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

Abstract

The invention provides a control method for a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system, which can improve work efficiency of a work site. A method for controlling a work vehicle (10) is a method for controlling a work vehicle (10) capable of performing work on a plurality of work columns (Vr1-Vr8) arranged in a direction intersecting the traveling direction while traveling on a work site (F1). The control method includes: acquiring outer shape information based on an outer shape of a work site (F1); and setting, on the basis of the outline information, a row stop position for performing row stop control for setting some of the plurality of rows of work columns (Vr1-Vr8) to be non-work within the work field (F1).

Description

Technical Field

[0001] The present invention relates to a control method for a work vehicle that performs work at a work site while traveling at the 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 working vehicle (traveling working machine) is known: it has a traveling machine body that travels on a working site (field) and a working machine (working device) that performs work, and travels along a target travel path for work (for example, refer to Patent Document 1). In the working vehicle involved in the related art, after a path setting unit sets a teaching path obtained based on a teaching travel performed by the traveling machine body according to a human operation on one end side of the working site, sets a target travel path parallel to the teaching path on the other end side of the working site, and sets a post-process target travel path for the traveling machine body to perform work travel after traveling on the target travel path on the side where the teaching path is located based on a traveled position obtained during the travel of the traveling machine body along the target travel path.

[0003] According to the working vehicle, for example, after working along the target driving path for the post-process that overlaps with the teaching path, the traveling machine body works along the ridge of the working field to perform work (rice transplanting work) around the working field. At this time, it is necessary to ensure a working width around the ridge in the working field, so for the part of the working width when working along the target driving path for the post-process that overlaps with the working width to be ensured around the ridge, a row stop control is implemented to cut off the row clutch of the working machine.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2020-000066

[0005] In the above-mentioned related art structure, an appropriate position for implementing the line stop control is not determined, and therefore, further improvement of the working efficiency in the entire working area is desired. Summary of the invention

[0006] An object of the present invention is to provide a control method for a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system that can improve the work efficiency at a work site.

[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 is capable of traveling on a work site while performing work on multiple rows of work columns arranged in a direction intersecting with the direction of travel, wherein the method comprises: obtaining outline information based on the outline of the above-mentioned work site; and setting a row stop position in the above-mentioned work site based on the above-mentioned outline information, and the above-mentioned row stop position is used to implement row stop control of setting a part of the above-mentioned multiple rows of work columns to non-operation.

[0008] Another aspect of the present invention relates to a control method for a work vehicle that is capable of traveling on a work site while performing work on multiple rows of work columns arranged in a direction intersecting with a traveling direction, wherein the method comprises: obtaining outline information based on the outline of the work site; and based on the outline information, determining an overlapping area between an inner area in which the work vehicle reciprocates along the work direction and an outer area in which the work vehicle travels in a circumferential manner along the outer periphery of the inner area.

[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 on a plurality of work lines arranged in a direction intersecting with the traveling direction while traveling on a work site. The control system for the work vehicle includes an acquisition processing unit and a work support processing unit. The acquisition processing unit acquires contour line information based on the contour line of the work site. The work support processing unit sets a row stop position in the work site based on the contour line information, and the row stop position is used to implement a row stop control for setting a part of the plurality of work lines as non-operational.

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

[0012] According to the present invention, it is possible to provide a method for controlling a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system that can improve work efficiency at a work site. 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 3This is a schematic diagram showing an example of a target path of 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 It is a schematic plan view showing an operation example of the work vehicle according to the first embodiment.

[0018] Figure 6 It is a schematic plan view showing an operation example of the running stop control of the work vehicle according to the first embodiment.

[0019] Figure 7 It is a schematic plan view showing an operation example of the running stop control of the work vehicle according to the first embodiment.

[0020] Figure 8 It is a schematic top view and a schematic right side view showing reference points in the work vehicle according to the first embodiment.

[0021] Fig. 9 It is a schematic plan view showing an operation example of the running stop control of the work vehicle according to the first embodiment.

[0022] Fig.10 It is a schematic plan view showing an operation example of the running stop control of the work vehicle according to the first embodiment.

[0023] Fig.11 It is a schematic plan view showing an operation example of the running stop control of the work vehicle according to the first embodiment.

[0024] Fig.12 This is a flowchart showing an operation example of the work vehicle control system according to the first embodiment.

