Work vehicle control method, work vehicle control program, work vehicle control system, and work system

Abstract

The invention provides a work vehicle control method, a work vehicle control program, a work vehicle control system, and a work system, which enable a work vehicle to travel on a more appropriate route. This method for controlling a work vehicle is a method for controlling a work vehicle capable of performing work while traveling on a work site (F1). The control method comprises: setting the position of a permissible boundary line (La1) which is defined on the basis of a margin value (L2), which is the distance to the inside of the work field (F1), with respect to the outer line of the work field (F1), and which becomes a limit position at which the work vehicle is permitted to protrude; and generating a route (target route (R1)) for causing the work vehicle to travel on the basis of the permissible boundary line (La1).

Description

Technical Field

[0001] The present invention relates to a control method for a work vehicle capable of performing work while traveling at a work site, a control program for the work vehicle, a control system for the work vehicle, and a work system. Background Art

[0002] As a related art, the following technology is known: when generating and setting a work path for a work vehicle (autonomous driving work vehicle) to work while traveling, an operator or user can appropriately set a desired headland area, etc. and modify, change, and register it (for example, see Patent Document 1). In the related art, the headland area is composed of a first headland area including a turn and a second headland area not including a turn.

[0003] In the related art, when the operator selects the first mode in which the first headland area and the second headland area are set to the minimum value, the value of each headland area is automatically input. In this case, the width of the first headland area including the turn is determined based on the turning width that the work vehicle can turn and the safety margin (about 1m). In addition, the width of the second headland area not including the turn is determined based on the width required for the work vehicle to travel and the safety margin (about 1m).

[0004] Patent Document 1: Japanese Patent Application Publication No. 2021-129554

[0005] In the structure of the above-mentioned related art, the safety margin is a constant value, so even if the work vehicle can be brought closer to the outline of the work site (field) according to the conditions of the work site (field) or the work method, it is difficult to make the work vehicle travel on such a path. Summary of the invention

[0006] An object of the present invention is to provide a work vehicle control method, a work vehicle control program, a work vehicle control system, and a work system that enable the work vehicle to travel on a more appropriate path.

[0007] A control method for a work vehicle involved in one aspect of the present invention is a control method for a work vehicle that can work while traveling on a work site, wherein the method comprises: setting the position of an allowable boundary line, wherein the allowable boundary line is based on the outline of the work site and is determined according to the distance to the inside of the work site, that is, the margin value, to become the extreme position of the protrusion allowed for the work vehicle; and generating a path for the work vehicle to travel based on the allowable boundary line.

[0008] Another aspect of the present invention relates to a control method for a work vehicle that is capable of working while traveling on a work site, wherein the method comprises: setting an allowable boundary line, wherein the allowable boundary line is based on the outer contour line of the work site and is determined according to the distance to the inside of the work site, i.e., the margin value, to become the extreme position at which the protrusion of the work vehicle is allowed; and automatically driving the work vehicle based on the allowable boundary line.

[0009] A control program for a work vehicle according to one aspect of the present invention is a program for causing one or more processors to execute the control method of the work vehicle described above.

[0010] A control system for a work vehicle according to one aspect of the present invention is used for a work vehicle that can work while traveling on a work site. The control system for the work vehicle includes a setting processing unit and a generation processing unit. The setting processing unit sets the position of an allowable boundary line, which is based on the outer contour of the work site and is determined according to the distance to the inside of the work site, i.e., the margin value, to become the limit position at which the protrusion of the work vehicle is allowed. The generation processing unit generates a path for the work vehicle to travel based on the allowable boundary line.

[0011] A working system according to one aspect of the present invention includes the above-mentioned working vehicle control system and a body of the above-mentioned working vehicle.

[0012] According to the present invention, it is possible to provide a work vehicle control method, a work vehicle control program, a work vehicle control system, and a work system that enable the work vehicle to travel on a more appropriate route. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic side view showing the appearance of the work vehicle according to the first embodiment.

[0014] Figure 2 This is a schematic block diagram of the operating system involved in Implementation Example 1.

[0015] Figure 3 This is a schematic diagram showing an example of a target path in the work system involved in the first embodiment.

[0016] Figure 4 It is a schematic plan view showing an operation example of the work vehicle according to the first embodiment.

[0017] Figure 5 This is a schematic diagram showing an example of a target route generated by the work vehicle control system according to the first embodiment.

[0018] Figure 6This is a schematic diagram showing an example of a target route generated by the work vehicle control system according to the first embodiment.

[0019] Figure 7 This is a schematic diagram showing an example of a target route generated by the work vehicle control system according to the first embodiment.

[0020] Figure 8 This is a schematic diagram showing an example of a remaining amount setting screen in the work vehicle control system according to the first embodiment.

[0021] Fig. 9 This is a schematic diagram showing an example of an outline selection screen in the work vehicle control system according to the first embodiment.

[0022] Fig.10 This is a flowchart showing an operation example of the work vehicle control system according to the first embodiment.

[0023] Fig.11 This is a schematic rear view for explaining the operation of the work vehicle control system according to the fourth embodiment.

[0024] Fig.12 This is a schematic plan view for explaining the operation of the work vehicle control system according to the fourth embodiment.

[0025] Fig.13 This is a schematic plan view for explaining the operation of the work vehicle control system according to the fifth embodiment.

[0026] Fig.14 This is a schematic plan view for explaining the operation of the work vehicle control system according to the fifth embodiment.

[0027] Description of Reference Numerals

[0028] 1…control system for working vehicle; 10, 10A, 10B…working vehicle; 11…machine body; 100…working system; 211…generation processing unit; 214…setting processing unit; F1…working area; F11…inner area; f11 to f14…first to fourth contour lines (contour lines); L2…margin value; La1, La2, La10…allowable boundary lines; R1…target path (path). DETAILED DESCRIPTION

[0029] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The following embodiment is an example of a concrete embodiment of the present invention and is not intended to limit the technical scope of the present invention.

[0030] (Implementation Method 1)

[0031] [1] Overall structure

[0032] First, refer to Figure 1 and Figure 2 The overall structure of the working system 100 according to the present embodiment will be described. The working vehicle control system 1 according to the present embodiment (hereinafter also referred to as the "control system 1") constitutes the working system 100 together with the machine body 11 of the working vehicle 10. The working machine 12 is mounted on the machine body 11. That is, the working system 100 includes the working vehicle control system 1 and the machine body 11 of the working vehicle 10.

[0033] In this embodiment, the control system 1 includes a control device 13 (see FIG. 1 ) mounted on a machine body 11 of a work vehicle 10. Figure 2 ), and the terminal device 20. The work vehicle 10 and the terminal device 20 can communicate with each other. "Can communicate" as mentioned in the present disclosure means that information can be sent and received directly or indirectly via a communication network (network) N1 or a repeater, etc. through an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as the medium). The work vehicle 10 and the terminal device 20 can communicate via a communication network N1 such as the Internet, LAN (Local Area Network), WAN (Wide Area Network), public telephone lines, mobile phone line networks, packet line networks or wireless LAN. The communication means between the work vehicle 10 and the terminal device 20 are not limited to the above examples and can be achieved through appropriate communication means. In addition, it is not a necessary structure in the control system 1 that the work vehicle 10 and the terminal device 20 can communicate with each other.

[0034] The work vehicle 10 is at the work site F1 (see Figure 3 ) while performing some kind of work in the work field F1 through the work machine 12. The "work" referred to in the present disclosure is the work performed by the work machine 12 on the work field F1, for example, various agricultural works such as planting (transplanting), sowing, fertilizing, spraying pesticides, leveling or harvesting, and various works such as construction work. In the present embodiment, as an example, the work performed by the work vehicle 10 is a planting (transplanting) work of planting seedlings in a paddy field as the work field F1.

[0035] When the body 11 of the work vehicle 10 moves on the work site F1, the work machine 12 performs work in the work site F1. In the present embodiment, as an example, the work machine 12 includes a seedling loading platform for loading a seedling mat, and a planting arm for obtaining seedlings from the seedling mat and planting them, so as to perform the planting work of the seedlings. Here, the work machine 12 is installed on the rear side of the body 11 (the side opposite to the forward direction of the body 11). That is, the work machine 12 is connected to the rear side of the body 11, and when the body 11 moves forward, it moves forward together with the body 11 while performing work. In the present embodiment, the work machine 12 is included in the components of the work vehicle 10, but the work machine 12 may not be included in the components of the work vehicle 10.

[0036] The "work vehicle" mentioned in the present disclosure refers to a machine that performs various operations in a work area F1 such as a field, and as an example, it is agricultural machinery (agricultural machinery) such as a rice transplanter, a tractor, a seed drill, a spreader, a sprayer, a transplanter, and a harvester. The work vehicle 10 may also be, for example, an engineering machinery (construction machinery). In the present embodiment, unless otherwise specified, the case where the work vehicle 10 is a rice transplanter is cited as an example for explanation. In the work vehicle 10, the machine body 11 travels in a work area F1 such as a field, and a planting operation of planting rice seedlings in the work area F1 can be performed.

[0037] In addition, in this embodiment, as an example, the work vehicle 10 is an automatic machine that can be ridden by a person (operator) and can operate by automatic driving (autonomous driving and autonomous operation). However, it is not limited to this, and the work vehicle 10 may also be a drone that operates by automatic driving, or it may be operated by a person (operator) (including remote operation).

[0038] The "work site" mentioned in the present disclosure is an area where the work vehicle 10 moves while performing various operations such as planting (transplanting), sowing, fertilizing, spraying pesticides, leveling or harvesting, including paddy fields, dry fields, orchards and pastures. For example, in the case where a paddy field or dry field where crops (agricultural products) such as rice, wheat, soybeans or buckwheat are grown is the work site F1, the crops grown in the work site F1 are agricultural products. In addition, in the case where flowers and trees grow in a flower and tree field, the flower and tree field becomes the work site F1, and in the case where trees that become timber grow in a forest as in forestry, the forest becomes the work site F1. In this case, the crops grown in the work site F1 are flowers and trees or trees. In this embodiment, unless otherwise specified, the case where the work vehicle 10 is used for the planting of seedlings in a field (work site F1) and the work site F1 is a paddy field for growing rice is used for explanation as an example. In addition, the work site F1 is not limited to a field. For example, if the work vehicle 10 is a construction machine, the site where the construction machine performs operations becomes the work site F1.

[0039] The work vehicle 10 can be moved by automatic driving not only in the work site F1 (here, a field), but also on a road such as a path outside the field outside the work site F1. Figure 2 ) and automatically travels (moves) along a target path (including an off-field path) pre-set inside and outside the work site F1. The off-field path is, for example, an inter-field connecting road that connects multiple work sites F1 (fields). The inter-field connecting road is a farm road, forest road, highway, private road, or motor vehicle road, etc. It can also be a road dedicated to the work vehicle 10, or it can be a road that general vehicles (passenger cars, etc.) can pass.

