JP-2026074565-A - Setup method, setup program, setup system, and automatic driving method

Abstract

[Problem] To provide a setting method, setting program, setting system, and automatic driving method that can improve the work efficiency of work performed by an automated work vehicle driving in a field. [Solution] The setting processing unit 211 sets information for automatically driving the work vehicle 10 in the field. The setting processing unit 211 sets whether or not to allow a part of the work vehicle 10 to jump out of the field when the work vehicle 10 is automatically driving in the field. [Selection Diagram] Figure 1

Inventors

• 西井 康人
• 村山 昌章
• 三宅 康司
• 高橋 葵

Assignees

• ヤンマーホールディングス株式会社

Dates

Publication Date

20260507

Application Date

20241021

Claims (13)

1. A setting method for setting information to enable an automated operation of a work vehicle in a field, A setting method for determining whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically traveling through the field.
2. The setting determines whether or not to allow a part of the work vehicle to extend outside the field at a specific point at the edge of the field. The setting method according to claim 1.
3. For each of the multiple outer edges of the field, a setting is made to allow a part of the work vehicle to extend outside the field. The setting method according to claim 1.
4. With respect to a specific area within the outer edge of the field where a portion of the work vehicle is permitted to extend outside the field, the extension of a portion of the work vehicle outside the field is prohibited. The setting method described in claim 3.
5. The target route for the automated operation of the aforementioned work vehicle includes a work route in which the work vehicle operates automatically while performing a predetermined task, and a non-work route in which the work vehicle operates automatically without performing the predetermined task. To set whether or not to allow a portion of the work vehicle to veer outside the field on the non-working route at the specified location, The setting method described in claim 2.
6. Based on information regarding the implement attached to the work vehicle, the system sets whether or not to allow a part of the work vehicle to veer outside the field. The setting method according to claim 1.
7. For each part of the work vehicle, a setting is made to determine whether or not to allow a part of the work vehicle to extend outside the field. The setting method according to claim 1.
8. When allowing a portion of the work vehicle to extend outside the field, the maximum extension limit of the work vehicle's extension is set based on the size of the implement attached to the work vehicle, or the field boundary detection result obtained when the work vehicle performed a teaching run during field registration. The setting method according to claim 1.
9. Based on the aforementioned allowable deviation, a target path is generated for the work vehicle to travel automatically. The setting method according to claim 8.
10. Based on the aforementioned allowable overhang, the turning pattern of the turning path included in the target path is determined. The setting method described in claim 9.
11. A setting program for setting information to automatically drive a work vehicle in a field, A setting program that causes one or more processors to set whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically traveling through the field.
12. A setting system for setting information to enable the automatic operation of work vehicles in a field, A setting system for determining whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically traveling through the field.
13. An automated driving method for automatically driving a work vehicle in a field, Setting whether or not to allow a part of the work vehicle to jump out of the field when the work vehicle is automatically traveling through the field, The work vehicle is to be driven automatically according to the settings regarding the vehicle's departure from the field. An automated driving method that performs this task.

Description

This invention relates to a technology for automatically operating work vehicles in a field. Conventionally, when operating a work vehicle automatically in a field, techniques are known to generate an automated driving path (target path) to prevent the vehicle from straying outside the field. For example, a system is known that secures a predetermined safety margin inward from the outer edge (boundary) of the field and generates the target path inside that safety margin. Japanese Patent Publication No. 2021-129554 Figure 1 is a diagram showing the configuration of an automated driving system according to an embodiment of the present invention.Figure 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention.Figure 3 shows an example of a target route for a work vehicle according to an embodiment of the present invention.Figure 4 shows an example of a target route for another work vehicle according to an embodiment of the present invention.Figure 5 shows an example of a menu screen displayed on an operating terminal according to an embodiment of the present invention.Figure 6 shows an example of a registration screen displayed on an operating terminal according to an embodiment of the present invention.Figure 7 shows an example of a work plan list displayed on an operating terminal according to an embodiment of the present invention.Figure 8 shows a route creation screen displayed on an operating terminal according to an embodiment of the present invention.Figure 9 shows a registration confirmation screen displayed on an operating terminal according to an embodiment of the present invention.Figure 10 shows a registration confirmation screen displayed on an operating terminal according to an embodiment of the present invention.Figure 11 shows the pop-up setting screen displayed on an operating terminal according to an embodiment of the present invention.Figure 12 shows a registration confirmation screen displayed on an operating terminal according to an embodiment of the present invention.Figure 13 shows the pop-up setting screen displayed on an operating terminal according to an embodiment of the present invention.Figure 14A shows the dimensions of the work machine according to an embodiment of the present invention.Figure 14B shows the dimensions of the work machine according to an embodiment of the present invention.Figure 15A is a diagram showing the route creation result screen displayed on an operating terminal according to an embodiment of the present invention.Figure 15B shows a route creation result screen displayed on an operating terminal according to an embodiment of the present invention.Figure 16A is a diagram showing the route creation result screen displayed on an operating terminal according to an embodiment of the present invention.Figure 16B shows a route creation result screen displayed on an operating terminal according to an embodiment of the present invention.Figure 17 is a flowchart showing an example of the procedure for setting processing performed by an automated driving system according to an embodiment of the present invention.Figure 18A shows a registration confirmation screen displayed on an operating terminal according to an embodiment of the present invention.Figure 18B shows a registration confirmation screen displayed on an operating terminal according to an embodiment of the present invention.Figure 19A shows a specific example of a method for changing the work area in accordance with an embodiment of the present invention, which involves changing the width of the headboard.Figure 19B shows a specific example of a method for changing the work area in accordance with an embodiment of the present invention. The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention. As shown in Figure 1, the automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The automated driving system 1 also includes a plurality of work vehicles 10. Each work vehicle 10 and the operation terminal 20 can communicate via a communication network N1. For example, each work vehicle 10 and the operation terminal 20 can communicate via a mobile phone network, a packet network, or a wireless LAN. In this embodiment, the operation terminal 20 is a device for setting and managing work information related to the plurality of work vehicles 10, and may be composed of, for example, a management device, a server device, or a cloud server. In another embodiment, an operation terminal 20 may be provided for each work vehicle 10, and one operation terminal 20 may be configured to operate one work vehicle 10. In this embodiment, the case where the work vehicle 10 is a tractor will be used as an example. In other embodiments, the work vehicle 10 may be a rice transplanter, combine harvester, construction machinery, or