[0025] Description of Reference Numerals

[0026] 1…control system for working vehicle; 10…working vehicle; 11…machine body; 100…working system; 131…acquisition processing unit; 133…working support processing unit; A1, A2, A3…passing area; A10…overlapping area; D2…traveling direction (front and rear direction); F1…working area; F11…inner area; F12…peripheral area; f11~f14…first to fourth contour lines (contour lines); L1…distance; L2…margin value; La1…allowable boundary line; P1…reference point; Vr1~Vr8…working column; W1…working width; W2…row stop width. DETAILED DESCRIPTION

[0027] 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.

[0028] (Implementation Method 1)

[0029] [1] Overall structure

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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).

[0036] 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.

[0037] 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.

[0038] [2] Structure of work vehicle

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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).

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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).

[0052] 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.

[0053] 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.

[0054] 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 .

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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 .

[0060] 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.

[0061] “Autonomous driving” is, for example, a driving mode in which, in addition to automatic steering of the steering wheel (front wheel 141), the vehicle speed and the like are automatically controlled so that the work vehicle 10 travels along the target path R1. “Straight driving assistance” is, for example, a driving mode in which, only the steering wheel (front wheel 141) is automatically steered, and the vehicle speed and the like are controlled according to the operation of the operator so that the work vehicle 10 travels along a straight path parallel to a straight line (reference line) serving as a reference.

[0062] 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.

[0063] 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.

[0064] Here, the work support processing in the work support processing unit 133 includes a process of setting a line stop position for implementing line stop control of the work machine 12. In this embodiment, the work support processing unit 133 sets the line stop position in the work area F1 based on at least the contour line information (acquired by the acquisition processing unit 131).

[0065] The "row stop control" referred to in the present disclosure refers to the control of setting a part of the multiple rows (8 rows in the present embodiment) of the working columns Vr1 to Vr8 as non-operating, and only performing operations on the remaining working columns Vr1 to Vr8. As an example, the working machine 12 has: working parts (planting claws, etc.) that perform operations according to each working column Vr1 to Vr8, and a row clutch provided on the power supply path of the working parts. If the row clutch of any row of the working columns Vr1 to Vr8 is cut off, the operation of the working column Vr1 to Vr8 is terminated. Therefore, for example, the operator can control the row clutch of any working column Vr1 to Vr8 by operating the row stop lever, and can perform row stop control to set any working column Vr1 to Vr8 as non-operating.

[0066] The "travel stop position" referred to in the present disclosure is a position in the work site F1 for implementing such a travel stop control. That is, when the work vehicle 10 traveling in the work site F1 is located at the travel stop position, the travel stop control is implemented.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] [3] Terminal device structure

[0071] Next, refer to Figure 1 and Figure 2 The configuration of the terminal device 20 according to this embodiment will be described in detail.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.).

[0079] 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.

[0080] In addition, the operation display unit 23 can realize the remote monitoring of the work vehicle 10 in automatic driving by the operator 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 track, the current position and the moving speed. Here, the operation status of the work vehicle 10 also includes the detection results of the detection object by the detection device 15. In addition, the operation display unit 23 can receive the start or stop instructions of the work vehicle 10 from the operator. The terminal device 20 can remotely control the work vehicle 10 by sending the above-mentioned start or stop instructions to the work vehicle 10. Therefore, the operator can remotely operate the work vehicle 10.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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. 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.

[0091] 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.

[0092] [4] Control method of working vehicle

[0093] Below, refer to Figure 3 to Figure 12 , 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.

[0094] 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.

[0095] 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.

[0096] In addition, the following Figure 3As 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.

[0097] [4.1] Basic actions

[0098] 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.

[0099] exist Figure 3 and Figure 4 In 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.

[0100] 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.

[0101] In more detail, Figure 3As 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.

[0102] 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.

[0103] 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.

[0104] According to the target route R1, the work vehicle 10 travels along the inner region F11 ( Figure 3In 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] In addition, Figure 3In 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.

[0109] 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.

[0110] 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.

[0111] [4.2] Line stop control

[0112] Next, refer to Figure 5 to Figure 11 The processing related to the line stop control will be described.

[0113] That is, the control system 1 according to the present embodiment has a function of "row stop control" for setting a part of a plurality of rows (eight rows in the present embodiment) of the operation columns Vr1 to Vr8 as non-operational. Figure 6 As shown, row stop control is performed when necessary.

[0114] exist Figure 5In the example shown, the passing area A1 through which the work machine 12 passes when the work vehicle 10 travels on the work path r11 and the passing area A2 through which the work machine 12 passes when the work vehicle 10 travels on the peripheral work path r13 do not overlap. Figure 5 In the example of , the work vehicle 10 performs “full-row work” of working all of the plurality of work rows Vr1 to Vr8 when traveling on the work path r11 and when traveling on the peripheral work path r13.

