Work vehicle

Abstract

The present invention provides a technology capable of efficiently performing work by a work vehicle that performs work travel using a work machine. An illustrative work vehicle is a work vehicle that performs work travel using a work machine, estimates in advance the occurrence of a work remaining area that remains without work being performed during the work travel, and reports an estimation result relating to the work remaining area.

Description

Technical Field

[0001] The present invention relates to a work vehicle. Background Art

[0002] Conventionally, there is known a work vehicle that appropriately handles work on the ground along a travel route so that no unworked area remains (see, for example, Patent Document 1).

[0003] The work vehicle disclosed in Patent Document 1 is configured to perform adjacent work within a work area while traveling along a pre-calculated travel route. Furthermore, upon reaching the end point of work within the work area, the work vehicle determines whether there is an unworked area and, if so, generates an unworked area processing travel route for processing the unworked area.

[0004] Patent Document 1: Japanese Patent Application Laid-Open No. 2020-195288

[0005] In the configuration of Patent Document 1, if there is an unworked area after the work in the work area is completed, the unworked area is used to process the travel route for additional work. This may increase the work time and reduce the work efficiency. Summary of the Invention

[0006] In view of the above-mentioned point, an object of the present invention is to provide a technology that enables efficient work by using a work vehicle that travels to perform work using a work machine.

[0007] An exemplary work vehicle of the present invention is a work vehicle that travels for work using a work machine, pre-estimates the occurrence of a work remaining area where no work has been performed during the work travel, and reports an estimation result related to the work remaining area.

[0008] According to the exemplary present invention, work can be efficiently performed using a work vehicle that travels while performing work using a work machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a side view showing the schematic structure of the work vehicle.

[0010] Figure 2 This is a block diagram showing a schematic configuration of a control device included in a work vehicle.

[0011] Figure 3 This figure schematically shows a field and an automatic driving route.

[0012] Figure 4 It is a diagram showing an example of a display screen displayed on a display device during automatic driving.

[0013] Figure 5 This is a flowchart showing the flow of a process for suppressing the generation of a work remaining area executed in a work vehicle.

[0014] Figure 6 This is a diagram showing an example of a report of an inference result regarding the occurrence of a work-leftover area (cultivation omission).

[0015] Figure 7 This is a diagram showing another example of a report of an inference result regarding the occurrence of a work-leftover area (cultivation omission).

[0016] Figure 8 It is a diagram showing a modified example of the case where the work remaining area is displayed in the camera image.

[0017] Figure 9 Yes Figure 5 A diagram showing a modified example of the flowchart shown.

[0018] Description of Reference Numerals

[0019] 1...Work vehicle; 5...Display device; 11...Vehicle body; 12...Work machine; 200...Field (work site); 300...Work remaining area; 401...Worked area; 402...Unworked area; 511...Map image; 512...Camera image; 513...Shift indicator. DETAILED DESCRIPTION

[0020] The embodiment of the present invention will be described with reference to the accompanying drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and their description will not be repeated unless otherwise specified.

[0021] In addition, in this specification, directions are defined as follows. First, the direction in which the work vehicle travels straight is set as the front-to-back direction, and the front and back are defined by making the steering wheel the front side relative to the driver's seat of the work vehicle. In addition, from the perspective of the driver (operator) sitting on the driver's seat facing the front, the right side is set as right and the left side is set as left to define the left and right directions that are perpendicular to the front-to-back direction. In addition, the direction perpendicular to the front-to-back direction and the left and right direction is set as the up-down direction, and the direction of gravity is set as down and the opposite side is set as up to define up and down. The above directions are merely names for explanation and are not intended to limit the actual positional relationship and direction.

[0022] <1. Overview of Work Vehicles>

[0023] Figure 1This is a side view schematically illustrating the structure of a work vehicle 1 according to an embodiment of the present invention. Work vehicle 1 includes a body 11 and a work implement 12. Body 11 constitutes the main portion of work vehicle 1 and is capable of traveling at a work site 200. Work implement 12 is mounted on body 11, etc. Work vehicle 1 uses work implement 12 to travel while performing work. Work vehicle 1 travels while performing work in work site 200. In this embodiment, work site 200 is, as an example, a field. That is, work vehicle 1 is a field work vehicle that performs ground work in field 200.

[0024] Furthermore, in this embodiment, the work implement 12 is mounted on the rear portion of the vehicle body 11. The work vehicle 1 of this embodiment is a tractor that tows the work implement 12 via the vehicle body 11. However, the work implement 12 may also be mounted on the front portion of the vehicle body 11. In other words, the work vehicle of the present invention may also include a work implement on the front portion of the vehicle body, such as a combine harvester. In the case of a combine harvester, the ground work is harvesting.

[0025] The vehicle body 11 includes a base 13 and a pair of running sections 14 that support the base 13 and are spaced apart from each other in the left-right direction. Each of the left and right running sections 14 includes a front wheel 14a and a rear wheel 14b. At least one of the front wheel 14a and the rear wheel 14b is configured to receive driving force from a power source 15 located in front of the base 13. The transmission of driving force from the power source 15 to the running sections 14 enables the vehicle body 11 to travel in the field 200. In this embodiment, the power source 15 is an engine, but this is not limiting and may alternatively be a motor or the like. Alternatively, the pair of running sections 14 may be configured with tracks instead of wheels.

[0026] A driving section 16 for the driver to sit on is provided on the base section 13. Specifically, the vehicle body 11 includes the driving section 16. The driving section 16 includes a driver's seat 16a for the driver to sit on, a steering wheel 16b disposed in front of the driver's seat 16a and allowing the driver to steer the vehicle body 11, and a plurality of operating units (not shown) through which the driver can perform various operations.

