be modified as appropriate.

<4. Notes>
An exemplary automatic driving method of the present invention may be an automatic driving method for a work vehicle comprising a traveling body and a work machine attached to the traveling body, and may be configured (first configuration) to execute the following: registering a travel-permitted area in which the traveling body is permitted to travel; selecting one of the work modes: a first mode in which the work object is the area inside the travel-permitted area, and a second mode in which the work object is the area outside the travel-permitted area; and prohibiting automatic driving in the first mode when the work machine is located outside the travel-permitted area, and permitting it in the second mode.

The above-described first configuration of the autonomous driving method may be configured (second configuration) to prohibit autonomous driving when the traveling vehicle is located outside the permitted traveling area in both the first mode and the second mode.

The automated driving method of the first or second configuration may be configured (third configuration) to set a work-permitted area having an outer periphery outside the travel-permitted area based on information about the travel-permitted area and information about the work machine, and in the second mode, the automated driving is permitted when the work machine is located within the work-permitted area.

The automated driving method of the third configuration above may be configured (fourth configuration) to set a first work area in the work permitted area where work is to be performed by the work machine, and generate a first work path in the travel permitted area that enables the work machine to work in the first work area.

In the automated driving method of the fourth configuration described above, the first work path may be configured to be offset within the permitted driving area (fifth configuration).

The automatic traveling method of the fourth or fifth configuration above may be configured (sixth configuration) to reverse the orientation of the traveling vehicle while the traveling vehicle is automatically traveling along the first work path.

In any of the fourth to sixth configurations of the automated driving method described above, a portion of the first working area may be set as the permitted driving area (seventh configuration).

The automated driving method of any of the fourth to seventh configurations above may be configured (eighth configuration) to set a second work area in which work is to be performed by the work machine within the travel-permitted area, and generate a second work path that enables work in the second work area in the first mode following work in the second mode.

REFERENCE SIGNS LIST 1 work vehicle 2 control device 11 traveling machine body 12 work machine 30 first work path 40 second work path 210 travel-permitted area 220 work-permitted area 230 first work area 240 second work area

Claims (10)

A method for automatically traveling within a work permitted area of a work vehicle including a traveling machine body and a work implement attached to the traveling machine body,
Registering a travel permission area that is provided within the work permission area and that allows the traveling machine body to travel;
selecting a work mode from a first mode in which the work target is an area inside the travel-allowed area and a second mode in which the work target is an area inside the work- allowed area but outside the travel-allowed area ;
Prohibiting automatic travel in which the work machine is located outside the travel-permitted area in the first mode and permitting it in the second mode;
An automated driving method that performs the above. The autonomous driving method described in claim 1, wherein autonomous driving is prohibited when the traveling vehicle is located outside the permitted traveling area in both the first mode and the second mode. setting a peripheral position of the work allowed area that is outside the travel allowed area based on information about the travel allowed area and information about the work machine;
The automatic traveling method according to claim 1 or 2, wherein in the second mode, the automatic traveling is permitted when the work machine is located within the work-permitted area. setting a first work area in which work is performed by the work machine in the second mode in the work allowed area;
generating a first work path in the travel allowed area that enables work in the first work area by the work machine;
The automatic driving method according to claim 3, further comprising the steps of: The automated driving method described in claim 4, wherein the first work path can be offset within the permitted driving area. The automatic traveling method described in claim 4, further comprising: reversing the orientation of the traveling vehicle while the traveling vehicle is automatically traveling along the first work path. The automated driving method described in claim 4, wherein a portion of the first working area is set as the permitted driving area. setting a second work area in which work is to be performed by the work machine within the travel-allowed area;
generating a second work path that enables work in the second work area in the first mode subsequent to work in the second mode;
The automatic driving method according to claim 4, further comprising the steps of: A work vehicle including a traveling machine body and a work implement attached to the traveling machine body;
a control device that controls the automatic travel of the work vehicle within a work permission area ;
Equipped with
The control device
Registering a travel permission area that is provided within the work permission area and that allows the traveling machine body to travel;
selecting a work mode from a first mode in which the work target is an area inside the travel-allowed area and a second mode in which the work target is an area inside the work- allowed area but outside the travel-allowed area ;
Prohibiting automatic travel in which the work machine is located outside the travel-permitted area in the first mode and permitting it in the second mode;
An automated driving system that performs the following: A program that causes a computer to execute an automatic travel method within a work permitted area for a work vehicle that includes a traveling machine body and a work implement attached to the traveling machine body,
The computer
Registering a travel permission area that is provided within the work permission area and that allows the traveling machine body to travel;
selecting a work mode from a first mode in which the work target is an area inside the travel-allowed area and a second mode in which the work target is an area inside the work- allowed area but outside the travel-allowed area ;
Prohibiting automatic travel in which the work machine is located outside the travel-permitted area in the first mode and permitting it in the second mode;
A program that serves as a means to