JP-7854954-B2 - Automated driving method, automated driving program, automated driving system, and work vehicle

JP7854954B2JP 7854954 B2JP7854954 B2JP 7854954B2JP-7854954-B2

Inventors

本間暉
鹿野智久
幸英浩
太田航平
山▲崎▼ 亮輔
赤瀬正樹

Assignees

ヤンマーホールディングス株式会社

Dates

Publication Date: 20260507
Application Date: 20230310

Claims (11)

The process involves automatically driving a work vehicle along a target route within the work area, When the aforementioned work vehicle is automatically driving, if the conditions for stopping are met, a temporary stop process is executed to stop the work vehicle at that location in a manner that allows it to resume driving. By fulfilling stop reservation conditions, which include multiple conditions , while the aforementioned work vehicle is automatically driving, a stop reservation process is executed to stop the work vehicle in a state where it can resume driving after it has been driven. The system includes outputting which of the aforementioned multiple conditions is met , Automatic driving method.
The system further includes, when an emergency stop condition is met while the work vehicle is automatically driving, an emergency stop process is executed to stop the work vehicle at that location in a manner that prevents it from resuming driving. The automatic driving method according to claim 1.
The work area includes a work area where work is performed by the work vehicle and a non-work area where work is not performed by the work vehicle. In the stop reservation process, if the stop reservation conditions are met in the work area, the work vehicle is driven to the non-work area and then stopped. The automatic driving method according to claim 1 or 2.
In the aforementioned stop reservation process, if the work vehicle is driven to the non-work area and then stopped, the work vehicle is stopped at a position corresponding to the work start position when driving is resumed in the work area. The automatic driving method according to claim 3.
The system further includes setting a no-stop zone within the work area in which the work vehicle is not allowed to stop during the stop reservation process. The automatic driving method according to claim 1 or 2.
The system further includes providing notification in conjunction with the aforementioned stop reservation process. The automatic driving method according to claim 1 or 2.
The notification is made at at least one of the following: the first time when the stop reservation conditions are met, the second time when the work vehicle is stopped, and the period from the first time to the second time. The automatic driving method according to claim 6.
The target path includes a work path in which the work vehicle performs work on the work target, and a preliminary path set from a preliminary position prior to the starting position of the work path to the starting position. The work vehicle is instructed to begin work on the aforementioned auxiliary route. The automatic driving method according to claim 1 or 2.
The automatic driving method according to claim 1 or 2, An automated driving program designed to be executed by one or more processors.
It is equipped with an automatic driving processing unit that automatically drives the work vehicle according to the target route at the work site. The aforementioned automatic driving processing unit, A temporary stop process is performed to stop the work vehicle at the location in a manner that allows it to resume driving, when the conditions for a temporary stop are met while the work vehicle is automatically driving. A stop reservation process that, when stop reservation conditions including multiple conditions are met while the work vehicle is automatically driving, stops the work vehicle in a state where it can resume driving after it has been driven, The system is configured to perform an output process that outputs which of the aforementioned multiple conditions has been met . Automated driving system.
The automatic driving system according to claim 10 , The system comprises a driving unit controlled by the aforementioned automatic driving system, Work vehicle.

Description

This invention relates to an automated driving method, an automated driving program, an automated driving system, and a work vehicle for automatically driving a work vehicle along a target route within a work site. As a related technology, an automated driving system has been proposed that automatically drives a work vehicle along a target route within a work area (see, for example, Patent Document 1). According to the automated driving system of this related technology, the work vehicle automatically drives in a predetermined order while performing predetermined tasks on multiple rows of work objects arranged within the work area. The predetermined task performed by the work vehicle is spraying a chemical solution or water or other spray material onto crops (work objects) planted in a field (work area). In the related technologies described above, an operating terminal capable of communicating with the work vehicle via a communication network can receive instructions from the operator to start work and to stop driving. Upon receiving a stop instruction from the operating terminal, the work vehicle will stop automatic driving and cease spraying. This allows the operator to stop the work vehicle from a location away from it. Japanese Patent Publication No. 2022-183962 Figure 1 is an external view of the sprayer according to Embodiment 1, as seen from the left front side.Figure 2 is a rear view of the sprayer according to Embodiment 1, as seen from the rear side.Figure 3 shows an example of a crop row in which the sprayer according to Embodiment 1 is used.Figure 4 is a schematic diagram showing the overall configuration of an automated work system using a sprayer according to Embodiment 1.Figure 5 is a schematic block diagram showing the main configuration of the automated work system according to Embodiment 1.Figure 6 is an external view of the left side of the sprayer according to Embodiment 1, as seen from the left side.Figure 7 is an external view of the right side of the sprayer according to Embodiment 1, as seen from the right side.Figure 8 is an external view of the top surface of the sprayer according to Embodiment 1, as seen from above.Figure 9 is a rear view of the sprayer according to Embodiment 1, as seen from the rear side.Figure 10 is a schematic diagram showing the sprayer according to Embodiment 1 as viewed from the rear at an oblique angle.Figure 11 is an enlarged view of region Z1 in Figure 7, showing the external view of the manual operating device inside the outlet.Figure 12 is a schematic diagram illustrating the operation of the automatic driving of the sprayer according to Embodiment 1.Figure 13 is a schematic diagram illustrating the operation related to stopping the automatic operation of the sprayer according to Embodiment 1.Figure 14 is a schematic diagram illustrating the operation related to the stop reservation of the sprayer according to Embodiment 1.Figure 15 is a schematic diagram illustrating the operation related to the stop reservation of the sprayer according to Embodiment 1.Figure 16 is a flowchart showing an example of the process related to stopping the automatic driving in the automatic driving method according to Embodiment 1.Figure 17 is a schematic diagram illustrating the operation of the sprayer according to Embodiment 1 when it enters the work path. The embodiments of the present invention will be described below with reference to the attached drawings. The following embodiments are examples that embody the present invention and are not intended to limit the technical scope of the invention. (Embodiment 1) [1] Overall Configuration First, the overall configuration of the sprayer 1 according to this embodiment will be described with reference to Figures 1 to 5. In this embodiment, the sprayer 1 performs spraying work, such as spraying chemical solutions, water, or fertilizers onto crops V1 (see Figure 2) being grown in field F1. This sprayer 1 is an example of a "work vehicle" that performs various tasks while automatically driving along a target route in a work area such as field F1. In other words, the sprayer 1 is a work vehicle capable of performing spraying operations, such as spraying chemicals, water, or fertilizer. The term "work vehicle" in this disclosure includes not only sprayers but also other work vehicles such as tractors, rice transplanters, sprayers, seeders, transplanters, and combine harvesters. Furthermore, the term "work vehicle" in this disclosure is not limited to agricultural machinery; it may also include, for example, construction machinery. Furthermore, the term "field" as used in this disclosure refers to an example of a work area where a work vehicle, such as a sprayer 1, performs various operations, such as spraying, while moving. This includes orchards, pastures, rice paddies, and fields where agricultural products are cultivated. In this case, the crop V1 cultivated in field F1 is an agricultural product. Additionally, if trees are