[0027] The work machine 12 is connected to the rear of the base 13 via a connecting mechanism 17. In this embodiment, the work machine 12 is connected to the base 13 so that it can be raised and lowered. A PTO shaft (power take-off shaft) 18 for outputting the driving force of the power source 15 to the work machine 12 is arranged at the rear of the base 13. The driving force of the power source 15 is transmitted to the PTO shaft 18 via a transmission device 19. In addition, the power source for driving the work machine 12 can also be provided separately from the power source for driving the vehicle body 11.

[0028] In this embodiment, the work machine 12 is a rotary tiller. The work performed by the work vehicle 1 is tillage. However, the work machine 12 is not limited to a rotary tiller and may also be a plow, a harvester, a harrow (driven harrow), a pesticide spreader, a fertilizer applicator, or the like. Furthermore, the work vehicle 1 may be configured to accommodate a variety of work machines 12.

[0029] Figure 2 This is a block diagram showing the schematic structure of the control device 10 provided in the work vehicle 1 according to an embodiment of the present invention. The control device 10 is, for example, a computer device including a computing unit, an input / output unit, and a storage unit 101. The computing unit is, for example, an integrated circuit such as a processor or a microprocessor. The storage unit 101 is a main storage device such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 101 may also include an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). Various programs and data are stored in the storage unit 101. The computing unit reads various programs from the storage unit 101 and performs computing processing according to the programs.

[0030] In this embodiment, the control device 10 can operate as various functional units through the cooperative operation of the above-mentioned hardware and software. Figure 2 As shown, the various functional units include a route generation unit 102 , a travel mode control unit 103 , a travel control unit 104 , a work machine control unit 105 , a work history generation unit 106 , a work remaining area estimation unit 107 , and a notification control unit 108 .

[0031] In addition, as described above, each functional unit 102 to 108 of the control device 10 can be implemented by the operation unit performing the operation processing according to the program, that is, by software, but can also be implemented by other methods. At least a part of each functional unit 102 to 108 can also be implemented using, for example, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc. That is, at least a part of each functional unit 102 to 108 can also be implemented by hardware using a dedicated IC, etc. In addition, at least a part of each functional unit 102 to 108 can also be implemented using both software and hardware. In addition, each functional unit 102 to 108 is a conceptual component. The function performed by one component can also be dispersed among multiple components. In addition, the functions possessed by multiple components can also be integrated into one component.

[0032] In addition, the control device 10 can be composed of a single piece of hardware or a plurality of pieces of hardware that can communicate with each other. For example, the work vehicle 1 can also be equipped with a remote control device (not shown) that can be remotely operated by an operator located at a position away from the vehicle body 11. In this case, the control device 10 can be a structure that is only arranged on the vehicle body 11, or a structure that is separately arranged on the vehicle body 11 side and the remote control device side. In addition, the remote control device is a device that is configured to communicate with the vehicle body 11, for example, a tablet terminal, a smartphone, a laptop computer, or a remote control.

[0033] In addition, the control device 10 can also be configured to communicate with a server device via a network such as the Internet. In this case, some of the functions of the control device 10 can also be implemented by the server device. In addition, some of the information stored in the storage unit 101 can also be stored in the server device.

[0034] Figure 2 The diagram shows not only the control device 10 but also the elements 2 to 5 that are directly or indirectly connected to the control device 10. These elements 2 to 5 can be connected to the control device 10, for example, by wired or wireless means. Furthermore, these elements 2 to 5 can be connected to a device that can communicate with the control device 10 (such as the aforementioned remote control device or server device) by wired or wireless means, and indirectly connected to the control device 10 via the communicative device.

[0035] The positioning communication unit 2 is, for example, provided on the vehicle body 11. In addition, the positioning communication unit 2 may also be provided on a portable communication terminal (remote operation device) that can be taken out of the vehicle body 11. The positioning communication unit 2 includes a positioning antenna (not shown) and uses the positioning antenna to receive a positioning signal from a positioning satellite to obtain the position of the vehicle body 11, for example, as latitude and longitude information. The positioning communication unit 2 outputs the position information of the vehicle body 11 to the control device 10. The positioning communication unit 2, for example, receives a positioning signal from a base station (not shown) using an appropriate method and then uses the well-known RTK-GNSS (Real Time Kinematic GNSS) method for positioning. In addition, the positioning communication unit 2 may also be positioned using the DGNSS (Differential GNSS) method. In addition, the vehicle body 11 may also be a structure that has a quantum compass capable of positioning instead of or in addition to the positioning communication unit 2.

[0036] Sensors 3 detect information related to the work vehicle 1 and output the detected information to the control device 10. Specifically, multiple sensors 3 are mounted on the work vehicle 1. Each of the multiple sensors 3 outputs the detected information to the control device 10. Sensors 3 are mounted, for example, on the vehicle body 11 or the work machine 12. Furthermore, depending on the situation, sensors 3 may also be installed on a portable communication terminal (remote control device) that can be removed from the vehicle body 11. The multiple sensors 3 may also include, for example, an inertial measurement unit, a surrounding condition monitoring sensor, a lift sensor, and the like.

[0037] The inertial measurement unit, for example, includes a three-axis angular velocity sensor and a three-axis acceleration sensor, and is capable of measuring the posture of the vehicle body 11. The surrounding situation monitoring sensor monitors the surrounding conditions of the vehicle body 11 and may be, for example, a camera, ultrasonic sensor, radar, or LiDAR (Light Detection and Ranging). The elevation sensor, for example, detects the elevation position of the work implement 12.

[0038] The operating device 4 is a device that allows an operator, such as a driver, to issue commands to the control device 10. The operating device 4 is, for example, mounted on the vehicle body 11. However, if the work vehicle 1 includes a remote control device, at least a portion of the operating device 4 may be mounted on the remote control device. The operating device 4 may be, for example, a button, lever, dial, or touch panel.