[0040] [2] Structure of work vehicle

[0041] Next, refer to Figure 1 and Figure 2 The structure of the work vehicle 10 according to the present embodiment will be described in detail.

[0042] In this embodiment, for convenience of explanation, the vertical direction of the working vehicle 10 in a usable state is defined as the up-down direction D1. The front-back direction D2 and the left-right direction D3 are defined based on the direction viewed from the perspective of a person (operator) riding on the body 11 (driving unit 111) of the working vehicle 10 (refer to Figure 3 The left side of the left-right direction D3 refers to the left side when the machine body 11 is moving forward (advancing), and the right side of the left-right direction D3 refers to the right side when the machine body 11 is moving forward (advancing). However, the above directions are not intended to limit the use direction (direction when in use) of the work vehicle 10.

[0043] like Figure 2 As shown, the work vehicle 10 includes a body 11 and a work machine 12, and also includes a control device 13, a travel device 14, a detection device 15, a positioning device 16, a communication device 17, and a display device 18. The control device 13, the travel device 14, the detection device 15, the positioning device 16, the communication device 17, and the display device 18 are all mounted on the body 11.

[0044] The machine body 11 has a driving unit 111 (see Figure 1). A steering device, a transmission device, an operating device, etc. are arranged in the driving part 111. The steering device, the transmission device, the operating device, etc. are operating parts operated by an operator or the control device 13. Therefore, the working vehicle 10 can implement both manual driving by manual operation of the operator and automatic driving by the control device 13. In addition, as described above, the working machine 12 is connected to the rear side of the body 11.

[0045] In this embodiment, the working machine 12 is connected to the rear side of the machine body 11, and when the machine body 11 moves forward, it can perform planting work on the field as the working place F1. Here, the working machine 12 corresponds to planting of multiple rows (for example, 6 rows, 7 rows, or 8 rows, etc.), and has a working width W1 corresponding to the number of corresponding rows in the width direction (left-right direction D3) (refer to Figure 4 That is, for example, if the working machine 12 corresponds to 7 rows of planting, 7 rows of seedlings can be planted simultaneously in the width direction (left-right direction D3). In this embodiment, as an example, it is assumed that the working vehicle 10 is an 8-row rice transplanter having a working machine 12 corresponding to 8 rows.

[0046] Thus, the work vehicle 10 according to the present embodiment can work on a plurality of work rows arranged in a direction (left-right direction D3) intersecting the traveling direction (front-back direction D2) while traveling on the work site F1. Figure 4 ) is to place multiple seedlings V1 (refer to Figure 4 ) is arranged in the traveling direction (front-rear direction D2) and is formed by 8 rows of seedlings arranged at predetermined intervals in the left-right direction D3. That is, the work vehicle 10 can perform planting operations on 8 rows of work rows Vr1 to Vr8 in parallel (simultaneously). Therefore, the work vehicle 10 can plant a maximum of 8 work rows Vr1 to Vr8 simultaneously while moving forward.

[0047] like Figure 1 As shown, the travel device 14 has a front wheel 141, a rear wheel 142, and a power source (engine and / or motor, etc.). For example, the front wheel 141 and the rear wheel 142 are provided in pairs on the left and right. The travel device 14 drives the rear wheel 142 with the power generated by the power source, so that the machine body 11 can travel (move). Here, the front wheel 141 functions as a steering wheel and can turn in the left and right direction D3. As a result, the machine body 11 can travel in the work area F1 in a manner of moving in the front and rear direction D2 and the left and right direction D3.

[0048] At least during autonomous driving, the travel device 14 operates according to the control device 13 operating the steering device, the transmission device, the operating device, etc. as described above. For example, in the travel device 14, according to the control device 13 operating the steering device, the angle of the front wheel 141 is changed by the hydraulic power steering mechanism, etc., and the traveling direction of the machine body 11 is changed. In addition, according to the control device 13 operating the transmission device, the gear position of the transmission is switched to the forward gear or the reverse gear, etc., and the driving mode of the machine body 11 is switched to the forward gear or the reverse gear, etc. In addition, the control device 13 operates the accelerator or the brake of the operating device to control the rotation speed of the power source, or uses the electromagnetic brake to brake the front wheel 141 and the rear wheel 142.

[0049] The detection device 15 detects the detection area As1 (refer to Figure 4 ) is detected. In the present embodiment, as an example, the detection object includes people and other animals, mobile bodies such as vehicles (including other work vehicles), structures such as walls and columns, plants, steps or other obstacles. The detection device 15 can include various sensors such as radar, sonar sensor, LiDAR (Light Detection and Ranging: laser radar), human sensor or camera (image sensor). Here, the detection device 15 is preferably a three-dimensional sensor that can measure the distance and direction to the detection object by TOF (Time Of Flight: time of flight) method or stereo camera method, and the above-mentioned TOF method measures the distance to the ranging point based on the round-trip time from light or sound to the ranging point and back. Thus, the detection device 15 can output measurement information including the position of the detection object when looking down to the control device 13. In the present embodiment, as an example, it is assumed that the detection device 15 is a radar (millimeter wave radar) using millimeter waves or a sonar sensor using ultrasonic waves (or sound waves).

[0050] The positioning device 16 obtains the current position (latitude, longitude, altitude, etc.) of the aircraft 11. Specifically, the positioning device 16 uses a satellite positioning system such as GNSS (Global Navigation Satellite System) to calculate the current position (latitude and longitude) of the aircraft 11. That is, the positioning device 16 has a positioning antenna that receives positioning signals from satellites and calculates the current position based on the positioning signals. In addition, the positioning device 16 includes an inertial sensor and can also detect the current orientation and other postures of the aircraft 11.

[0051] In addition, the positioning device 16 can also detect the current position with relatively high accuracy by RTK (Real Time Kinematic) positioning, which uses the correction information corresponding to the base station (reference station) closer to the working vehicle 10 to calculate the current position of the working vehicle 10. The current position of the body 11 can be the same as the positioning position (the position of the positioning antenna), or it can be a position offset from the positioning position, such as the center position of the body 11 when viewed from above. For example, a mobile phone terminal, a smart phone, or a tablet terminal can be used instead of the positioning device 16.

[0052] The communication device 17 is a communication interface for connecting the working vehicle 10 (control device 13 and positioning device 16, etc.) to an external device via wire or wirelessly, and performing data communication with the external device in accordance with a prescribed communication protocol. In this embodiment, the communication device 17 is at least capable of communicating with the terminal device 20 as an external device via the communication network N1. Furthermore, the communication device 17 is at least capable of being connected to the communication network N1 wirelessly, and even the working vehicle 10 moving (driving) at the working site F1 can communicate with the terminal device 20 at any time. For example, a mobile phone terminal, a smart phone, or a tablet terminal may be used instead of the communication device 17.

[0053] The display device 18 is a user interface for displaying information to the user (operator), such as a liquid crystal display or an organic EL display that displays various information. The display device 18 is, for example, disposed in the driving unit 111, and displays a screen containing various information to display various information to the operator. The "screen" referred to in the present disclosure refers to an image (video) displayed by the display device 18, etc., including images, graphics, photos, text descriptions, and dynamic images. The screen displayed by the display device 18 includes images (dynamic images) that change all the time, etc., and is not just a still image. In addition, the display device 18 has the function of outputting sound (including voice) to the user (operator) and the function of accepting the operation of the user (operator).

[0054] The control device 13 is mainly composed of a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and performs various processes (information processing). In the present embodiment, the control device 13 is mainly composed of a computer system having one or more processors, so the control device 13 is realized by executing a control program for the work vehicle through one or more processors. In the present embodiment, the control device 13 is a unified controller that controls the entire work vehicle 10, for example, it is composed of an electronic control unit (ECU: Electronic Control Unit). However, the control device 13 can also be set independently of the unified controller.

[0055] The control device 13 is configured to be able to communicate with the devices provided in various parts of the machine body 11. That is, the control device 13 is electrically connected to the working machine 12, the traveling device 14, the detection device 15, the positioning device 16, the communication device 17, and the display device 18. Thus, the control device 13 can control the working machine 12 and the traveling device 14, and can obtain the detection results of the detection device 15 and the positioning device 16. Here, the control device 13 can directly send and receive various information (data) with each device, or can do so indirectly via a repeater or the like.

[0056] In this embodiment, if Figure 2 As shown, the control device 13 includes an acquisition processing unit 131 , a travel processing unit 132 , a work support processing unit 133 , and a storage unit 134 .

[0057] The acquisition processing unit 131 performs an acquisition process for acquiring work site information related to the work site F1. Here, the work site information includes contour line information based on the contour (contour line) of the work site F1. That is, the acquisition processing unit 131 acquires contour line information based on the contour line of the work site F1.

[0058] The travel processing unit 132 performs travel processing for controlling the travel device 14. As an example, the travel processing unit 132 controls the travel device 14 based on the current position of the work vehicle 10 calculated by the positioning device 16 and the pre-set target path, thereby automatically traveling the work vehicle 10. Furthermore, the travel processing unit 132 controls the work machine 12 based on the current position of the work vehicle 10 calculated by the positioning device 16 and the pre-set target path, thereby performing work (planting work in this embodiment) using the work vehicle 10 at an appropriate position on the target path.

[0059] Specifically, when the driving processing unit 132 receives a driving start instruction from the terminal device 20, it starts the automatic driving of the work vehicle 10. For example, when the operator operates a start button on the operation screen of the terminal device 20, the terminal device 20 outputs a driving start instruction to the work vehicle 10. Thus, for example, the work vehicle 10 moves along the target path R1 (see Figure 3 ) starts automatic driving and performs work (planting work in this embodiment) with the help of the work machine 12.

[0060] The target route R1 for the work vehicle 10 to automatically travel is generated, for example, in the terminal device 20. That is, the work vehicle 10 obtains route data corresponding to the target route R1 from the terminal device 20, and automatically travels according to the target route R1.

[0061] When the travel processing unit 132 receives a travel stop instruction from the terminal device 20 , it stops the automatic travel of the work vehicle 10 . For example, when the operator operates a stop button on the operation screen of the terminal device 20 , the terminal device 20 outputs a travel stop instruction to the work vehicle 10 .

[0062] In addition, the “automatic driving” referred to in the present disclosure includes “autonomous driving” in which the work vehicle 10 drives autonomously without relying on the operation of the operator, and “semi-automatic driving” in which only the steering operation is automated, such as straight driving assist.