[0115] On the other hand, Figure 6 In the example shown, the passing area A1 that the work machine 12 passes through when the work vehicle 10 travels on the work path r11 and the passing area A2 that the work machine 12 passes through when the work vehicle 10 travels on the peripheral work path r13 partially overlap. Specifically, among the plurality of work paths r11, the one located closest to the first contour line f11 (at Figure 6 The passing area A1 when traveling on the working path r11 (left side in the figure) and the passing area A2 when traveling on the peripheral working path r13 partially overlap. Figure 6 In the example of FIG. 1 , the work vehicle 10 performs “row stop control” when traveling on the work path r11 located closest to the first contour line f11 so that the work vehicle 10 can perform full-row work when traveling on the outer peripheral work path r13 .

[0116] That is, in Figure 6 In the example of FIG. 1 , when traveling on the working path r11 closest to the first contour line f11, the working columns Vr1 and Vr2 overlapping with the passing area A2 among the multiple working columns Vr1 to Vr8 are set as non-working, and only the remaining working columns Vr3 to Vr8 are operated. Thus, for the overlapping area between the passing area A1 and the passing area A2, since no work (planting work) is performed when traveling on the working path r11, overlapping work can be avoided, and full-row work is performed when traveling on the peripheral working path r13.

[0117] When performing such a line stop control, the operator can visually determine at which position in the work area F1 the line stop control is to be performed, but this is not easy to distinguish, and depending on the operator's proficiency, etc., the operator may not perform appropriate line stop control. Figure 6 In the example, when traveling on the working path r11 closest to the first contour line f11, even if the row stop control is performed so as to set the working rows Vr1 and Vr2 of the plurality of working rows Vr1 to Vr8 as non-working, it is not easy for the operator to recognize the necessity of the row stop control by visual observation when traveling on the working path r11. As a result, the operator may not determine the appropriate position for performing the row stop control, and the working efficiency for the entire working area F1 is reduced.

[0118] Therefore, in the control method according to the present embodiment, the following configuration can be used to improve the work efficiency in the entire work site F1.

[0119] That is, the control method according to the present embodiment is a control method for a work vehicle 10 that can work on a plurality of work lines Vr1 to Vr8 arranged in a direction intersecting the traveling direction while traveling in the work area F1. The control method includes: obtaining the outer shape line information based on the outer shape line of the work area F1; and setting the line stop position for implementing the line stop control in the work area F1 based on the outer shape line information. The line stop control mentioned here is a control to set a part of the plurality of work lines Vr1 to Vr8 as non-operation.

[0120] The "outline information" referred to in the present disclosure is information based on the outline of the work site F1, for example, in addition to the outline of the work site F1 (the first to fourth outlines f11 to f14) itself, it includes the allowable boundary line La1, or the peripheral work path r13 that avoids obstacles located on the periphery of the work site F1. The outline information may be included in the field information, or may be generated during teaching driving. In the present embodiment, as an example, the row stop position is set based on the outline of the work site F1 (the first to fourth outlines f11 to f14).

[0121] exist Figure 6 In the example of FIG. 1 , the plurality of operation paths r11 are located closest to the first contour line f11 (at Figure 6 The position on the working path r11 (left side in the figure) is set as the row stop position where the row stop control should be implemented. Thus, when the working vehicle 10 is traveling on the working path r11 closest to the first contour line f11, the row stop control can be implemented to set the working rows Vr1 and Vr2 in the plurality of working rows Vr1 to Vr8 as non-working.

[0122] In summary, according to the control method involved in this embodiment, the row stop position for implementing the row stop control is set in the work site F1 based on the outline information, so that the appropriate position for implementing the row stop control can be determined. Therefore, for example, appropriate row stop control can be performed without relying on the proficiency of the operator, etc., and the operating efficiency of the entire work site F1 can be improved.

[0123] If the work support processing unit 133 sets the line stop position, the line stop position is displayed on the display device 18, for example, to prompt the operator. Specifically, during the travel of the work vehicle 10, a map screen of the work site F1 including the target path R1 is displayed on the display device 18, and the set line stop position is displayed on the map screen. Thus, the operator can operate the line stop lever and implement the line stop control when the work vehicle 10 travels on the target path R1 and reaches the line stop position on the target path R1.