[0039] The display device 5 displays information as appropriate based on instructions from the control device 10. The display device 5 may be, for example, a liquid crystal display or an organic EL display. The display device 5 may also include a touch panel, in which case the display device 5 may also serve as at least a portion of the aforementioned operating device 4. If the work vehicle 1 includes a remote operating device, the display device 5 may be provided on at least one of the vehicle body 11 and the remote operating device.

[0040] Next, the functions of the control device 10 will be briefly described.

[0041] The path generation unit 102 generates an automatic driving path for the work vehicle 1 to automatically drive. Details of the automatic driving path will be described later. Furthermore, in this specification, automatic driving refers to autonomous steering, at least, to follow a predetermined path, controlled by the control device 10 of the work vehicle 1. However, automatic driving may also include autonomously controlling at least one of vehicle speed and operating the work machine 12, in addition to steering.

[0042] The driving mode control unit 103 controls switching between the manual driving mode and the automatic driving mode. Switching between the manual mode and the automatic driving mode is performed, for example, based on an instruction from an operator using the operating device 4. Furthermore, switching from the automatic driving mode to the manual driving mode may be performed automatically in an emergency or the like.

[0043] In manual driving mode, the vehicle body 11 is driven and the work implement 12 is operated by the operator. Furthermore, manual operation by the operator can be performed while the operator is seated on the cab 16 or while the operator is not seated on the cab 16 and using a remote control device. In automatic driving mode, at least steering, vehicle speed adjustment, and the movement of the work implement 12 are automatically performed through operation of the control device 10 or manual operation by the operator. Furthermore, in automatic driving mode, the operator can be seated on the cab 16 or not.

[0044] The driving control unit 104 controls the driving system of the vehicle body 11 according to the driving mode. When the driving mode is the manual driving mode, the driving control unit 104 controls the driving system of the vehicle body 11 according to the instructions from the operating device 4. When the driving mode is the automatic driving mode, the driving control unit 104 automatically controls at least a part of the driving system of the vehicle body 11. The driving control unit 104 performs at least automatic steering control (automatic steering) so that the vehicle body 11 travels along a predetermined path. During automatic steering, the position and orientation of the vehicle body 11 are determined based on information obtained from the positioning communication unit 2 and the inertial measurement device included in the sensor 3. Then, calculations related to automatic steering are performed based on the positional relationship between the determined position of the vehicle body 11 and the predetermined driving path for automatic driving (the driving path generated by the path generation unit 102), and steering control is performed according to the calculation results.

[0045] The work machine control unit 105 controls the work system of the work vehicle 1 based on instructions from the operating device 4. This work system control includes, for example, controlling the raising and lowering of the work machine 12 and switching the state of power transmission to the work machine 12 using the PTO power transmission unit. Furthermore, when automatic travel involves the work machine 12 autonomously performing work, the work machine control unit 105 switches the control of the work system of the work vehicle 1 based on the travel mode. Specifically, in the automatic travel mode, the work machine control unit 105 automatically controls the operation of the work machine 12.

[0046] When the work machine 12 performs work, the work history generating unit 106 generates work history information indicating the status of the work performed. Details of the work history information will be described later. Furthermore, for example, information obtained from a lift sensor (included in the sensor 3) indicating the position of the work machine 12 can be used to determine whether the work machine 12 has performed work. The generated work history information is appropriately stored in the storage unit 101.

[0047] The residual work area estimation unit 107 estimates the presence of residual work areas during a work trip using the work machine 12. Residual work areas are areas left unworked during a work trip using the work machine 12, leaving unworked areas at intermediate locations. As in the present embodiment, when the work machine 12 is a tiller, the residual work areas are areas of so-called tillage omissions. For example, when the work machine is a combine harvester, the residual work areas are areas of harvesting residues generated during harvesting operations. Details regarding the estimation of residual work areas will be described later.

[0048] The notification control unit 108 controls the notification unit included in the work vehicle 1. This notification unit includes the aforementioned display device 5. However, the notification unit may also include, in addition to the display device 5, a sound output device (speaker), a vibration generating device, or a light-emitting device, for example. Furthermore, if the work vehicle 1 includes a remote control device, the notification unit may be provided on at least one of the vehicle body 11 and the remote control device. The notification operation using the display device 5 will be described later.

[0049] <2. Overview of Autonomous Driving>

[0050] As described above, the work vehicle 1 is configured to be capable of automatic driving, at least automatically steering, and automatically driving along an automatic driving route generated in advance by the route generation unit 102. Here, an example of an automatic driving route generated in the field 200 will be described.

[0051] Figure 3 This diagram schematically illustrates a field 200 and an automated driving path 201. Field 200 includes a work area R1 and a headland area R2. Work area R1 is located in the center of field 200 and is the area targeted for work. Headland area R2 is located outside work area R1 and is used to facilitate work within work area R1. For example, headland area R2 is used to move a work vehicle 1 entering field 200 to the starting position for tillage work, or to allow work vehicle 1 to turn. Work can also be performed on headland area R2.

[0052] As a route for the work vehicle 1 to automatically travel, for example, the route generating unit 102 generates Figure 3 The automated driving path 201 is shown by a dotted line. The automated driving path 201 consists of a plurality of straight paths 201a that run through the work target area R1 of the field 200, and curved paths 201b that connect adjacent straight paths 201a. Specifically, the straight paths 201a are paths (work paths) along which the work machine 12 performs work. In the curved paths 201b, no work is performed using the work machine 12. For example, when traveling in the curved paths 201b, the work machine 12 is lifted up and out of contact with the ground.