[0063] For example, “autonomous driving” is a driving mode in which, in addition to automatic steering of the steering wheel (front wheel 141), the vehicle speed and other aspects are automatically controlled so that the work vehicle 10 travels along the target path R1. For example, “straight driving assistance” is a driving mode in which, for example, only the steering wheel (front wheel 141) is automatically steered, and the vehicle speed and other aspects are controlled according to the operation of the operator so that the work vehicle 10 travels along a straight path parallel to the straight line (reference line) serving as a reference.

[0064] As another example, the work vehicle 10 may be driven by manual steering by the operator. For example, the operator rides on the work vehicle 10 and drives the work vehicle 10 by manual steering while checking the target route R1.

[0065] The operation support processing unit 133 performs operation support processing for supporting the operation (planting operation in this embodiment) performed by the operation machine 12. The operation support processing includes, for example, a process for supporting the operator's operation of the operation machine 12 by providing prompts (display or sound output, etc.) related to the operation of the operation machine 12 using a user interface such as the display device 18, and a process for directly controlling the operation machine 12. In this embodiment, in principle, the operation support processing unit 133 performs the previous process (i.e., the process for supporting the operator's operation of the operation machine 12) as the operation support processing.

[0066] The storage unit 134 is a nonvolatile memory that stores various data such as a control program for the work vehicle and target route information related to the target route R1. That is, the travel processing unit 132 can cause the travel device 14 to perform automatic travel along the target route R1 based on the target route information stored in the storage unit 134.

[0067] Furthermore, at least when the detection device 15 detects an obstacle as a detection target during the automatic driving of the work vehicle 10, the control device 13 performs output of an alarm (including a report by sound and / or light) and obstacle avoidance processing (including detour, deceleration or stop, etc.) by controlling the driving device 14. Furthermore, the control device 13 may also output the location information of the obstacle and the execution history of the avoidance processing to the terminal device 20 and display it on the terminal device 20, etc.

[0068] In addition to the above-mentioned structure, the work vehicle 10 is also equipped with a battery, a fuel tank, and various sensors. The battery supplies power for operation to various parts of the work vehicle 10, such as the control device 13. In particular, electronic devices such as the control device 13, the detection device 15, the positioning device 16, the communication device 17, and the display device 18 are operated by the power supply from the battery, so that they can also operate during the stop of the power source (engine) of the travel device 14.

[0069] [3] Terminal device structure

[0070] Next, refer to Figure 1 and Figure 2 The configuration of the terminal device 20 according to this embodiment will be described in detail.

[0071] In the present embodiment, the terminal device 20 can communicate with the work vehicle 10 as described above, and together with the control device 13 of the work vehicle 10, constitute the control system 1. That is, the components of the control system 1 are at least dispersedly provided in the work vehicle 10 and the terminal device 20. However, the present invention is not limited to this structure, and for example, the function of the control device 13 may also be provided in the terminal device 20, in which case, the components of the control system 1 are implemented only by the terminal device 20. Conversely, for example, the function of the terminal device 20 may also be provided in the control device 13, in which case, the components of the control system 1 are implemented only by the control device 13.

[0072] In this embodiment, as an example, the terminal device 20 is composed of a general-purpose terminal such as a tablet terminal, a smart phone, or a laptop computer. Figure 2 As shown, the terminal device 20 includes an information processing unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The terminal device 20 also includes a sound output unit for outputting sound (including voice) to a user (operator), a battery, and the like.

[0073] The information processing unit 21 is mainly composed of a computer system having one or more processors such as a CPU and one or more memories such as a ROM and a RAM, and performs various processes (information processing). In the present embodiment, the information processing unit 21 is mainly composed of a computer system having one or more processors, so the information processing unit 21 is implemented by executing a control program for a work vehicle through one or more processors. That is, one or more processors of the control device 13 included in the control system 1 and one or more processors of the information processing unit 21 respectively execute the control program for the work vehicle, so that the control device 13 and the terminal device 20 cooperate to specifically implement the control system 1.

[0074] The information processing unit 21 is configured to be able to communicate with each part (storage unit 22, operation display unit 23, and communication unit 24) of the terminal device 20. That is, the information processing unit 21 is electrically connected to the storage unit 22, the operation display unit 23, and the communication unit 24. Thus, the information processing unit 21 can read and write information from the storage unit 22, perform display control on the operation display unit 23, and obtain operation input to the operation display unit 23. Here, the information processing unit 21 can directly send and receive various information (data) with each part, or can do so indirectly via a repeater or the like.

[0075] Such a terminal device 20 is a user interface for receiving operation inputs by a user (operator) and outputting various information to the user. For example, the terminal device 20 receives various operations by the user by outputting electrical signals corresponding to the user's operations on the operation display unit 23. In addition, the terminal device 20 outputs various information to the user by displaying various screens on the operation display unit 23.

[0076] The storage unit 22 is a non-volatile memory that stores various data such as a control program for a work vehicle and target path information related to the target path R1. In addition, the storage unit 22 can store various data such as work machine information, work vehicle information, field information, and work information. The work machine information is information related to the work machine 12 mounted on the machine body 11, and includes, for example, information such as the type, identification information, machine name, model, and specifications (size) of the work machine 12. The work vehicle information is information related to the machine body 11 (vehicle body) of the work vehicle 10, and includes, for example, information such as the type (e.g., half-track type / wheel type, etc.), identification information, machine name, model, and specifications (size) of the machine body 11. The field information is information related to the field as the work site F1, and includes information such as identification information, field name, position, shape, size, work start position (travel start position) for starting work, work end position (travel end position) for ending work, and work direction. The operation information is information related to the operation performed by the operation vehicle 10, including, for example, the type of operation and how the operation is performed. In addition, the operation information may include information such as whether a coordinated operation is performed by the operation vehicle 10, the width of the headland, and the width of the non-cultivated land.

[0077] The above information (target path information, work machine information, work vehicle information, field information, work information, etc.) stored in the storage unit 22 is set (registered) by the user (operator) operating the operation display unit 23 or obtaining it from the work vehicle 10. For example, the type of the work machine 12 in the work machine information may be specified by the user operating the operation display unit 23, or the work vehicle 10 may automatically identify the work machine 12 installed on the machine body 11 and send it to the terminal device 20. The terminal device 20 may also obtain the above information from an external device other than the work vehicle 10 (such as a server, an external storage medium, or another terminal device, etc.).

[0078] The operation display unit 23 is a user interface including a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, a keyboard, a mechanical switch, or an encoder that receives an operation. As an example, an operator can operate the operation unit of the operation display unit 23 in an operation screen displayed on the display unit of the operation display unit 23 to set (register) various information. For example, the operator can set automatic driving information (including target path information) related to the automatic driving of the work vehicle 10.

[0079] In addition, the operation display unit 23 can realize the operator's close-range and remote monitoring of the work vehicle 10 in automatic driving by displaying the progress of the work in the work site F1 and the operation status of the work vehicle 10 including the target path R1 of the work vehicle 10, the (actual) moving trajectory, the current position and the moving speed. Close-range monitoring refers to, for example, monitoring within the range that the operator can visually observe, and remote monitoring refers to, for example, monitoring performed by means of an image of the surroundings of the work vehicle 10 displayed by the terminal device 20. Through remote monitoring, multiple work vehicles 10 can also be monitored by one terminal device 20. However, the above definition is only an example, and other definitions can also be made. Here, the operation status of the work vehicle 10 also includes the detection results of the detection device 15 on the detection object, etc. In addition, the operation display unit 23 can receive the driving start instruction or driving stop instruction of the work vehicle 10 from the operator. The terminal device 20 can remotely control the work vehicle 10 by sending the above-mentioned driving start instruction or driving stop instruction to the work vehicle 10. Therefore, the operator can remotely operate the work vehicle 10.

[0080] The communication unit 24 is a communication interface for connecting the terminal device 20 to the work vehicle 10 by wire or wirelessly, and performing data communication with the work vehicle 10 in accordance with a prescribed communication protocol. In this embodiment, the communication unit 24 can at least communicate with the work vehicle 10 (the communication device 17) via the communication network N1. Furthermore, the communication unit 24 can at least connect to the communication network N1 wirelessly, so that the communication unit 24 can communicate with the work vehicle 10 at any time even in a place far away from the work vehicle 10.

[0081] In addition, in this embodiment, if Figure 2 As shown, the information processing unit 21 includes a generation processing unit 211, a registration processing unit 212, an output processing unit 213, and a setting processing unit 214. In this embodiment, as an example, the information processing unit 21 is mainly configured as a computer system having one or more processors, so that the above-mentioned multiple functional units (such as the generation processing unit 211) are implemented by executing the control program for the work vehicle through one or more processors. The above-mentioned multiple functional units included in the information processing unit 21 can be dispersedly arranged in multiple housings or in one housing.

[0082] The generation processing unit 211 performs a route generation process for generating a route (target route R1) for the work vehicle 10 to travel (automatically travel) in the work site F1. Here, the generation processing unit 211 generates the target route R1 based on the generation data including the work machine information, the work vehicle information, the field information, and the work information stored in the storage unit 22. That is, for the target route R1, the generation processing unit 211 generates the target route based on the work machine information, the work vehicle information, the field information, and the work information set (registered) by the user (operator) inputting the operation display unit 23, for example.

[0083] Specifically, the generation processing unit 211 generates a data frame based on the travel start position P1 (see Figure 3 ) and the travel end position P2 (refer to Figure 3 ), generating a target path R1 in the work site F1. For example, the generation processing unit 211 generates a target path R1 for moving the body 11 of the work vehicle 10 from the travel start position P1 to the travel end position P2 in the work site F1 based on the generation data.

[0084] In this embodiment, the field information included in the generation data includes the outline information based on the outline of the work site F1. The outline information also includes the allowable boundary line La1 (see Figure 4 The "allowable boundary line" mentioned in this disclosure is based on the outer line of the work site F1 and the distance to the inside of the work site F1, that is, the margin value L2 (refer to Figure 4 ) is defined as a virtual line that becomes the limit position of the permitted protrusion of the work vehicle 10. Therefore, the generation processing unit 211 can generate a path (target path R1) for driving the work vehicle 10 based on at least the permitted boundary line La1.

[0085] The registration processing unit 212 performs a registration process of registering the work machine information, the work vehicle information, the field information, the work information, etc. That is, the work machine information, the work vehicle information, the field information, the work information, etc. used for generating the target route R1 are respectively registered (set) by the registration processing unit 212, for example, based on the operation input of the user (operator) to the operation display unit 23.

[0086] Output processing unit 213 performs, for example, output processing of outputting route data of target route R1 to work vehicle 10. That is, route data on target route R1 generated by generation processing unit 211 is output from output processing unit 213 to, for example, communication unit 24, and transmitted from communication unit 24 to work vehicle 10.