[0124] Furthermore, in addition to or instead of displaying the map screen, the work support processing unit 133 may perform a report on the display device 18 etc. to remind the work vehicle 10 to perform the stop control when the work vehicle 10 traveling along the target route R1 reaches a predetermined distance from the stop position. In any case, the stop control can be performed at an appropriate time, thereby improving the work efficiency of the entire work site F1.

[0125] In addition, if Figure 7 As shown in the example, when at least one of the first to fourth outlines f11 to f14 as the outlines of the work site F1 is inclined relative to the work path r11, only a portion of the work path r11 is set as the line stop position. Figure 7 In the example of Figure 7 The passing area A1 when traveling on the working path r11 (left side in the figure) and the passing area A2 when traveling on the peripheral working path r13 overlap only in the triangular overlapping area A10. Figure 7 In the example of , the work vehicle 10 performs the “travel stop control” when traveling on a portion of the work path r11 located closest to the first outer line f11 on the terminal side.

[0126] Specifically, in this embodiment, as an example, Figure 8 As shown in FIG. 1 , a reference point Ps1 is set at the center of the rear end portion of the work machine 12 in the left-right direction D3. Fig. 9 As shown, the position of the working vehicle 10 when there is an overlapping area A10 on a straight line of the working width W1 passing through the reference point Ps1 and orthogonal to the target path R1 is set as the row stop position. That is, when the working vehicle 10 is in such a row stop position, the overlapping area A10 is operated (planting operation) by the working machine 12, so in this case, the row stop control is implemented.

[0127] As a result, in Figure 7In the example of FIG. 1 , at the end of the working path r11 closest to the first contour line f11, the working columns Vr1 to Vr5 overlapping with the passing area A2 among the multiple working columns Vr1 to Vr8 are set as non-working, and only the remaining working columns Vr6 to Vr8 are operated. Thus, for the overlapping area A10 between the passing area A1 and the passing area A2, when traveling on the working path r11, no operation (planting operation) is performed, so overlapping operations can be avoided, and full-row operations can be performed when traveling on the peripheral working path r13.

[0128] In other words, as long as the overlapping area A10 between the inner area F11 and the outer area F12 can be determined, the stop control can be performed in such a manner that the overlapping area A10 is set as non-operational. That is, the control method according to the present embodiment comprises: obtaining the outer shape line information based on the outer shape line of the work site F1; and finding the overlapping area A10 between the passing area of ​​the work vehicle 10 that reciprocates in the inner area F11 and the passing area A2 of the work vehicle that circles in the outer area F12 based on the outer shape line information.

[0129] According to this structure, similarly to the above, the overlap area A10 where the row stop control should be implemented is determined based on the contour line information, so that an appropriate position for implementing the row stop control can be determined. Therefore, for example, appropriate row stop control can be performed without relying on the proficiency of the operator, etc., and the operating efficiency of the entire work site F1 can be improved.

[0130] In addition, the control method involved in the present embodiment further has the following features: when setting the row stop position, a row stop width W2 corresponding to the number of work rows Vr1 to Vr8 to be set as non-work in the plurality of work rows Vr1 to Vr8 is specified for the row stop position. That is, the work support processing unit 133 specifies the row stop width W2 at each row stop position together with the setting of the row stop position. Specifically, the overlap width with the overlap area A10 on the straight line of the work width W1 that passes through the reference point Ps1 and is orthogonal to the target path R1 is specified as the row stop width W2. Thus, in the row stop control, it is possible to prompt the operator which row of the work rows Vr1 to Vr8 in the plurality of work rows Vr1 to be set as non-work together with the row stop position.

[0131] In particular, Figure 7 and Fig. 9As shown in the example, when at least one of the first to fourth outlines f11 to f14 as the outlines of the work site F1 is inclined relative to the work path r11, the row stop width W2 changes continuously even when the work vehicle 10 is traveling on the same work path r11. By presenting the operator with such continuously changing row stop width W2 in real time, the operator can perform row stop control with an appropriate row stop width W2 at each row stop position.

[0132] More specifically, in this embodiment, the work support processing unit 133 calculates the distance L1 (see FIG. 1 ) from the specific line included in the outline information to the reference point Ps1 set for the work vehicle 10. Fig. 9 ), set the row stop position. The "specific line" mentioned here is the outline of the work site F1 (the first to fourth outlines f11 to f14), the allowed boundary line La1, or the peripheral work path r13 that avoids obstacles located on the periphery of the work site F1. In the present embodiment, the specific line is the outline of the work site F1 (the first to fourth outlines f11 to f14). Therefore, the work support processing unit 133 sets the row stop position based on the distance L1 from the outline of the work site F1 (the first to fourth outlines f11 to f14) to the reference point Ps1. The distance L1 mentioned here is the shortest distance from the outline (the first to fourth outline f11 to f14) to the reference point Ps1 (the distance on the perpendicular line of the outline).