[0053] In addition, Figure 3 In FIG, the arrow shown on the automatic driving path 201 indicates the direction of travel of the work vehicle 1. Figure 3 In the figure, “S” indicates the starting position of the automatic driving path and “G” indicates the ending position of the automatic driving path. Figure 3 In the description, the path that moves along the straight path 201a from the side (side) where the starting position S is set toward the direction of departure is expressed as the outward path, and the path that moves along the straight path 201a from the side opposite to the side where the starting position S is set toward the side where the starting position S is set is expressed as the return path.

[0054] The straight path 201a is a straight path, for example, parallel to one side of the outline of the field 200 or the work target area R1. The arrangement interval of adjacent straight paths 201a is determined based on, for example, the working width of the work machine 12. The working width is the width in the left-right direction (lateral direction) of the ground where the work machine 12 performs work (cultivation). The arrangement interval of adjacent straight paths 201a is preferably determined so that the work vehicle 1 (see Figure 3 The working width of the working machine 12 of the working vehicle 1) shown by the solid line is the same as that of the working vehicle 1 traveling on the circuit (refer to Figure 3 The working widths of the work implements 12 of the work vehicle 1) shown by the middle dashed line overlap by a certain width. This configuration prevents the generation of an unworked area between the post-work area formed by the outbound travel and the post-work area formed by the return travel at the completion of the adjacent outbound and return travels.

[0055] In addition, Figure 3In the figure, the overlap of the work machine 12 of the work vehicle 1 shown in the solid line and the work machine 12 of the work vehicle 1 shown in the dotted line indicates that the interval between adjacent straight paths 201a is determined to produce the aforementioned overlap of the certain width. Furthermore, the certain width may be a fixed value pre-stored in the storage unit 101, or may be a configuration that the user (operator) can arbitrarily change. If the certain width is too large, work efficiency decreases, so it is preferably set as small as possible within a range that can suppress the formation of residual work areas. Furthermore, the certain width may be zero. In other words, a configuration may be provided that does not produce the aforementioned overlap.

[0056] The path generation unit 102 sets the straight path 201a in the automatic driving path 201 as the working path for work. The path generation unit 102 sets the curved path 201b as the path for no work. Furthermore, the path generation unit 102 sets the vehicle body 11's travel direction, target speed, target steering angle, and other parameters for each position in the automatic driving path 201 as needed. The path generation unit 102 stores the generated automatic driving path 201 in the storage unit 101. The automatic driving path 201 stored in the storage unit 101 can be appropriately displayed on the display device 5.

[0057] When automatic driving path 201 is generated, work vehicle 1 is moved to starting position S, for example, by manual driving. When a command to start automatic driving is issued using operating device 4 from starting position S, work vehicle 1 begins automatic driving. Thus, work vehicle 1 performs work on linear path 201a while repeating outward driving, turning driving, return driving, and turning driving from starting position S, until reaching end position G. This allows ground work within work target area R1 to be completed.

[0058] also, Figure 3 The field 200 is shown as being rectangular in shape, but may be of other shapes. Figure 3 The automatic driving path 201 shown is an example. For example, the path for performing the operation (operation path) may not be a straight path, but a curved path. In addition, the curved path 201b may not be included in the automatic driving path, but may be a path manually driven by the operator.

[0059] Figure 4 1 is a diagram showing an example of a display screen 51 displayed on the display device 5 during automatic driving. Figure 4 In the example shown, a map image 511 and a camera image 512 are displayed on the display screen 51 (display device 5). In addition, in this example, the sensor 3 (see Figure 2) is equipped with a camera. Furthermore, it is assumed that the camera captures at least the front. Alternatively, a video image representing the image in front of the vehicle may be displayed in place of camera image 512. Even if the work vehicle 1 is not equipped with a camera, the video image may be displayed as a means of emphasizing the image. The video image may also be a three-dimensional image.

[0060] The map image 511 shows the current position of the vehicle 1 in the field 200 (an example of a work site) where the vehicle 1 is being driven. In this embodiment, the current position of the vehicle 1 is, as an example, the current position of the vehicle body 11. Figure 4 In the example shown, the current position of the vehicle body 11 is indicated by a work vehicle icon 1a that resembles the work vehicle 1 on an image representing a field 200. As the vehicle body 11 moves, the position of the work vehicle icon 1a on the display screen 51 moves. In addition, the map image 511 shows the automatic driving path 201. Figure 4 In the example shown, an automatic driving path 201 is represented by superimposing a dot-dash line on an image representing a field 200. By comparing the position of the automatic driving path 201 with the position of the work vehicle icon 1a, the operator can understand the detailed position of the work vehicle 1 (vehicle body 11) and the status of the automatic driving.

[0061] Furthermore, the arrow in the map image 511 indicates the direction in which the vehicle body 11 is traveling automatically along the automatic driving path 201 .

[0062] exist Figure 4 In the example shown, a worked area 401 that was worked on in the past by working travel and an unworked area 402 that will be worked on in the future by working travel are displayed on the map image 511. The worked area 401 and the unworked area 402 are obtained based on the current position of the vehicle body 11.

[0063] The worked area 401 can be determined based on the travel trajectory of the vehicle body 11 obtained from the positioning information of the vehicle body 11 obtained by the positioning communication unit 2 and the working width information of the work implement 12 (stored in the storage unit 101). Furthermore, the unworked area 402 can be determined by subtracting the worked area 401 from the total work area determined based on the information related to the work path (straight path) 201a generated by the path generation unit 102 and the working width information of the work implement 12. The display of the worked area 401 and the unworked area 402 allows the operator to easily grasp the working status of the work vehicle 1 performing autonomous driving operations.

[0064] Although Figure 4Although not shown, the difference (lateral deviation) in the left-right (lateral) direction between the automatic driving path 201 and the current position of the vehicle body 11 may also be displayed on the display screen 51. This allows the operator to easily understand the positional deviation of the vehicle body 11 relative to the automatic driving path 201 while the vehicle body 11 is automatically traveling along the automatic driving path 201.