[0087] For example, when starting work, the operator selects a field (work site F1), selects work, confirms the target path R1, and issues a work start instruction. When the operator issues a work start instruction, the output processing unit 213 sends (outputs) the path data of the target path R1 generated by the generation processing unit 211 to the work vehicle 10. When the work vehicle 10 receives the path data generated by the terminal device 20, it stores the path data in the storage unit 134. In addition, the work vehicle 10 performs automatic driving (autonomous driving and autonomous operation) based on the current position of the work vehicle 10 calculated by the positioning device 16 and the target path R1 determined by the path data.

[0088] Furthermore, the output processing unit 213 can also output the generated target path R1 to the operation display unit 23, so that it is displayed on the operation display unit 23. The output form of the output processing unit 213 is not limited to the transmission or display to the work vehicle 10 as described above, and for example, it may be transmission to other devices (user terminals, etc.), printing (printing), writing to non-temporary recording media, or sound output, etc.

[0089] The setting processing unit 214 performs a setting process for setting the position of the allowable boundary line La1. That is, in the present embodiment, the generation processing unit 211 can generate a path (target path R1) for driving the work vehicle 10 based on the allowable boundary line La1 whose position is set by the setting processing unit 214. Although the details will be described later, in the present embodiment, the setting processing unit 214 sets the position of the allowable boundary line La1 according to the operation of the operator on the operation display unit 23.

[0090] The terminal device 20 can also access the website (agricultural support website) of the agricultural support service provided by the server via the communication network N1. In this case, the terminal device 20 can function as an operation terminal of the server by executing the browser program by the information processing unit 21. In addition, the server has the above-mentioned processing units and can execute various processes.

[0091] [4] Control method of working vehicle

[0092] Below, refer to Figures 3 to 10 , an example of a control method (hereinafter referred to as “control method”) of the work vehicle 10 executed by the control system 1 (control device 13 and terminal device 20) will be mainly described.

[0093] The control method involved in this embodiment is executed by a control system 1 mainly composed of a computer system, and therefore, in other words, is specifically implemented by a control program for a work vehicle (hereinafter referred to as a "control program"). That is, the control program involved in this embodiment is a computer program for causing one or more processors to execute various processes involved in the control method.

[0094] Here, the control system 1 performs the following various processes involved in the control method when a specific start operation preset for executing the control program is performed. The start operation is, for example, the start operation of the application (control program for the work vehicle) in the terminal device 20. On the other hand, the control system 1 terminates the following various processes involved in the control method when a specific end operation preset is performed. The end operation is, for example, the end operation of the application (control program for the work vehicle) in the terminal device 20.

[0095] In addition, the following Figure 3 As shown, the work site F1 is a quadrilateral field in a plan view, and one short side of the outline (outer periphery) of the work site F1 is assumed to be a "first outline f11", the other short side is assumed to be a "second outline f12", one long side is assumed to be a "third outline f13", and the other long side is assumed to be a "fourth outline f14". In addition, in the work site F1, the travel start position P1 is arranged near the corner between the first outline f11 and the third outline f13, and the travel end position P2 is arranged near the corner between the second outline f12 and the third outline f13.

[0096] [4.1] Basic actions

[0097] First, refer to Figure 3 and Figure 4 Next, a basic operation will be described in which the control system 1 according to the present embodiment is used to automatically drive the work vehicle 10 along the target route R1 in a work site F1 formed of a certain field. Figure 4 yes Figure 3 A schematic enlarged view of the vicinity of the corner between the first outer line f11 and the fourth outer line f14.

[0098] exist Figure 3 and Figure 4In the example of FIG. 1 , the target path R1 includes a working path r11, a non-working path r12, and a peripheral working path r13. The working path r11 and the peripheral working path r13 are paths on which the working vehicle 10 travels (moves) while performing work with the working machine 12. The non-working path r12 is a path connecting a plurality of working paths r11 and used for the working vehicle 10 to make a turn to change the traveling direction, and is a path on which the working vehicle 10 travels (moves) without performing work with the working machine 12.

[0099] exist Figure 3 In the figures showing the target path R1, the paths where the work vehicle 10 performs work (the work path r11 and the peripheral work path r13) are shown with solid lines, and the paths where the work vehicle 10 does not perform work (the non-work path r12) are shown with dotted lines. Figure 3 In the drawings showing the target route R1, the target route R1 (and the work vehicle 10) generated for the work site F1 is schematically shown in a top view. Figure 3 and Figure 4 In the front-rear direction D2 and the left-right direction D3, Figure 3 and Figure 4 The orientation of the body 11 of the work vehicle 10 shown is the direction when the reference is used.

[0100] In more detail, Figure 3 As shown in FIG. 1 , the target path R1 includes a plurality of working paths r11 extending between a pair of long sides (the third outline f13 and the fourth outline f14) of the working area F1. Figure 3 In the illustrated target path R1, a work path r11 extending upward in the figure from the travel start position P1 set in the lower left corner of the figure is arranged, and a plurality of work paths r11 along (parallel to) the work path r11 are arranged at a constant interval on the right side of the figure. The plurality of work paths r11 are arranged such that the work paths r11 extending from one long side (third outline f13) of the work site F1 toward the other long side (fourth outline f14) and the work paths r11 extending in the opposite direction are arranged alternately.

[0101] Here, the plurality of working paths r11 are all straight paths along which the working vehicle 10 moves forward while performing the work of the working machine 12. The interval between adjacent working paths r11 is set based on the width dimension (working width W1) of the working machine 12 in the left-right direction D3, and the working vehicle 10 travels along the plurality of working paths r11 to perform planting work on the substantially entire area of ​​the working ground F1 (except for the headland area which becomes the peripheral part). Moreover, a pair of adjacent working paths r11 are connected by a non-working path r12, which connects the terminal end of one working path r11 which becomes the first contour line f11 side and the starting end of another working path r11 which becomes the second contour line f12 side.

[0102] In addition, the peripheral working path r13 is a path that is continuous with the terminal end of the final working path r11 (on the second contour line f12 side) among the multiple working paths r11 and surrounds the outer periphery of the working site F1 along the contour lines (the first to fourth contour lines f11 to f14) of the working site F1. Figure 3 In the example, the peripheral working path r13 extends from the lower right corner of the figure to the lower left corner of the figure, from the lower left corner of the figure to the upper left corner of the figure, from the upper left corner of the figure to the upper right corner of the figure, and from the upper right corner of the figure to the driving end position P2 at the lower right corner of the figure, thereby surrounding the peripheral headland area of ​​the work site F1.

[0103] According to the target route R1, the work vehicle 10 travels along the inner region F11 ( Figure 3 In the outer peripheral area F12, the working vehicle 10 performs planting operations while traveling back and forth in parallel on the working path r11 from the driving start position P1. Afterwards, the working vehicle 10 performs planting operations while traveling clockwise on the peripheral working path r13 toward the driving end position P2. However, when the working vehicle 10 is traveling on the peripheral working path r13, it is preferred that the working vehicle 10 is automatically driven in a "manned state" with an operator riding on the body 11. Thus, the working vehicle 10 can perform planting operations on substantially the entire area of ​​the working site F1 including the peripheral area F12.

[0104] In summary, when the working vehicle 10 travels on the working path r11, the working machine 12 performs the work (planting work). Figure 4 As shown, a plurality of rice seedlings V1 are planted in the passing area A1 through which the working vehicle 10 (the working machine 12) has passed in the inner area F11. Here, a plurality of (8) rows of working columns Vr1 to Vr8 (seedling columns) arranged in the left-right direction D3 orthogonal to the traveling direction of the working vehicle 10 are formed in the passing area A1.

[0105] Similarly, when the work vehicle 10 travels on the outer peripheral work path r13, the work machine 12 also performs work (planting work), so the work vehicle 10 ( Figure 4 A plurality of rice seedlings V1 are also planted in the passing area A2 which has been passed by the imaginary line (two-dot chain line) in FIG. Figure 4 Although not shown in the figure, a plurality of (8) work columns Vr1 to Vr8 (seedling columns) arranged in the left-right direction D3 perpendicular to the traveling direction of the work vehicle 10 are formed in the passing area A2.

[0106] The target path R1 is not limited to Figure 3 The paths shown in the examples can be set appropriately. Figure 3 In the example, the work vehicle 10 first travels in the inner area F11 and then travels in the outer area F12, but the travel order of the work vehicle 10 is not limited to this. For example, the work vehicle 10 may first travel in the outer area F12 and then travel in the inner area F11.

[0107] In addition, Figure 3 In the example of FIG. 1 , the non-operating path r12 set in the peripheral area F12 includes a turning path for a gentle right turn, but the turning form for changing the orientation of the working vehicle 10 is not limited to a "gentle turn". The non-operating path r12 may include a turning form for turning the body 11 while switching between forward and backward in order to enable the body 11 to turn in a limited space, such as a so-called "fishtail turn". Similarly, regarding the turning form of the working vehicle 10 when traveling on the peripheral working path r13, an appropriate turning form such as a "gentle turn" or a "fishtail turn" may also be applied.

[0108] In order to realize the automatic driving of the work vehicle 10 as described above, it is necessary to identify and register the shape of the work site F1 in advance. As an example, the operator rides on the work vehicle 10 and drives in a manner of circling the outer periphery of the work site F1 of the registration object (teaching driving), and the terminal device 20 obtains the position information during driving from the work vehicle 10, identifies the position and shape of the work site F1 based on the position information, and registers it as the work site F1. In such teaching driving, an outer peripheral working path r13 is generated on the path traveled by the work vehicle 10. Based on such teaching driving or actual information of past driving paths, the work site F1 is registered, so that for obstacles such as culverts that are difficult to detect only by the detection device 15, the target path R1 can be generated in a state where the obstacles are avoided from the beginning.

[0109] Furthermore, it is also possible to reserve a width of multiple trips in the peripheral area F12 of the work site F1, generate multiple work paths r11, and generate multiple trips of peripheral work paths r13 along the periphery of the work site F1. In this case, after the work vehicle 10 performs work on the multiple work paths r11, it sequentially travels from the inside to the outside on the peripheral work paths r13 of multiple trips. At this time, the work vehicle 10 preferably automatically travels in the inner peripheral work path r13 in an unmanned state, and automatically travels in the outermost peripheral work path r13 in a manned state.

[0110] [4.2] Generation of target path

[0111] Next, refer to Figures 5 to 9 The processing related to the generation of the target route R1 will be described.