[0133] Specifically, in Fig. 9 In the example, the position of the work vehicle 10 when the distance L1 from the contour line to the reference point Ps1 is less than a predetermined threshold value is set as the line stop position. The "threshold value" mentioned here is a value obtained by adding the margin value L2 to 1.5 times the working width W1 (W1×1.5+L2). In the present embodiment, the line stop width W2 is also calculated based on the distance L1. Here, the distance L1 can be calculated at any time based on the current position of the work vehicle 10 calculated by the positioning device 16. Therefore, according to the present embodiment, the line stop position can be set at any time even when the work vehicle 10 is traveling.

[0134] Thus, in this embodiment, the work support processing unit 133 sets the line stop position based on the work width W1 of the work vehicle in addition to the outline information. Therefore, the line stop control can be performed at a more appropriate position than when the work width W1 is not used.

[0135] In addition, if Fig.10 As shown in the example shown in FIG. 1 , even if the fourth contour line f14 located on the extension line of the working path r11 is inclined relative to the working path r11, it is still the same as Fig. 9Similarly, the position of the work vehicle 10 when the distance from the outer contour to the reference point Ps1 is less than the predetermined threshold is set as the line stop position. That is, in this case, the passing area A1 passed by the work machine 12 when the work vehicle 10 travels on the work path r11 and the passing area A3 when the work machine 12 travels on the peripheral work path r13 along the fourth outer contour f14 partially overlap. Therefore, Fig.10 The example also sets the row stop position on the working path r11.

[0136] And, in such Fig.10 In the illustrated working area F1, Fig.11 As shown, both the passing area A2 and the passing area A3 partially overlap with respect to the passing area A1 that the work machine 12 passes when traveling on the working path r11. In this case, a plurality of (two) values ​​of the width of the overlapping area between the passing area A1 and the passing area A2 and the width of the overlapping area between the passing area A1 and the passing area A3 are designated as the line stop width W2. Therefore, when such a plurality of values ​​are designated as the line stop width W2, the work support processing unit 133 designates the maximum value among the plurality of values ​​as the line stop width W2.

[0137] In short, during the travel of the work vehicle 10, if the reference point Ps1 is Fig.11 If the position shown is closer to the front (rearward in the direction of travel), the width of the overlapping area between the passing area A1 and the passing area A2 is larger than the width of the overlapping area between the passing area A1 and the passing area A3. Fig.11 If the position shown is close to the previous position, the width of the overlapping area of ​​the passing area A1 and the passing area A2 is designated as the line stop width W2. On the other hand, during the travel of the work vehicle 10, if the reference point Ps1 passes Fig.11 The width of the overlapping area between the passing area A1 and the passing area A3 is greater than the width of the overlapping area between the passing area A1 and the passing area A2. Fig.11 After the position shown, the width of the overlapping area of ​​the passing area A1 and the passing area A3 is designated as the line stop width W2.

[0138] Thereby, the row stop width W2 can be continuously changed, and appropriate row stop control can be performed on work sites F1 of various shapes.

[0139] In addition, in the present embodiment, the reference point Ps1 is set at the center of the rear end of the work machine 12 in the left-right direction D3, but the present invention is not limited thereto and can be set at any position relative to the work vehicle 10. For example, the reference point Ps1 can also be set at the center (center of gravity) of the work machine 12 or the center of the machine body 11 when viewed from above.

[0140] Furthermore, the position of the reference point Ps1 may also be changed according to the moving speed (vehicle speed) of the work vehicle 10 or the delay time of the line stop control (the time lag from the operation of the line stop lever to the actual line stop). For example, the faster the vehicle speed, the further the reference point Ps1 may be moved to the front of the machine body 11. Thus, even if the line stop lever is operated after the work vehicle 10 reaches the line stop position, it is not easy to cause a delay in the line stop control. Alternatively, when the increasing and decreasing trends of the line stop width W2 are determined, the line stop control is performed in a manner that the line stop width is larger or smaller than the determined line stop width W2, and it is not easy to cause a delay in the line stop control.