[0065] also, Figure 4 The adjustment buttons ("+" and "-") 513 indicated as "path shift" in the figure correspond to the instruction unit for instructing path shifting. When path shifting is performed according to the instruction from the shift instruction unit 513, the position of the automatic driving path 201 generated by the path generation unit 102 moves in the left-right direction (lateral direction). When the automatic driving path 201 is moved in the lateral direction by path shifting, the vehicle body 11 that is performing automatic driving also moves in the lateral direction in accordance with the shifting. In other words, it can be said that the work vehicle 1 includes a shift instruction unit 513 that shifts the driving position of the vehicle 1 (vehicle body 11) in the lateral direction. By utilizing path shifting, the position of the vehicle body 11 of the work vehicle 1 that is performing automatic driving can be adjusted to an appropriate position in the field 200.

[0066] The camera image 512 shows an image of a camera (an example of the sensor 3) that captures at least the front of the vehicle 1 (the vehicle body 11). Figure 4 In the example shown, only the front image is displayed on the display screen 51 as the camera image 512. However, for example, the display screen 51 may also display surrounding images other than the front image, such as the rear image. Figure 4 In the example shown, the map image 511 and the camera image 512 are displayed on the same display screen 51. However, they may be displayed on different, switchable screens. Furthermore, neither the map image 511 nor the camera image 512 may be displayed. Furthermore, the display devices displaying the map image 511 and the camera image 512 may be different display devices.

[0067] In addition, Figure 4 In the example shown, reference numeral 401 denotes an area that has been worked, and reference numeral 402 denotes an area that has not been worked. Thus, it can be seen that the display of camera image 512 enables an operator to easily grasp the operating status of work vehicle 1 during autonomous operation. For example, the display of camera image 512 (screen display on the display device of the remote operating device) is effective for an operator operating work vehicle 1 using a remote operating device.

[0068] However, if the deviation between the work path (straight path) 201a generated by the path generation unit 102 and the actual travel path of the vehicle body 11 in the left-right direction (lateral direction) becomes larger, the above-mentioned work residual area will be generated. In the above-mentioned structure of displaying the worked area 401 and the unworked area 402 in the map image 511 and the structure of displaying the camera image 512, even if the screen is observed, if there is no work residual area, this will not be noticed. In addition, in the map image 511, since the width of the work residual area is narrow, it is difficult to notice the occurrence of the work residual area. Furthermore, even if the path is shifted afterwards, it is difficult to understand the degree of shifting. In addition, it is difficult to understand the occurrence of lateral deviation only through the camera image. Furthermore, even if the path is shifted afterwards, it is difficult to judge the degree of shifting.

[0069] In this embodiment, taking the above points into consideration, the work vehicle 1 is configured to include a technology for suppressing the generation of a work residual area.

[0070] <3. Technology to suppress the formation of residual work areas>

[0071] [3-1. Summary]

[0072] In this embodiment, the residual work area estimation unit 107 (i.e., the control device 10 and the work vehicle 1) pre-estimates the occurrence of residual work areas remaining due to unfinished work during work travel using the work machine 12. Specifically, the work travel referred to here is work travel based on automatic travel. Furthermore, the residual work area is an unintentional area that occurs midway between the start and end of a work operation. Furthermore, pre-estimates refer to the occurrence of residual work areas in the future, rather than inferring whether residual work areas have occurred after the work travel.

[0073] Furthermore, in this embodiment, the report control unit 108 (i.e., the control device 10 and the work vehicle 1) reports the inference result related to the work remaining area. For example, the report control unit 108 may be configured to report the inference result related to the work remaining area only when the work remaining area is inferred to have occurred. However, the report control unit 108 may also be configured to report the inference result related to the work remaining area when the work remaining area is not inferred to have occurred, in addition to the inference result related to the work remaining area.

[0074] According to the configuration of this embodiment, if a work residue area is expected to form during work travel, the operator can be notified in advance. Therefore, the operator can operate the work vehicle 1 to prevent the formation of a work residue area, thereby suppressing the formation of a work residue area. Since additional work to address the work residue area is not required after the work travel is completed, work efficiency can be improved.

[0075] In addition, in this embodiment, the unit for reporting the estimation result of the remaining work area is the display device 5 (see Figure 2 ). That is, the work vehicle 1 is equipped with a display device 5 for reporting the inference results related to the work residual area. When a structure is adopted in which the display device 5 is used to report the inference results, the work residual area that will be generated in the future can be conveyed to the operator as information that is easy to understand visually and intuitively using vision. However, the reporting unit for the inference results may also replace the display device 5 or be a sound output device, a vibration generating device, or a light-emitting device in addition to the display device 5. In addition, when a remote operating device is used to operate the work vehicle 1, the display device, sound output device, vibration generating device, or light-emitting device mentioned here may also be a structure provided in the remote operating device.

[0076] Furthermore, in this embodiment, the generation of a work residual area is estimated based on the position information of the vehicle 1 and the information of the work machine 12. Specifically, the position information of the vehicle 1 includes the past and future position information of the vehicle 1. Therefore, it can be said that the work vehicle 1 estimates the generation of a work residual area based on the past and future position information of the vehicle 1. Specifically, the information of the work machine 12 includes the working width of the work machine 12. Furthermore, in this embodiment, the position information of the vehicle 1 is the position information of the vehicle body 11, but is not limited thereto and may also be the position information of the work machine 12 or the position information of the vehicle body 11 and the work machine 12.