[0112] In the control system 1 involved in this embodiment, as Figure 5 As illustrated, the generation processing unit 211 of the terminal device 20 generates a path (target path R1) for the work vehicle 10 to travel (automatically travel) in the work site F1. Here, the generation processing unit 211 generates the target path R1 based on at least the allowable boundary line La1 so that the body 11 of the work vehicle 10 does not protrude outward from the allowable boundary line La1.

[0113] That is, in consideration of the detection error in the positioning device 16, in order to prevent the work vehicle 10 from contacting the field ridge or the like outside the work site F1, a safety margin is ensured on the outer periphery of the work site F1, and the target path R1 is generated in such a manner that the work vehicle 10 travels inside the field ridge or the like. In other words, when the work vehicle 10 travels on the work site F1, the work vehicle 10 is not brought as close as possible to the outer contour line (the first to fourth outer contour lines f11 to f14) of the work site F1, but the target path R1 is generated in such a manner that the work vehicle 10 can travel without protruding from the allowable boundary line La1 set at a position where the margin value L2 is inside the outer contour line.

[0114] like Figure 5 As shown, when the boundary line La1 is allowed to be located inside the outer contour line, the area between the boundary line La1 and the outer contour line ( Figure 5 The target path R1 is generated based on the allowable boundary line La1 so that the work vehicle 10 does not protrude outward (toward the outer contour line) from the allowable boundary line La1 that is the inner periphery of the safety margin band Am1. Therefore, even if, for example, a detection error of the positioning device 16 occurs, the work vehicle 10 only protrudes into the safety margin band Am1 and is unlikely to protrude from the outer contour line (the first to fourth outer contour lines f11 to f14).

[0115] In addition, when the width of the above-mentioned safety margin band Am1, that is, the margin value L2, is a constant value, for example, even if the work vehicle 10 can be brought closer to the outline of the work site F1 according to the conditions of the work site F1 or the working method, it is difficult to make the work vehicle 10 travel on such a path.

[0116] Therefore, in the control method according to the present embodiment, the work vehicle 10 can be caused to travel on a more appropriate route through the configuration described below.

[0117] That is, the control method of the work vehicle 10 involved in the present embodiment is a control method of the work vehicle 10 that can work while traveling on the work site F1. The control method includes: setting the position of the allowable boundary line La1, which is based on the outer contour line (first to fourth outer contour lines f11 to f14) of the work site F1 and is defined according to the distance to the inside of the work site F1, that is, the margin value L2, and becomes the limit position where the protrusion of the work vehicle 10 is allowed; and generating a path (target path R1) for driving the work vehicle 10 based on the allowable boundary line La1.

[0118] In summary, in this embodiment, if Figure 6 As shown, the position of the allowable boundary line La1 defined by the width of the safety margin band Am1, that is, the margin value L2, can be set (changed). Therefore, for example, when the work vehicle 10 can be brought closer to the outer line of the work site F1 according to the conditions of the work site F1 or the work method, the allowable boundary line La1 can be set (changed) to the outside by reducing the margin value L2, and a path (target path R1) closer to the outer line of the work site F1 can be generated. As a result, the work vehicle 10 can be driven on a more appropriate path.

[0119] Here, the margin value L2 includes negative values. That is, the distance from the outer line of the work site F1 (the first to fourth outer lines f11 to f14) to the inner side of the work site F1, i.e., the margin value L2, can also be a negative (-) value instead of a positive (+) value. In the case where the margin value L2 is a negative value, Figure 7 As shown in the example, the allowable boundary line La1 is located outside the work site F1 relative to the contour lines (first to fourth contour lines f11 to f14) of the work site F1. In this case, a path (target path R1) is generated in such a way that the work vehicle 10 does not protrude outward from the allowable boundary line La1, and the work vehicle 10 is allowed to protrude from the contour lines (first to fourth contour lines f11 to f14) of the work site F1.

[0120] For example, depending on the height of the ridges around the work site F1, the type of ridges (soil / concrete, etc.), the presence or absence of obstacles around the work site F1, the presence or absence of the work machine 12, the work width W1, the lifting state of the work machine 12, and the presence or absence of turns when the work vehicle 10 is traveling, there is a case where there is no problem even if at least a part of the machine body 11 (including the work machine 12) protrudes to the outside of the work site F1. When registering the work site F1 (during teaching travel), etc., when it is confirmed that there is no problem even if it protrudes to the outside of the work site F1, by setting the margin value L2 to a negative value as described above, a more flexible route can be generated.

[0121] In addition, Figure 7 In the example of FIG. 1 , a virtual circle X1 is shown that indicates the range that a part of the body 11 of the work vehicle 10 may occupy when the body 11 of the work vehicle 10 turns. When generating a path (target path R1), it is preferred that the path (target path R1) is generated in such a way that the virtual circle X1 does not protrude outward from the allowable boundary line La1. Thus, for example, even if the work vehicle 10 traveling on the target path R1 turns for the purpose of avoiding an obstacle, in principle, the work vehicle 10 is controlled to be inside the allowable boundary line La1, and the work vehicle 10 is not likely to protrude from the allowable boundary line La1.

[0122] In addition, the permitted boundary line La1 determines the position of the inner area F11 in which the work vehicle 10 travels back and forth along the work direction. That is, when the inner area F11 and the outer area F12 are set as described above in the work site F1, the inner area F11 is set at a position that is further inward from the permitted boundary line La1 by the width of the outer area F12. Therefore, if the permitted boundary line La1 is set, the inner area F11 in which the work vehicle 10 travels back and forth along the work direction is automatically set based on its position.

[0123] Figure 8 An example of a margin setting screen G1 for setting the position of the allowable boundary line La1 is shown. That is, in the present embodiment, when the setting processing unit 214 sets the position of the allowable boundary line La1 according to the operation of the operation display unit 23 by the operator, the margin setting screen G1 for setting the position of the allowable boundary line La1 is displayed on the operation display unit 23. Figure 8 In the drawings showing the screens displayed on the operation display unit 23 , the dot-dash lines, lead lines, and reference numerals indicating regions are provided for explanation only and are not actually displayed on the operation display unit 23 .

[0124] exist Figure 8In the example of FIG. 1 , the remaining quantity setting screen G1 has a setting section G11 for setting the remaining quantity value L2, a return button G12, and a next page button G13. The setting section G11 includes a minus button G111, a plus button G112, and a cell box G113. The current remaining quantity value L2 (in Figure 8 In the example, "100 cm" is displayed. The minus button G111 decreases the remaining value L2 by a predetermined increment width (in Figure 8 In the example, "1 cm" is an operation button (object). The plus button G112 is an operation button (object) that increases the margin value L2 by a predetermined increment width (in Figure 8 In the example, it is "1cm").

[0125] Therefore, for example, if Figure 8 In the state of , if the minus button G111 is pressed 10 times, the remaining value L2 changes to "90cm". Figure 8 In the state of , the plus button G112 is pressed 5 times, and the remaining value L2 changes to "105cm". Here, when the remaining setting screen G1 is started, the remaining value L2 is set to a default value (for example, "100cm"). If the next page button G13 is operated, the setting processing unit 214 sets the position of the allowable boundary line La1 according to the remaining value L2 at this time.

[0126] Therefore, the operator can adjust the remaining amount value L2 to an arbitrary value and set the allowable boundary line La1 to an arbitrary position on the remaining amount setting screen G1 displayed on the operation display unit 23 .

[0127] Furthermore, when the allowable boundary line La1 is set outside the contour line of the work site F1, for example, a question (or option) such as "Is it allowed to protrude to the outside?" may be prompted to the operator in the margin setting screen G1 to ask whether to set a negative value as the margin value L2. In response, when the operator selects "allow", the margin value L2 is set to a negative value, and the allowable boundary line La1 is set outside the contour line of the work site F1. In this way, for example, the setting processing unit 214 may set the margin value L2 to a negative value by interactively accepting input from the operator through the operation display unit 23.

[0128] In addition, in the present embodiment, the work site F1 includes a plurality of contour lines (first to fourth contour lines f11 to f14). Here, the position of the allowable boundary line La1 can be independently set for each of the plurality of contour lines (first to fourth contour lines f11 to f14). That is, the margin value L2 can be independently set for each of the first contour line f11, the second contour line f12, the third contour line f13, and the fourth contour line f14. Then, based on the margin value L2 set for the first contour line f11, the allowable boundary line La1 is set at a position where the margin value L2 is removed from the first contour line f11 to the inside. On the other hand, based on the margin value L2 set for the second contour line f12, the allowable boundary line La1 is set at a position where the margin value L2 is removed from the second contour line f12 to the inside. Therefore, an appropriate safety margin band Am1 can be set for each of the plurality of contour lines.

[0129] Here, the setting processing unit 214 preferably does not allow the margin value L2 to be set to a negative value for the contour lines (sides) that meet specific conditions such as facing a farm road (highway) among the plurality of contour lines (the first to fourth contour lines f11 to f14). For example, it is possible to predetermine whether each contour line among the plurality of contour lines meets specific conditions such as facing a farm road based on map information or the like. Thus, for example, for the contour line for which it is not desirable to set the allowable boundary line La1 outside the contour line of the work site F1, it is easy to suppress the body 11 (including the work machine 12) from protruding outside the work site F1. In addition, for the contour line (side) that meets the specific conditions, the setting processing unit 214 may also allow the margin value L2 to be set to a negative value and limit the negative value (that is, the allowable amount of protrusion outside the work site F1). Here, for example, the degree of restriction can be determined based on the height of the ridges around the work site F1 (input by the operator), the type of ridges (soil / concrete, etc.), the presence or position of obstacles around the work site F1, etc. Furthermore, for example, the degree of “restriction” may be determined based on an image captured by a camera during teaching driving in which the vehicle is driven around the periphery of the work site F1.

[0130] Fig. 9 An example of the outer shape line selection screen G2 for selecting an outer shape line for setting the allowable boundary line La1 is shown. Fig. 9 In the example of , the contour line selection screen G2 includes a map portion G21 including the work site F1, a return button G22, and a next page button G23. The map portion G21 includes a plurality of contour lines (first to fourth contour lines f11 to f14) of the work site F1, and each of the plurality of contour lines can be selected on the map portion G21.

[0131] The selected outline in the map portion G21 is highlighted by, for example, blinking display. Fig. 9, the state where the first outline f11 is selected is shown. If the next page button G23 is operated, the setting processing unit 214 switches the display screen to the remaining amount setting screen G1 (see Figure 8 ), for the contour line selected at this time (in Fig. 9 In the example of the first outline f11), the setting of the position of the boundary line La1 is started.

[0132] In addition, if Fig. 9 Such a map part G21 may also be included in the remaining amount setting screen G1. In this case, the remaining amount value L2 can be adjusted by selecting the outer line on the remaining amount setting screen G1. Figure 8 Such a setting unit G11 may be included in the outer shape line selection screen G2. In this case, the outer shape line can be selected on the outer shape line selection screen G2 and the margin value L2 can be adjusted.