[0141] In addition, the work support processing unit 133 controls the moving speed (vehicle speed) of the work vehicle 10 according to the start position and the end position of the line stop control. That is, considering the delay time of the line stop control (the time lag from the operation of the line stop lever to the actual line stop), etc., it is preferable to decelerate the vehicle speed at the start position of the line stop control and the end position of the line stop control release. In particular, in the case where the implementation and release of the line stop control need to be switched quickly, such as when the distance of the line stop control is short, it is preferable to decelerate the vehicle speed from the start position to the end position of the line stop control, so that the line stop control can be performed more appropriately.

[0142] Here, the work support processing unit 133 suppresses the moving speed (vehicle speed) of the work vehicle 10 to a predetermined speed or less at least at the start position of the travel stop control. This makes it easy to prevent the start delay of the travel stop control and enables more appropriate travel stop control.

[0143] In the control method according to the present embodiment, the work site F1 includes an inner area F11 in which the work vehicle 10 travels back and forth along the work direction, and an outer peripheral area F12 in which the work vehicle 10 travels around the outer periphery of the inner area F11. Here, in addition to the outer contour information, the work support processing unit 133 sets the line stop position based on the number of circles of the work vehicle 10 in the outer peripheral area F12.

[0144] In short, when a plurality of work paths r11 are generated with a width of a plurality of trips in the peripheral area F12 of the work site F1, and a peripheral work path r13 of a plurality of trips is generated along the periphery of the work site F1, the line stop position can also be set based on the number of processes (number of turns) of the peripheral work path r13. In principle, the more turns there are, the more the peripheral work path r13 is generated to the inner side, so the threshold value compared with the distance L1 from the outer contour to the reference point Ps1 is set larger. According to this structure, when the number of turns of the work vehicle 10 in the peripheral area F12 can be set, the appropriate line stop position can be set according to each set number of turns.

[0145] In addition, the operation support processing unit 133 may also set the line stop position based on the allowable boundary line La1. That is, the contour line information includes information of the allowable boundary line La1, and the above-mentioned allowable boundary line La1 is based on the contour line of the work site F1 and is determined according to the distance to the inside of the work site F1, becoming the limit position of the protrusion of the work vehicle 10. The line stop position may also be set based on the allowable boundary line La1. In this case, the line stop position must be set to the inside of the allowable boundary line La1. Moreover, the operation support processing unit 133 uses the allowable boundary line La1 as a specific line and sets the line stop position based on the distance from the specific line (allowable boundary line La1) to the reference point Ps1.

[0146] When the allowable boundary line La1 is set independently of the outer contour line, the peripheral working path r13 is generated along the allowable boundary line La1 instead of along the outer contour line. Therefore, by setting the line stop position based on the allowable boundary line La1, even in the case where the allowable boundary line La1 is set independently of the outer contour line, appropriate line stop control can be performed.

[0147] Here, the position of the allowable boundary line La1 can be changed (by the setting processing unit 214). The line stop position is changed along with the change of the position of the allowable boundary line La1. That is, when the line stop position is set based on the allowable boundary line La1, if the allowable boundary line La1 changes, the line stop position also changes accordingly. As a result, even when the allowable boundary line La1 is set independently of the outer shape line, appropriate line stop control can be performed.

[0148] In addition, if the row stop position is set based on the distance L1 from the contour line (the first to fourth contour lines f11 to f14) of the work site F1 to the reference point Ps1, the row stop position is sometimes set on the peripheral work path r13. Therefore, for a specific path (peripheral work path r13, etc.), it is preferable not to set the row stop position even if the distance L1 is less than the threshold. The judgment of whether it is a path for setting the row stop position can be performed by the operator or automatically by the work support processing unit 133. Alternatively, even if the row stop position is set, the operator may not implement the row stop control by not operating the row stop lever.

[0149] [4.3] Overall processing

[0150] Next, refer to Fig.12 The overall flow of processing related to the line stop control in the control method will be described.

[0151] like Fig.12As shown, the acquisition processing unit 131 of the control system 1 acquires the contour line information of the work site F1 (S1). Then, the work support processing unit 133 of the control system 1 calculates the distance L1 (from the contour line to the reference point Ps1) at any time during the travel of the work vehicle 10 based on the contour line information and the current position of the work vehicle 10, and sets the line stop position based on the distance L1 (S2).

[0152] The work support processing unit 133 determines whether the current position of the work vehicle 10 has reached the travel stop position (S3). If it has reached the position (S3: Yes), the display device 18 prompts (displays) a "travel stop operation guide" (S4) to guide the operator to operate the travel stop lever. If the operator operates the travel stop lever (S5: Yes), the travel stop control is implemented (S6).