[0077] The operation history information can be obtained based on the position information (past position information) of the vehicle body 11 from the start of the operation to the present and the operation width of the work machine 12. This operation history information is equivalent to the information of the above-mentioned operated area 401. In addition, when the operation is carried out by automatic driving, the vehicle body 11 moves along the automatic driving path 201 (refer to Figure 3 By comparing the work history information (the worked area) with the predicted work area (the predicted work area), it is possible to estimate whether there is an area of ​​residual work (in this embodiment, omitted tillage). Furthermore, if there is an area of ​​residual work, the location (e.g., distance from the vehicle body 11) and size (e.g., lateral width) of the area can be estimated.

[0078] [3-2. Specific examples]

[0079] Figure 51 is a flowchart showing the flow of a process for suppressing the occurrence of an unresolved work area executed by the work vehicle 1 . Figure 5 The illustrated process is started, for example, in conjunction with the timing at which the work vehicle 1 starts automatic driving for tillage work in the field 200 .

[0080] In step S1, the work history generation unit 106 begins the process of generating work history information (work history generation process). As described above, the work history generation process uses the travel trajectory of the vehicle body 11 and the working width of the work implement 12 obtained by the positioning communication unit 2 to obtain the completed work area 401. Once the work history generation process begins, the work history generation unit 106 updates the work history information, for example, at regular intervals or every time the vehicle body 11 advances a certain distance. The control device 10 appropriately executes this update process and proceeds to the next step S2.

[0081] In this embodiment, the generated work history information (worked area 401) is reflected in the map image 511 (see Figure 4 ) is displayed on the display screen 51 of the display device 5. In addition, the display screen 51 of the display device 5 also displays a camera image 512 (see Figure 4 ).

[0082] In step S2, the residual work area estimation unit 107 monitors whether there is work history information for a work path 201a located adjacent to the work path (straight path) 201a currently being driven. If there is no work history information (adjacent tillage work history) for the adjacent work path 201a, it is impossible to infer whether a residual work area has occurred, and thus this process is performed. Furthermore, if the peripheral position information of the work target area R1 of the field 200 is known at the start of the automatic driving operation, the presence of a residual work area can be inferred by comparing it with this known peripheral position information. In other words, the process of step S2 can be skipped and the presence of a residual work area can be estimated. However, since the work path 201a is typically set based on the peripheral position information of the work target area R1, it is not necessary to infer the presence of a residual work area before the adjacent tillage work history is generated. If there is work history information for the adjacent path ("Yes" in step S2), the process proceeds to the next step S3. When there is no operation history information of the side path (No in step S2 ), the monitoring of step S2 is continued.

[0083] In step S3, the residual work area inference unit 107 infers the presence of a residual work area. Specifically, the residual work area inference unit 107 infers whether a residual work area has been generated. If the residual work area is inferred to have been generated, the residual work area inference unit 107 infers its location and size. As described above, these inferences can be made based on the work history information (specifically, the history of adjacent tillage operations) and the expected work area to be formed when operating along the current work path 201a. When the inference process for the presence of a residual work area is completed, the process proceeds to the next step S4.

[0084] In step S4, the reporting control unit 108 performs a reporting process on the inference result related to the work residual area. In this example, the reporting process is performed even when it is inferred that the work residual area will not be generated, but it can also be configured so that the reporting process is not performed when it is inferred that the work residual area will not be generated. According to the reporting process, the display device 5 as a reporting unit performs a reporting action. The operator who is notified that the work residual area will be generated can appropriately shift the path according to the content of the report to prevent the generation of the work residual area in advance. The following describes a specific example of the reporting action performed by the display device 5. In addition, as mentioned above, the reporting unit can also be sound, vibration, etc.

[0085] Figure 6 300. Figure 6 In the example, the estimated remaining work area 300 is displayed on the map image 511. Figure 6 The map image 511 shown is used Figure 4 The map image 511 described above is the same. By displaying the estimated remaining work area 300 on the map image 511, it is possible to intuitively understand that the remaining work area 300 will be generated in the future.

[0086] exist Figure 6 In the example shown, the estimated remaining work area 300 is displayed in a different manner from the worked area 401 and the unworked area 402 in the map image 511. By displaying the remaining work area 300 differently from the other areas 511a and 511b, the presence of the remaining work area 300 can be quickly identified. Examples of differentiating the display method include changing the color or line type of the line surrounding each area, or changing the color of the fill in each area.

[0087] In addition, the display method can also be changed according to the size of the work residue area 300, for example, by changing the size (horizontal width, etc.) of the work residue area 300 in the map image 511. In addition, regarding the size of the work residue area 300, in order to make it easier to understand, the numerical value itself can be displayed, or a graphic (bar graph, etc.) that clearly shows the difference in size can be displayed. Therefore, for example, it is possible to easily determine the amount of shift when the path is shifted to prevent the generation of the work residue area 300. In addition, the numerical value or graphic representing the size can be displayed, for example, superimposed on the map image 511, or can be displayed around the map image 511.

[0088] exist Figure 6 In the example shown, in detail, two guide lines GL1 and GL2 are displayed in different ways to indicate the portion where the work residue area 300 does not occur and the portion where the work residue area 300 occurs. This makes it easy to understand the distance from the vehicle body 11 to the work residue area 300. In addition, in the present embodiment, when inferring whether the work residue area 300 occurs, if it is inferred that the work residue area 300 does not occur, only the guide line GL1 indicating the portion where the work residue area 300 does not occur is displayed. In addition, in Figure 6 In the example shown, the two types of guide lines GL1 and GL2 are configured by changing the line type, but the two may be distinguished by other methods such as different colors.

[0089] In addition, Figure 6 In the example shown, a pop-up display is configured to specifically indicate the distance to the point (position) where the work residue area 300 is generated. Therefore, it is easy to grasp the timing of performing a path shift so as not to generate the work residue area 300. Furthermore, the time from the point where the work residue area 300 is generated can be displayed instead of the distance from the point where the work residue area 300 is generated. Furthermore, the distance or time can be a specific numerical value or a graphical display such as a bar graph that indicates changes in the distance or time. Furthermore, the pop-up display can be displayed either on the map image 511 or outside the map image 511.