[0133] In addition, the position of the allowable boundary line La1 can be set for the above-mentioned multiple contour lines (first to fourth contour lines f11 to f14) at a time. That is, a unique margin value L2 is set for all of the first contour line f11, the second contour line f12, the third contour line f13, and the fourth contour line f14. Then, the allowable boundary line La1 is set at a position that is the margin value L2 inward from each of the first contour line f11, the second contour line f12, the third contour line f13, and the fourth contour line f14. Therefore, regardless of the number of contour lines (field edges), the allowable boundary line La1 can be set relatively easily.

[0134] Furthermore, when a plurality of contour lines (first to fourth contour lines f11 to f14) are divided into a plurality of groups according to the working direction, the position of the allowable boundary line La1 can also be set independently for each of the plurality of groups. That is, for example, it is conceivable that the contour lines (first contour line f11 and second contour line f12) along the extension direction (working direction) of the working path r11 are classified into the first group, and the contour lines (third contour line f13 and fourth contour line f14) intersecting the extension direction (working direction) of the working path r11 are classified into the second group. In this case, the position of the allowable boundary line La1 is set for the first contour line f11 and the second contour line f12 belonging to the first group, and the position of the allowable boundary line La1 is set for the third contour line f13 and the fourth contour line f14 belonging to the second group. Therefore, the allowable boundary line La1 can be set relatively simply.

[0135] Here, the operator may select whether to set the position of the allowable boundary line La1 independently for each of the plurality of contour lines, to set the position of the allowable boundary line La1 collectively, or to set the position of the allowable boundary line La1 independently for each of the plurality of groups.

[0136] In addition, the control method according to the present embodiment further includes: specifying the driving state of the work vehicle 10 according to the setting state related to the setting of the position of the allowable boundary line La1. That is, if the allowable boundary line La1 is set, the driving state of the work vehicle 10 is automatically specified according to the setting state. Thus, it is possible to automatically specify an appropriate driving state according to the width of the safety margin band Am1.

[0137] Here, the travel mode includes whether it is manned travel that requires an operator to board work vehicle 10 or unmanned travel that does not require an operator to board work vehicle 10. As a default, it is preferable to designate unmanned travel.

[0138] As an example, if the margin value L2 of the position of the predetermined allowable boundary line La1 is larger than the determination threshold, unmanned driving is designated as the driving mode. On the other hand, if the margin value L2 of the position of the predetermined allowable boundary line La1 is less than the determination threshold, manned driving is designated as the driving mode. In this way, manned driving / unmanned driving is automatically designated according to the setting mode related to the setting of the position of the allowable boundary line La1, so that the appropriate driving mode can be automatically designated according to the width of the set safety margin band Am1.

[0139] The driving mode includes a turning mode. The "turning mode" referred to here is a driving mode when the work vehicle 10 is turning, and includes, for example, a "slow turn" or a "fishtail turn".

[0140] As an example, if the margin value L2 of the position of the allowable boundary line La1 is larger than the determination threshold, a turning form such as a "slow turn" in which the body 11 bulges relatively large in the left-right direction D3 is specified as the turning form. On the other hand, if the margin value L2 of the position of the allowable boundary line La1 is less than the determination threshold, a turning form such as a "fishtail turn" in which the body 11 bulges relatively small in the left-right direction D3 is specified. In this way, the turning form is automatically specified according to the setting form related to the setting of the position of the allowable boundary line La1, so that the appropriate driving form can be automatically specified according to the width of the safety margin band Am1 that has been set.

[0141] Here, the relative relationship between the driving mode and the set mode may be applied to the same operation. That is, for example, in a certain work site F1, if automatic driving is performed once in a state where the allowable boundary line La1 is set to specify manned driving as the driving mode, unmanned driving may be specified as the driving mode in the next and subsequent operations at the work site F1. Thus, the driving mode can be specified only once based on the allowable boundary line La1, and a more appropriate driving mode can be specified.

[0142] However, when a problem occurs during manned driving, it is preferred to prohibit unmanned driving or issue a warning even next time and thereafter. Specifically, the location and content of the problem are recorded, and the content is prompted next time and thereafter. In this case, the operator can also select manned driving / unmanned driving after confirming the prompted content.

[0143] The control method involved in this embodiment also has: when a specific condition is met, the allowed boundary line La1 is invalidated, or it is moved (expanded) toward the outside of the work site F1. The "specific condition" mentioned here is a condition that requires the work vehicle 10 to move to the outside of the work site F1, for example, the remaining amount of materials (seedlings or fuel in this embodiment) consumed by the work (planting work in this embodiment) in the work vehicle 10 becomes below the judgment threshold, etc. In the case where the work vehicle 10 is a harvester such as a combine harvester, the specific condition includes the storage amount of the harvested material becoming above the judgment threshold.

[0144] In this way, when a specific condition is met, the allowable boundary line La1 is temporarily invalidated or expanded, and the work vehicle 10 can cross the allowable boundary line La1 and move to the outside of the work site F1. In addition, the judgment threshold value compared with the remaining amount of materials during the reciprocating travel and the judgment threshold value compared with the remaining amount of materials after the reciprocating travel are different. Specifically, the judgment threshold value after the reciprocating travel is set higher than the judgment threshold value during the reciprocating travel. Thus, at the end of the reciprocating travel, even if the amount of materials is not reduced that much, the materials can be replenished before the subsequent circular travel begins.

[0145] In addition, the setting of the permitted boundary line La1 is not limited to being performed by the operator operating the terminal device 20, but can also be performed automatically. As an example, the position of the permitted boundary line La1 can also be set based on whether the work vehicle 10 is allowed to protrude outward from the outline of the work site F1. Here, for example, based on the height of the ridges around the work site F1, the type of ridges (soil / concrete, etc.), the presence or absence of obstacles around the work site F1, the presence or absence of the work machine 12, the working width W1, the lifting state of the work machine 12, and the presence or absence of turns when the work vehicle 10 is traveling, it is determined whether the work vehicle 10 is allowed to protrude outward from the outline of the work site F1.

[0146] As an example, when registering the work site F1 (during teaching driving), etc., if it is confirmed that protrusion to the outside of the work site F1 is permitted, the position of the permitted boundary line La1 is automatically set to reduce the margin value L2. Thus, an appropriate safety margin band Am1 can be set.

[0147] In addition, when the work vehicle 10 is automatically traveling at the work site F1, it is not necessary to generate the target path R1 in advance (before the start of the automatic travel) as described above. That is, the work vehicle 10 can also automatically travel while judging the situation in real time based on the position information of the current position of the work vehicle 10 measured by the positioning device 16, the information related to the work site F1, and the detection result of the detection device 15. Even in such a case, it is useful to set the allowable boundary line La1.

[0148] That is, in this case, the control method according to the present embodiment includes: setting the allowable boundary line La1, which is defined based on the outer contour of the work site F1 and the distance to the inside of the work site F1, that is, the margin value L2, and is the limit position at which the work vehicle 10 is allowed to protrude; and automatically driving the work vehicle 10 based on the allowable boundary line La1. In short, instead of the generation processing unit 211 of the control system 1 generating a path (target path R1) for driving the work vehicle 10 based on the allowable boundary line La1, the driving processing unit 132 of the control system 1 automatically drives the work vehicle 10 based on the allowable boundary line La1.

[0149] In this configuration, even if a route (target route R1) is not generated in advance, the work vehicle 10 can be caused to travel on a more appropriate route, similarly to the above-described embodiment.

[0150] [4.3] Overall processing

[0151] Next, refer to Fig.10 The overall flow of processing related to generation of the target route R1 in the control method will be described.

[0152] like Fig.10 As shown, the setting processing unit 214 of the control system 1 sets the position of the allowable boundary line La1 to the default position by setting the remaining value L2 to the default value (S1). Then, the setting processing unit 214 receives an operation to change the remaining value L2 on the remaining setting screen G1 of the terminal device 20 (S2).

[0153] If an operation to change the remaining amount value L2 is performed on the remaining amount setting screen G1 (S2: Yes), the setting processing unit 214 changes the position of the allowable boundary line La1 according to the changed remaining amount value L2 (S3). On the other hand, if an operation to change the remaining amount value L2 is not performed (S2: No), the control system 1 skips step S3 and moves the process to step S4.

[0154] In step S4 , the generation processing unit 211 of the control system 1 generates a path (target path R1 ) for causing the work vehicle 10 to travel based on the permission boundary line La1 .

[0155] but, Fig.10 The flowchart shown is merely an example, and processes may be appropriately added or omitted, and the order of processes may be appropriately interchanged.

[0156] [5] Modifications

[0157] The following lists modifications of Embodiment 1. The modifications described below can be applied in combination as appropriate.

[0158] The control system 1 in the present disclosure includes a computer system. The computer system is mainly structured with one or more processors and one or more memories as hardware. The functions of the control system 1 in the present disclosure are realized by the processor executing the program (control program for the work vehicle) recorded in the memory of the computer system. The program can be pre-recorded in the memory of the computer system, or provided through an electrical communication line, or recorded in a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. In addition, part or all of the functional parts included in the control system 1 can also be composed of electronic circuits.

[0159] In addition, it is not necessary for the control system 1 to integrate at least a part of the functions of the control system 1 into one housing, and the components of the control system 1 may also be dispersed in multiple housings. On the contrary, the functions dispersed in multiple devices (such as the control device 13 and the terminal device 20) in the first embodiment may also be integrated in one housing. Furthermore, at least a part of the functions of the control system 1 may also be implemented through the cloud (cloud computing) or the like.

[0160] In addition, the terminal device 20 is not limited to a general-purpose terminal such as a tablet terminal, a smart phone, or a laptop computer, and may also be a dedicated terminal. In addition, a plurality of terminal devices 20 may correspond to one working vehicle 10, in which case, one working vehicle 10 can be controlled by the plurality of terminal devices 20. Conversely, a plurality of working vehicles 10 may correspond to one terminal device 20, in which case, a plurality of working vehicles 10 can be controlled by one terminal device 20.

[0161] The target path R1 described above is merely an example and can be changed as appropriate. For example, the working direction of the working vehicle 10 (the direction of the working path r11 ) and / or the traveling order of the working path r11 can also be changed as appropriate.

[0162] Furthermore, when the work vehicle 10 is a harvester such as a combine harvester, the position of the allowable boundary line La1 may be set according to the work width W1 of the work vehicle 10, that is, the harvesting width.