[0153] but, Fig.12 The flowchart shown is merely an example, and processing may be appropriately added or omitted, and the order of processing may be appropriately interchanged.

[0154] [5] Modifications

[0155] The following lists modifications of Embodiment 1. The modifications described below can be applied in combination as appropriate.

[0156] 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 executing the program (control program for the work vehicle) recorded in the memory of the computer system by the processor. 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.

[0157] 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.

[0158] 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.

[0159] The above-mentioned target route R1 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 route r11 ) and / or the traveling order of the working route r11 can also be changed as appropriate.

[0160] In addition, the setting of the travel stop position is not necessarily performed during the travel of the work vehicle 10. For example, the travel stop position may be set before the start of the automatic travel of the work vehicle 10. In this case, the work vehicle 10 performs the travel stop control according to the preset travel stop position.

[0161] (Implementation Method 2)

[0162] The control method of the work vehicle 10 according to the present embodiment is different from that of the first embodiment in that the work support processing unit 133 directly controls the work machine 12 to perform the travel stop control. Hereinafter, the same components as those of the first embodiment are denoted by the same reference numerals, and the description thereof is appropriately omitted.

[0163] In the control method of the work vehicle 10 according to the present embodiment, when the work vehicle 10 reaches the line stop position, the work support processing unit 133 performs a line stop control to disconnect the line clutch of any one of the work trains Vr1 to Vr8, thereby performing a line stop control to stop the work of the work train Vr1 to Vr8. Thus, the line stop control can be performed at an appropriate position without the operator having to operate the line stop lever.

[0164] In addition, the operation support processing unit 133 may also prompt the operator to perform the row stop control from the display device 18 when the row stop control is about to be performed. In this case, the operation support processing unit 133 preferably also prompts which of the plurality of rows of operation columns Vr1 to Vr8 is to be set as a non-operation. Furthermore, if the operator determines that the row stop control is inappropriate, the operator can stop the row stop control.

[0165] 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.

[0166] [Notes on the invention]

[0167] 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.

[0168] <Note 1>

[0169] A method for controlling a work vehicle is a method for controlling a work vehicle that can work on a plurality of work rows arranged in a direction intersecting with a traveling direction while traveling on a work site, wherein:

[0170] Acquiring contour information based on the contour of the work site; and

[0171] Based on the outline information, a row stop position is set in the work area, and the row stop position is used to implement row stop control for setting a part of the plurality of work rows as non-work.

[0172] <Note 2>

[0173] A method for controlling a work vehicle according to Note 1, wherein:

[0174] The work site includes: an inner area, in which the work vehicle is driven to and fro along a work direction; and an outer area, in which the work vehicle is driven to circle around the outer periphery of the inner area.

[0175] The line stop position is set based on the number of turns made by the work vehicle in the outer peripheral area in addition to the outer contour information.

[0176] <Note 3>

[0177] A method for controlling a work vehicle according to Note 1 or 2, wherein:

[0178] The above-mentioned outline information includes information of an allowable boundary line, and the above-mentioned allowable boundary line is determined based on the outline of the above-mentioned work site and the distance to the inside of the above-mentioned work site, and becomes the limit position of the protrusion of the above-mentioned work vehicle.

[0179] The row stop position is set based on the allowable boundary line.

[0180] <Note 4>

[0181] A method for controlling a work vehicle according to Note 3, wherein:

[0182] The position of the above-mentioned boundary line can be changed.

[0183] The line stop position is changed along with the change in the position of the permission boundary line.

[0184] <Note 5>

[0185] A method for controlling a work vehicle according to any one of Notes 1 to 4, wherein:

[0186] The moving speed of the work vehicle is controlled according to the starting position and the ending position of the line stop control.

[0187] <Note 6>

[0188] A method for controlling a work vehicle according to Note 5, wherein:

[0189] At least at the start position of the travel stop control, the moving speed of the work vehicle is controlled to be equal to or lower than a predetermined speed.

[0190] <Note 7>

[0191] A method for controlling a work vehicle according to any one of Notes 1 to 6, wherein:

[0192] The line stop position is set based on the working width of the working vehicle in addition to the outline information.

[0193] <Note 8>

[0194] A method for controlling a work vehicle according to any one of Notes 1 to 7, wherein:

[0195] The line stop position is set based on a distance from a specific line included in the outline line information to a reference point set for the work vehicle.

[0196] <Note 9>

[0197] A method for controlling a work vehicle according to any one of Notes 1 to 8, wherein:

[0198] The method further includes: when setting the row stop position, specifying a row stop width corresponding to the number of job rows to be set as non-operation in the plurality of job rows.