[0090] In addition, for example, it can also be configured so that when the vehicle body 11 reaches the point where the work residual area 300 is generated or before it reaches the point where the work residual area 300 is generated, the operator is notified of the instruction to perform the path shift. That is, the work vehicle 1 can also be configured so that when the work residual area 300 is inferred to be generated, the reminder shift instruction unit 513 (see Figure 4 Thus, it is possible to increase the possibility that the operator can perform an operation to prevent the generation of the work remaining area 300, and further reduce the possibility of the generation of the work remaining area 300.

[0091] Furthermore, the notification of the operation of the shift indicator 513 can also be performed using, for example, the display device 5. In this case, for example, the text displayed in the pop-up display can be set as emphasized text, or the expression of the pop-up display can be set as emphasized expression. In addition, the notification of the operation of the shift indicator 513 can also be replaced with the display device 5 or in addition to the display device 5, using a sound-based notification or a vibration-based notification. The vibration can be, for example, a structure that vibrates the driver's seat 16a or an armrest (not shown). In addition, when a remote operating device is used to operate the work vehicle 1, the remote operating device can also be vibrated.

[0092] Figure 7 300 is a diagram showing another example of a report of an inference result related to the occurrence of a work residual area (cultivation omission) 300. Figure 7 , the estimated work remaining area 300 is displayed in the camera image 512. Figure 7 The camera image 512 is shown with the use of Figure 4 The camera image 512 is the same as the map image 511 described above. As described above, the camera image 512 can be displayed in parallel with the map image 511 on the same screen, or on a different screen from the map image 511. Furthermore, the camera image 512 can be displayed on a display device different from the display device displaying the map image 511. Furthermore, the structure for displaying the estimated work remaining area 300 in the camera image 512 can be implemented simultaneously with the structure for displaying the estimated work remaining area 300 in the map image 511.

[0093] Specifically, the estimated remaining work area 300 is displayed superimposed on the camera image 512. By superimposing the estimated remaining work area 300 on the camera image 512, it is possible to intuitively understand that the remaining work area 300 will be generated in the future.

[0094] As with the map image 511, the display method can be changed based on the size of the remaining work area 300, for example, by changing the size (lateral width, etc.) of the remaining work area 300 in the camera image 512. Furthermore, for easier understanding, the size of the remaining work area 300 can be displayed by displaying a numerical value itself or by displaying a graphic (bar graph, etc.) that clearly illustrates the size difference. Furthermore, the numerical value or graphic indicating the size can be displayed, for example, superimposed on the camera image 512 or displayed around the camera image 512.

[0095] exist Figure 7 In the example shown, Figure 6In the example shown, two guide lines GL1 and GL2 are displayed in different ways to indicate the portion where the residual work area 300 does not occur and the portion where the residual work area 300 occurs. Furthermore, a pop-up display is provided to specifically indicate the distance to the point (position) where the residual work area 300 is generated. The effects and modifications associated with these configurations are the same as those for map image 511, and therefore detailed description thereof is omitted.

[0096] In addition, an example of the estimated remaining work area 300 is displayed in the camera image 512 ( Figure 7 In the example shown in FIG5 , guide lines GL1 and GL2 are also provided on the side of vehicle body 11 in the left-right direction (lateral direction) where residual work area 300 does not actually occur. This is designed to facilitate visualization of the distance between vehicle body 11 and residual work area 300. Similar to the case of map image 511, guide lines GL1 and GL2 may also be provided only on the side where residual work area 300 occurs.

[0097] Figure 8 This figure shows a modified example of a case where the unworked area 300 is displayed in camera image 512. In the case of camera image 512, it may be difficult to distinguish between the worked area 401 and the unworked area 402 from the image. For example, when harrowing is in progress or when the field 200 is muddy, it may be difficult to distinguish the boundary between the area where the harrow has been driven and the area where the harrow has not been driven in camera image 512.

[0098] In view of this, in the camera image 512, for one of the worked area 401 and the unworked area 402, a superimposed display 500 for emphasizing the area may be performed in the camera image 512. Figure 8 In the example shown, the worked area 401 is displayed as a superimposed image 500. Figure 8 In the example shown, the superimposed display 500 is configured to be displayed in a band shape near the boundary, but any other form may be used as long as the boundary between the worked area 401 and the unworked area 402 can be known.

[0099] Return to Figure 5 In step S5, the remaining work area estimation unit 107 determines whether there is an end Figure 5 The reason for the processing shown (reason for termination). Examples of termination reasons include: termination of automatic driving due to completion of work, instruction from the operator that the work remaining area 300 does not need to be reported in advance, and failure to perform processing due to some error. If there is a reason for termination ("Yes" in step S5), the process is terminated. Figure 5If there is no reason for termination ("No" in step S5), the process proceeds to the next step S6.

[0100] In step S6, the work residual area inference unit 107 determines whether a certain time has passed since the previous inference of the generation of the work residual area (refer to step S3). If the certain time has not passed ("No" in step S6), the process returns to step S5. If the certain time has passed ("Yes" in step S6), the process returns to step S3 and the generation of the work residual area is inferred again. During this inference, in the case where a path shift is performed as a response to the previous inference result, the automatic driving path 201 after the path shift is used for the inference processing. In addition, instead of a structure for determining the passage of a certain time, for example, a structure for determining whether the vehicle body 11 has traveled a certain distance, whether the work path 201a has moved to the next path, etc. may also be used.