[0163] (Implementation Method 2)

[0164] The control method of the work vehicle 10 according to the present embodiment differs from the first embodiment in the setting mode for specifying the position of the permission boundary line La1 according to the travel mode of the work vehicle 10. Hereinafter, the same components as those of the first embodiment are denoted by the same reference numerals, and the description thereof is omitted as appropriate.

[0165] That is, in the first embodiment, the travel form of the work vehicle 10 is specified according to the setting form related to the setting of the position of the allowable boundary line La1, whereas in the present embodiment, on the contrary, the setting form of the allowable boundary line La1 is specified according to the travel form of the work vehicle 10. The "setting form" specified here includes, for example, the range (upper limit value and / or lower limit value) of the selectable margin value L2 or the default value of the margin value L2.

[0166] As an example, when unmanned driving is selected as the driving mode, the lower limit value of the margin value L2 that specifies the position of the allowable boundary line La1 is set larger than when manned driving is selected as the driving mode. In other words, when manned driving is selected, the position of the allowable boundary line La1 can be set further outside the work site F1 than when unmanned driving is selected.

[0167] Thus, the width of the appropriate safety margin band Am1 can be automatically specified according to the driving mode. The determination of whether the operator is riding on the work vehicle 10 can be automated, for example, by a human sensor or camera provided in the driving unit 111, a seat sensor or switch provided in the seat (driver's seat) of the driving unit 111, or position information of a mobile terminal (smartphone, etc.) carried by the operator. Thus, the determination of the driving mode (manned driving / unmanned driving) can also be automated.

[0168] The structure of the second embodiment can be adopted in combination with the various structures (including modified examples) described in the first embodiment as appropriate.

[0169] (Implementation 3)

[0170] The control method of the work vehicle 10 according to the present embodiment is different from the second embodiment in that the driving mode of the work vehicle 10 includes monitoring driving that requires the operator to monitor the work vehicle 10 and monitoring-free driving that does not require the operator to monitor the work vehicle 10. Hereinafter, the same reference numerals are attached to the same structures as those in the second embodiment, and the description thereof is omitted as appropriate.

[0171] That is, in the second embodiment, the setting form of the allowable boundary line La1 is specified according to the driving form of the work vehicle 10, for example, whether it is manned driving or unmanned driving. In contrast, in the present embodiment, the setting form of the allowable boundary line La1 is specified according to, for example, whether the driving form of the work vehicle 10 is monitored driving or unmonitored driving. The "setting form" specified here includes, for example, the range of the selectable margin value L2 (upper limit value and / or lower limit value) or the default value of the margin value L2. As a default, it is preferable to specify unmonitored driving.

[0172] That is, the monitored driving is a driving mode that requires any one of the following conditions, for example, that the operator is required to ride on the work vehicle 10, that the operator is required to monitor the state of the work vehicle 10 at a position close to the work vehicle 10 (near the work site F1) even if the operator is not riding on the work vehicle 10, or that the operator monitors the state of the work vehicle 10 remotely via the terminal device 20. On the other hand, the unmonitored driving is a driving mode that does not require the operator to monitor the work vehicle 10, and is a driving mode that does not require any of the above conditions, such as autonomous driving.

[0173] As an example, when the driving mode without monitoring is selected, the lower limit value of the margin value L2 defining the position of the allowable boundary line La1 is set larger than when the driving mode without monitoring is selected. In other words, when the driving mode with monitoring is selected, the position of the allowable boundary line La1 can be set further outside the work site F1 than when the driving mode without monitoring is selected.

[0174] Furthermore, by changing the name of manned driving to driving to be monitored and the name of unmanned driving to driving without monitoring, it is possible to adopt the same structure as in the case where the driving form includes manned driving / unmanned driving. That is, as in the first embodiment, in the case where the driving form of the work vehicle 10 is specified based on the setting form involved in the setting of the position of the allowable boundary line La1, as an example, if the margin value L2 of the position of the allowable boundary line La1 is greater than the determination threshold, the driving without monitoring is performed as the driving form. On the other hand, if the margin value L2 of the position of the allowable boundary line La1 is less than the determination threshold, the driving with monitoring is specified as the driving form. In this way, the driving with monitoring / driving without monitoring is automatically specified based on the setting form involved in the setting of the position of the allowable boundary line La1, so that the appropriate driving form can be automatically specified based on the width of the safety margin band Am1 that has been set.

[0175] The structure (including modified examples) of the third embodiment can be adopted in combination with the various structures (including modified examples) described in the first and second embodiments as appropriate.

[0176] (Implementation 4)

[0177] The control method of the work vehicle 10 according to the present embodiment is different from the first embodiment in that the allowable boundary line La1 is set in consideration of the height of the work machine 12. Hereinafter, the same components as those of the first embodiment are denoted by the same reference numerals, and the description thereof is appropriately omitted.

[0178] In this embodiment, if Fig.11 and Fig.12 As shown, a work vehicle 10 is assumed in which a work machine 12 can be raised and lowered relative to a machine body 11. As an example, the work vehicle 10 is a towing type work vehicle in which the work machine 12 is connected to the rear of a vehicle body (machine body 11) composed of a tractor and the work machine 12 is towed by the machine body 11.

[0179] In the work vehicle 10, the width dimension of the work machine 12 in the left-right direction D3, that is, the working width W1, is larger than the width dimension of the body 11 of the vehicle in the left-right direction D3, that is, the vehicle width W2 (W1>W2). The vehicle width W2 is defined here by the distance between the outer side surfaces of the pair of rear wheels 142 that are the outermost in the left-right direction D3 of the body 11.

[0180] In the working state of the working vehicle 10, the working machine 12 is lowered to become Fig.11 and Fig.12 On the other hand, in a non-operating state where no operation is performed, the work machine 12 is raised to become the "lowered position" shown on the upper side of the work machine 12. Fig.11 and Fig.12 As a result, the height (lowest ground height) of the work machine 12 from the travel surface (the surface of the work site F1) changes between the working state and the non-working state.

[0181] According to the control method of the work vehicle 10 involved in this embodiment, the setting of the permissible boundary line La1 is automatically performed based on at least the height of the work machine 12. Specifically, even if there is an obstacle such as a ridge around the work site F1, if the height of the obstacle is lower than the height (lowest ground height) of the work machine 12, the work machine 12 is allowed to protrude into the space above the obstacle.

[0182] As an example, Fig.11 and Fig.12As shown, it is assumed that there is a ridge B1 on the first outline f11 of the outline (outer periphery) of the work site F1, and there is a ridge B2 on the outer side of the ridge B1 (on the side opposite to the work site F1). Here, the ridge B1 is lower than the height of the work machine 12 in the non-working state (raised position), and is higher than the height of the work machine 12 in the working state (lowered position). The ridge B2 is higher than the ridge B1, and is higher than the height of the work machine 12 in the non-working state (raised position).

[0183] In this case, if the allowable boundary line La1 is set based on the working state (lowered position), the work machine 12 is not allowed to protrude from the ridge B1 (first outline f11), so the allowable boundary line La1 is set to a position inside the outline of the work site F1 (first to fourth outlines f11 to f14). That is, the distance from the outline of the work site F1 (first to fourth outlines f11 to f14) to the inside of the work site F1, that is, the margin value L2, takes a positive (+) value.

[0184] On the other hand, if the permissible boundary line La1 is set based on the non-working state (raised position), the protrusion of the working machine 12 from the ridge B1 (first outer line f11) is allowed, so the permissible boundary line La1 is set at a position outside the outer line of the working area F1 (first to fourth outer lines f11 to f14). In short, the permissible boundary line La1 can be set based on the position of the ridge B2 outside the ridge B1 (first outer line f11). That is, at this time, the distance from the outer line of the working area F1 (first to fourth outer lines f11 to f14) to the inside of the working area F1, that is, the margin value L2, takes a negative (-) value.

[0185] As described above, by setting the allowable boundary line La1 in consideration of the height of the work machine 12, the area in which the work vehicle 10 can travel can be ensured as wide as possible, for example, to enable work to the edge of the outline (first to fourth outlines f11 to f14) of the work site F1.

[0186] Here, the height of obstacles such as ridges B1 and B2 around the work site F1 can be detected by, for example, environment recognition sensors such as various sensors included in the detection device 15. In addition, the height of the work machine 12 can be determined based on information pre-registered according to the type of the work machine 12 mounted on the machine body 11.

[0187] In addition, the setting considering the height of the work machine 12 is not limited to the position of the allowable boundary line La1 (margin value L2) itself, for example, it can also be the range of selectable margin values ​​L2 (upper limit value and / or lower limit value) or the default value of the margin value L2.

[0188] In addition, the margin value L2 can be set to a negative value (that is, the working machine 12 is allowed to protrude outside the working area F1) and the object of restricting the protrusion relative to the allowable boundary line La1 is changed from the working machine 12 to the machine body 11. Fig.12 As shown below, even when the margin value L2 is set to a negative value, the machine body 11 (vehicle body) does not protrude to the outside of the work site F1. Therefore, for the machine body 11, by limiting the protrusion from the allowable boundary line La10 set on the inner side of the work site F1, it is equivalent to setting the margin value L2 to a negative value.

[0189] In addition, even for a work vehicle 10 in which the work machine 12 cannot be raised or lowered relative to the machine body 11, the allowable boundary line La1 can be set in consideration of the height of the work machine 12 as described above. As an example, in the case of a work machine 12 such as a boom sprayer used for spreading pesticides, the work machine 12 will not be raised or lowered relative to the machine body 11, but the work machine 12 is fixed at a height separated from the driving surface (the surface of the work site F1) as in the above-mentioned "raised position". Therefore, even if there are obstacles such as ridges around the work site F1, if the height of the obstacle is lower than the height of the work machine 12 (the lowest ground height), the work machine 12 is allowed to protrude into the space above the obstacle. Therefore, according to the height (the lowest ground height) of the work machine 12, the allowable boundary line La1 is set, thereby allowing the work machine 12 to protrude from the ridge (the outline of the work site F1).

[0190] The structure (including modified examples) of the fourth embodiment can be adopted in combination with the various structures (including modified examples) described in the first to third embodiments as appropriate.

[0191] (Implementation 5)

[0192] The control method of the work vehicle 10 according to the present embodiment is different from that of the first embodiment in that the allowable boundary line La1 for the first operation is set based on information related to the second operation performed on the work site F1 after the first operation on the work site F1. Hereinafter, the same components as those of the first embodiment are denoted by the same reference numerals, and the description thereof is omitted as appropriate.

[0193] In this embodiment, as an example, Fig.13 As shown, the planting (rice transplanting) work performed by the work vehicle 10A composed of a rice transplanter is regarded as a "first work", and the harvesting and reaping work performed by the work vehicle 10B composed of a combine harvester is regarded as a "second work".