[0199] <Note 10>

[0200] A method for controlling a work vehicle according to Note 9, wherein:

[0201] When a plurality of values ​​are designated as the row stop width, the maximum value among the plurality of values ​​is designated as the row stop width.

[0202] <Note 11>

[0203] A method for controlling a work vehicle is a method for controlling a work vehicle that can work on a plurality of work rows arranged in a direction intersecting with a traveling direction while traveling on a work site, wherein:

[0204] The work site includes: an inner area, in which the work vehicle is driven to and fro along a work direction; and an outer area, in which the work vehicle is driven to circle around the outer periphery of the inner area.

[0205] The control method of the working vehicle has the following features:

[0206] Acquiring contour information based on the contour of the work site; and

[0207] Based on the outline information, an overlapping area between a passage area of ​​the work vehicle that reciprocates in the inner area and a passage area of ​​the work vehicle that circles in the outer area is obtained.

[0208] <Note 12>

[0209] 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 11.

Claims

1. A method for controlling a work vehicle, which is a method for controlling a work vehicle capable of working on a plurality of work rows arranged in a direction intersecting with a traveling direction while traveling at a work site, characterized in that: have: Acquiring contour line information based on the contour line of the work site; and Based on the outline information, a row stop position is set in the work area, and the row stop position is used to implement row stop control for setting a part of the plurality of rows of work trains as non-work.

2. The control method of the working vehicle according to claim 1, characterized in that: The work site includes: an inner area, in which the work vehicle is caused to reciprocate along the work direction; and an outer peripheral area, in which the work vehicle is caused to travel around along the outer periphery of the inner area. The row stop position is set based on the number of turns of the work vehicle made in the outer peripheral area in addition to the outer contour information.

3. The control method of the working vehicle according to claim 1 or 2, characterized in that: The outline information includes information of an allowable boundary line, wherein the allowable boundary line is determined based on the outline 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 work vehicle is allowed to protrude. The row stop position is set based on the allowable boundary line.

4. The control method of the working vehicle according to claim 3, characterized in that: The position of the allowable boundary line can be changed. The row stop position changes along with a change in the position of the permission boundary line.

5. The control method of a working vehicle according to claim 1 or 2, characterized in that: The moving speed of the work vehicle is controlled according to the starting position and the ending position of the line stop control.

6. The control method of the working vehicle according to claim 5, characterized in that: At least at the start position of the travel stop control, the moving speed of the work vehicle is suppressed to a predetermined speed or less.

7. The control method of a working vehicle according to claim 1 or 2, characterized in that: The row stop position is set based on the working width of the working vehicle in addition to the outline information.

8. The control method of a working vehicle according to claim 1 or 2, characterized in that: The row stop position is set based on a distance from a specific line included in the outline line information to a reference point set for the work vehicle.

9. The control method of a working vehicle according to claim 1 or 2, characterized in that: The method further includes: when setting the row stop position, specifying a row stop width corresponding to the number of job rows to be set as non-jobs among the plurality of job rows.

10. The control method of the working vehicle according to claim 9, characterized in that: In the case where a plurality of values ​​are designated as the row stop width, a maximum value among the plurality of values ​​is designated as the row stop width.

11. A method for controlling a work vehicle capable of operating a plurality of work rows arranged in a direction intersecting with a traveling direction while traveling at a work site, characterized in that: The work site includes: an inner area, in which the work vehicle is caused to reciprocate along the work direction; and an outer peripheral area, in which the work vehicle is caused to travel around along the outer periphery of the inner area. The control method of the working vehicle comprises: acquiring contour line information based on the contour line of the work site; and Based on the outer shape line information, an overlapping area between a passage area of ​​the work vehicle that reciprocates in the inner area and a passage area of ​​the work vehicle that circles in the outer area is obtained.

12. A control program for a work vehicle, characterized in that: Used to cause one or more processors to execute the control method of the work vehicle according to claim 1 or 2.

13. A control system for a working vehicle, characterized in that: A work vehicle capable of working on a plurality of work rows arranged in a direction intersecting the traveling direction while traveling at a work site, have: an acquisition processing unit that acquires contour line information based on the contour line of the work site; and The work support processing unit sets a row stop position in the work area based on the outline information, the row stop position being used to implement row stop control for setting a part of the plurality of work rows as non-work.

14. An operating system, characterized in that: have: The control system for a work vehicle according to claim 13; and The body of the work vehicle.

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