[0101] The above configuration is to infer the generation of a residual work area, but in addition to this, it can also be configured to infer the generation of an area where the amount of overlap with the adjacent work area (adjacent tillage) is larger than the assumed amount (width), and report the result of the inference. If the above-mentioned area with an amount of overlap that is larger than the assumed amount is generated, the possibility of generating a residual work area becomes higher when moving to the next work path. Therefore, when it is inferred that the above-mentioned area with an amount of overlap that is larger than the assumed amount is generated, it is preferable to remind the operator to shift the path by reporting this situation. In this way, the probability of generating residual work areas such as omissions in tillage can be further reduced.

[0102] In the above description, it is assumed that when the occurrence of the remaining work area is estimated, this is reported to the operator, who then performs the route shift. However, the route shift may also be performed automatically. Figure 9 Yes Figure 5 FIG is a diagram of a modified example of the flowchart shown. Figure 9 As shown in FIG. 1 , after the inference process of the generation of the work residual area is performed, the control device 10 may perform the path shift process (step S7). Figure 9 In the embodiment, the processing is performed in the order of step S4 and step S7, but the processing of step S4 and step S7 can also be performed simultaneously, or in the reverse order according to the circumstances. In addition, in the structure of the modified example, the processing of step S4 can also be omitted.

[0103] In the path shifting process, the path shifting is performed at a timing and a shifting amount that are automatically determined based on information (inferred information) such as the location or size of the work residual area. In addition, when the generation of the work residual area is not inferred, the shifting amount is set to zero. That is, no path shifting is performed. When the path shifting is performed, automatic steering is performed accordingly, and the vehicle body 11 moves in the left and right directions (laterally) to follow the shifted work path. That is, in the structure of the modified example, when the work vehicle 1 infers the generation of the work residual area, the automatic steering operation is performed to suppress the generation of the work residual area. In the case where there is a possibility that the work residual area will be generated in the future, the work vehicle 1 is automatically moved, thereby reducing the burden on the operator and suppressing the generation of the work residual area.

[0104] <4. Precautions, etc.>

[0105] The various technical features disclosed in this specification may be modified in various ways without departing from the spirit of the invention. Furthermore, the various embodiments and modifications described in this specification may be combined and implemented to the extent possible. The field shapes shown in the accompanying drawings are merely illustrative and may be modified as appropriate.

[0106] <5. Notes>

[0107] An exemplary working vehicle of the present invention is a working vehicle that uses a working machine to perform working travel, and can be a structure (first structure) that pre-infers the generation of a work residual area that remains without performing work during the above-mentioned working travel, and reports the inference results related to the above-mentioned work residual area.

[0108] The work vehicle of the first configuration may have a configuration (second configuration) in which the presence of the remaining work area is estimated based on position information of the vehicle.

[0109] In the work vehicle having the second configuration, the position information may be past and future position information (third configuration).

[0110] The work vehicle having any one of the first to third structures may have a structure (fourth structure) including a display device for reporting the estimation result.

[0111] It may be the following structure (fifth structure), that is, in the work vehicle of the fourth structure, a map image showing the current position of the vehicle in the work site where the work is being performed is displayed on the display device, and the inferred remaining area of ​​the work is displayed in the map image.

[0112] It may be the following structure (sixth structure), that is, in the working vehicle of the fifth structure, the worked area in the past which was worked on by the working travel and the unworked area which will be worked on in the future by the working travel, which are calculated based on the current position of the vehicle, are displayed in the map image, and the inferred remaining work area is displayed in the map image in a manner different from the worked area and the unworked area.

[0113] It can be the following structure (seventh structure), that is, in a work vehicle of any one of the above-mentioned fourth to sixth structures, a camera image representing an image of a camera taking pictures of at least the front of the vehicle is displayed on the above-mentioned display device, and the inferred above-mentioned work residual area is displayed in the above-mentioned camera image.

[0114] The working vehicle of any one of the above-mentioned first to seventh structures can be the following structure (eighth structure), that is, it has a shift indication unit that causes the driving position of the vehicle to shift laterally, and when it is inferred that the above-mentioned work residual area has been generated, a notification is given to remind the operation of the above-mentioned shift indication unit.

[0115] The work vehicle of any one of the first to seventh structures may be configured (ninth structure) to perform automatic steering when the occurrence of the remaining work area is estimated.

Claims

1. A working vehicle that uses a working machine to carry out work. The working vehicle is characterized in that: Predicting in advance the generation of a work-remaining area where work is not performed and remains during the work travel, Report inferences related to the residual area of ​​the operation.

2. The work vehicle according to claim 1, characterized in that: The occurrence of the work remaining area is estimated based on the position information of the host vehicle.

3. The work vehicle according to claim 2, characterized in that: The position information is past and future position information.

4. The work vehicle according to claim 1, wherein: The work vehicle includes a display device for reporting the estimation result.

5. The work vehicle according to claim 4, characterized in that: A map image showing the current position of the vehicle in the work site where the work is being carried out is displayed on the display device. The inferred work remaining area is displayed on the map image.

6. The work vehicle according to claim 5, characterized in that: Displaying, on the map image, a worked area that was worked on in the past by the working travel and an unworked area that will be worked on in the future by the working travel, which are obtained based on the current position of the host vehicle, The inferred work remaining area is displayed in the map image in a manner different from the worked area and the unworked area.

7. The work vehicle according to claim 4, characterized in that: A camera image representing an image of a camera photographing at least the front of the vehicle is displayed on the display device. The inferred work remaining area is displayed in the camera image.

8. The work vehicle according to any one of claims 1 to 7, characterized in that: The work vehicle includes a displacement instruction unit for laterally displacing the travel position of the vehicle. When the occurrence of the remaining work area is estimated, a notification is issued to prompt the operator to operate the shift instruction unit.

9. The work vehicle according to any one of claims 1 to 7, characterized in that: When the occurrence of the remaining work area is estimated, automatic steering is performed.

Images