[0194] Here, when the work vehicle 10B is traveling for the second operation, the safety margin Am1 secured inside the contour line (first to fourth contour lines f11 to f14) of the work site F1 is larger (wider) than when the work vehicle 10A is traveling for the first operation. Fig.13 As shown in the lower side of , when the work vehicle 10B is traveling, the permission boundary line La2 is set to a position on the inner side of the work site F1 than the permission boundary line La1 originally set when the work vehicle 10A is traveling.

[0195] In this case, in the control method involved in this embodiment, if Fig.13 As shown on the upper side of , even when the work vehicle 10A performing the first operation is traveling, the allowable boundary line La2 is set based on information related to the second operation, such as the model and / or size of the work vehicle 10B. Thus, the first operation (planting operation) using the work vehicle 10A is performed only within a range slightly narrower than the range specified by the allowable boundary line La1.

[0196] In this case, even when the working vehicle 10B performs the second operation (harvesting and harvesting operation), the driving range of the working vehicle 10B is limited to the inner side of the permitted boundary line La2, and the second operation can be performed in the entire range where the first operation (planting operation) by the working vehicle 10A is performed. Therefore, in the second operation, even when the working vehicle 10B travels along the outermost periphery of the contour lines (the first to fourth contour lines f11 to f14), it can be driven automatically instead of manually, which can greatly reduce the burden on the operator.

[0197] In addition, the position of the allowable boundary line La1 (margin value L2) itself is not limited to the first operation and is set based on information related to the second operation (subsequent operation). For example, it may also be a selectable range of margin values ​​L2 (upper limit value and / or lower limit value) or a default value of the margin value L2.

[0198] In addition, if Fig.14 As shown on the upper side of , in the first operation, for example, the margin value L2 can also be adjusted, and the allowable boundary line La1 can be set at a position outside the allowable boundary line La2 in the second operation. In this case, the first operation (planting operation) by the work vehicle 10A is also performed for the difference area Ai1 between the allowable boundary line La2 and the allowable boundary line La1. For the difference area Ai1, in the second operation (harvesting / harvesting operation), only the work vehicle 10B is automatically driven, and the harvesting / harvesting operation cannot be performed.

[0199] Therefore, in Fig.14In the case where the allowable boundary line La1 is set at a position outside the allowable boundary line La2 in the second operation in the first operation, it is preferable to notify the operator that the difference area Ai1 cannot be harvested by automatic driving by display, sound output, or transmission to an external terminal. In this case, it is preferable to remind the operator of the second operation of manual driving (manual driving) or manual operation in the second operation.

[0200] In the present embodiment, the margin value L2 can also be set to a negative value.

[0201] The structure (including modified examples) of the fifth embodiment can be adopted in combination with the various structures (including modified examples) described in the first to fourth embodiments as appropriate.

[0202] [Notes on the invention]

[0203] The following is a summary of the invention extracted from the above-mentioned embodiment. In addition, each structure and each processing function described in the following notes can be selected and combined arbitrarily.

[0204] <Note 1>

[0205] A method for controlling a work vehicle is a method for controlling a work vehicle capable of performing work while traveling at a work site, wherein:

[0206] Setting the position of the allowable boundary line, wherein the allowable boundary line is determined based on the outer contour of the work site and the distance to the inside of the work site, that is, the margin value, and becomes the limit position where the protrusion of the work vehicle is allowed; and

[0207] Based on the permission boundary line, a path for the work vehicle to travel is generated.

[0208] <Note 2>

[0209] A method for controlling a work vehicle according to Note 1, wherein:

[0210] The method further includes designating a setting mode related to setting of the position of the permission boundary line according to the travel mode of the work vehicle.

[0211] <Note 3>

[0212] A method for controlling a work vehicle according to Note 1, wherein:

[0213] The method further includes designating a travel mode of the work vehicle based on a setting mode related to setting of the position of the permission boundary line.

[0214] <Note 4>

[0215] The control method for a working vehicle according to Note 2 or 3, wherein:

[0216] The driving mode includes manned driving requiring an operator to board the work vehicle or unmanned driving requiring no operator to board the work vehicle.

[0217] <Note 5>

[0218] A method for controlling a work vehicle according to any one of Notes 2 to 4, wherein:

[0219] The above-mentioned driving form includes a turning form.

[0220] <Note 6>

[0221] A method for controlling a work vehicle according to any one of Notes 2 to 5, wherein:

[0222] The relative relationship between the above-mentioned driving mode and the above-mentioned setting mode is applied in the same operation.

[0223] <Note 7>

[0224] A method for controlling a work vehicle according to any one of Notes 1 to 6, wherein:

[0225] The position of the allowable boundary line is set according to whether the work vehicle is allowed to protrude outward from the outline of the work site.

[0226] <Note 8>

[0227] A method for controlling a work vehicle according to any one of Notes 1 to 7, wherein:

[0228] The work area includes a plurality of outer contour lines, and the position of the allowable boundary line can be set for the plurality of outer contour lines at once.

[0229] <Note 9>

[0230] A method for controlling a work vehicle according to any one of Notes 1 to 8, wherein:

[0231] The work area includes a plurality of outer contour lines, and the position of the allowable boundary line can be independently set for each of the plurality of outer contour lines.

[0232] <Note 10>

[0233] A method for controlling a work vehicle according to any one of Notes 1 to 9, wherein:

[0234] The work site includes a plurality of outer contour lines. When the plurality of outer contour lines are divided into a plurality of groups according to a work direction, the position of the allowable boundary line can be independently set for each of the plurality of groups.

[0235] <Note 11>

[0236] A method for controlling a work vehicle according to any one of Notes 1 to 10, wherein:

[0237] The above margin values ​​include negative values.

[0238] <Note 12>

[0239] A method for controlling a work vehicle according to any one of Notes 1 to 11, wherein:

[0240] The permission boundary line determines the position of an inner area in which the work vehicle reciprocates along the work direction.

[0241] <Note 13>

[0242] A method for controlling a work vehicle according to any one of Notes 1 to 12, wherein:

[0243] The method further comprises: when a specific condition is satisfied, the allowable boundary line is invalidated, or the allowable boundary line is moved toward the outside of the work site.

[0244] <Note 14>

[0245] A method for controlling a work vehicle according to any one of Notes 1 to 13, wherein:

[0246] The position of the permission boundary line during the first work is set based on information about a second work performed on the work site after the first work performed by the work vehicle on the work site.

[0247] <Note 15>

[0248] A method for controlling a work vehicle is a method for controlling a work vehicle capable of performing work while traveling at a work site, wherein:

[0249] Setting an allowable boundary line, the allowable boundary line being determined based on the outer contour of the work site and the distance to the inside of the work site, i.e., the margin value, and being the limit position where the work vehicle is allowed to protrude; and

[0250] Based on the permission boundary line, the work vehicle is caused to automatically travel.

[0251] <Note 16>

[0252] A control program for a work vehicle, for causing one or more processors to execute the control method for the work vehicle described in any one of Appendix 1 to 15.

Claims

1. A method for controlling a work vehicle, which is a method for controlling a work vehicle capable of performing work while traveling at a work site, characterized in that: have: Setting the position of the allowable boundary line, the allowable boundary line is defined based on the outer contour of the work site and the distance to the inside of the work site, that is, the margin value, and becomes the limit position where the protrusion of the work vehicle is allowed; and Based on the permission boundary line, a path for the work vehicle to travel is generated.

2. The control method of the working vehicle according to claim 1, characterized in that: The method further includes designating a setting mode related to setting of the position of the permission boundary line according to the travel mode of the work vehicle.

3. The control method of the working vehicle according to claim 1, characterized in that: The method further includes designating a travel mode of the work vehicle based on a setting mode related to setting of the position of the permission boundary line.

4. The control method of the working vehicle according to claim 2 or 3, characterized in that: The travel mode includes whether the work vehicle is operated by a person in which an operator is required to board the work vehicle or is operated by an person in which an operator is not required to board the work vehicle.

5. The control method of the working vehicle according to claim 2 or 3, characterized in that: The driving configuration includes a turning configuration.

6. The control method of the working vehicle according to claim 2 or 3, characterized in that: The relative relationship between the driving form and the set form is applied in the same operation.

7. The control method of a working vehicle according to any one of claims 1 to 3, characterized in that: The position of the permission boundary line is set according to whether the work vehicle is allowed to protrude outward from the outline of the work site.

8. The control method of a working vehicle according to any one of claims 1 to 3, characterized in that: The work site includes a plurality of outer contour lines, and the position of the allowable boundary line can be set collectively for the plurality of outer contour lines.

9. The control method of a working vehicle according to any one of claims 1 to 3, characterized in that: The work area includes a plurality of outer contour lines, and the position of the allowable boundary line can be independently set for each of the plurality of outer contour lines.

10. The control method of a working vehicle according to any one of claims 1 to 3, characterized in that: The work site includes a plurality of outer contour lines. When the plurality of outer contour lines are divided into a plurality of groups according to a work direction, the position of the allowable boundary line can be independently set for each of the plurality of groups.

11. The control method of a working vehicle according to any one of claims 1 to 3, characterized in that: The margin value includes a negative value.

12. The control method of a working vehicle according to any one of claims 1 to 3, characterized in that: The permission boundary line determines the position of an inner area in which the work vehicle reciprocates along the work direction.

13. The control method of a working vehicle according to any one of claims 1 to 3, characterized in that: The method further includes: when a specific condition is satisfied, invalidating the allowable boundary line or moving the allowable boundary line toward the outside of the work site.

14. The control method of a working vehicle according to any one of claims 1 to 3, characterized in that: The position of the permission boundary line during the first work is set based on information about a second work performed on the work site after the first work performed by the work vehicle on the work site.

15. A method for controlling a work vehicle capable of performing work while traveling at a work site, characterized in that: have: Setting an allowable boundary line, the allowable boundary line being defined by a margin value, the distance to the inside of the work site, based on the outline of the work site, and being a limit position where the work vehicle is allowed to protrude; and Based on the permission boundary line, the work vehicle is caused to automatically travel.

16. A control program for a work vehicle, characterized in that: A method for causing one or more processors to execute the control method for a work vehicle according to any one of claims 1 to 3.

17. A control system for a work vehicle, for a work vehicle capable of carrying out work while traveling at a work site, characterized in that: have: A setting processing unit sets the position of an allowable boundary line, wherein the allowable boundary line is defined based on the outer contour of the work site and the distance to the inside of the work site, i.e., the margin value, and becomes the limit position where the protrusion of the work vehicle is allowed; and A generation processing unit generates a route for causing the work vehicle to travel based on the allowable boundary line.

18. An operating system, characterized in that: have: The control system for a work vehicle according to claim 17; and The body of the work vehicle.

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