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. A method for controlling a work vehicle is a method for controlling a work vehicle (10) capable of traveling on a work site (F1). The control method comprises the steps of: acquiring detection information and registration information as information relating to an outer shape line (fourth outer shape line (f14)) of a work field (F1) in plan view; and making a determination relating to the deviation of the outer shape line (fourth outer shape line (f14)) by comparing the detection information and the registration information. The detection information is information detected while the work vehicle (10) is traveling. The registration information is information registered in advance with respect to the work site (F1).

Description

Technical Field

[0001] This invention relates to a control method for a work vehicle capable of operating on a work site, a control program for the work vehicle, a control system for the work vehicle, and a work system. Background Technology

[0002] As a linking technology, it is known that work vehicles (agricultural work vehicles) can obtain their own location information by receiving positioning signals from a positioning system (see, for example, Patent Document 1). In this linking technology, the work vehicle can use its own location information to obtain, for example, the shape of the work site (work area) where agricultural work is carried out.

[0003] Specifically, regarding the work vehicle involved in the association technology, the position information of the positioning antennas when they are positioned at multiple corners of the outline (contour) constituting the work site is stored, and the shape of the work site is obtained by connecting the positions of the multiple corners with straight lines. Therefore, compared to the case where the work vehicle is actually driven along the outline of the work site and the continuous driving trajectory of the work vehicle is obtained as the shape of the work site, only the position information of the multiple corners needs to be registered, so the shape of the work site can be easily obtained.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2017-127289 Summary of the Invention

[0007] However, the shape of the work site can sometimes change due to factors such as embankment construction or weather conditions. If the shape of the work site is remeasured and recorded every time work is carried out, it could lead to a significant decrease in work efficiency.

[0008] The purpose of this invention is to provide a control method, a control program, a control system, and an operating system for work vehicles that are difficult to reduce work efficiency.

[0009] One aspect of the present invention relates to a control method for a work vehicle capable of operating on a work site, wherein the control method comprises the following steps: acquiring detection information detected by the work vehicle during operation and registration information pre-registered about the work site, as information relating to the outline of the work site in a top view; and making a determination related to deviations from the outline by comparing the detection information and the registration information.

[0010] One aspect of the present invention relates to a control program for a work vehicle, which is a program for causing one or more processors to execute the control method of the work vehicle.

[0011] One aspect of the present invention relates to a control system for a work vehicle capable of operating on a work site. The control system includes an acquisition processing unit and a determination processing unit. The acquisition processing unit acquires detection information and registration information as information relating to the outline of the work site when viewed from above. The detection information is information detected by the work vehicle during operation. The registration information is information pre-registered regarding the work site. The determination processing unit makes a determination related to deviations from the outline by comparing the detection information and the registration information.

[0012] One aspect of the present invention relates to an operating system comprising a control system for the operating vehicle and the body of the operating vehicle.

[0013] Invention Effects

[0014] According to the present invention, a control method for work vehicles, a control program for work vehicles, a control system for work vehicles, and a work system are provided that make it difficult to reduce the work efficiency. Attached Figure Description

[0015] Figure 1 This is a summary side view showing the appearance of the work vehicle involved in Embodiment 1.

[0016] Figure 2 This is a summary block diagram of the operating system involved in Implementation Method 1.

[0017] Figure 3 This is a schematic diagram illustrating an example of the target path of the operating system according to Embodiment 1.

[0018] Figure 4 This is a top view showing an example of the operation of the work vehicle according to Embodiment 1.

[0019] Figure 5 This is a schematic diagram showing an example of the outline of a work site reconstructed using the work vehicle control system according to Embodiment 1.

[0020] Figure 6 This is a schematic diagram illustrating an example of a target path reconstructed using the control system for work vehicles according to Embodiment 1.

[0021] Figure 7 This is a schematic diagram illustrating an example of a target path reconstructed using the control system for work vehicles according to Embodiment 1.

[0022] Figure 8This is a schematic diagram illustrating the monitoring actions of the work vehicle on the field ridges involved in Implementation Method 1.

[0023] Figure 9 This is a flowchart illustrating an example of the operation of the control system for the work vehicle according to Embodiment 1.

[0024] Explanation of reference numerals in the attached figures

[0025] 1…Control system for work vehicle; 10…Work vehicle; 11…Body; 100…Work system; 214…Acquisition and processing unit; 215…Judgment and processing unit; F1…Work site; f11~f14…First~fourth outline (outline); R1…Target path. Detailed Implementation

[0026] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. These embodiments are merely examples embodying the present invention and are not intended to limit the scope of the invention.

[0027] (Implementation Method 1)

[0028] [1] Overall structure

[0029] First, refer to Figure 1 and Figure 2 The overall structure of the work system 100 according to this embodiment will be described. The work vehicle control system 1 (hereinafter also referred to as "control system 1") according to this embodiment, together with the body 11 of the work vehicle 10, constitutes the work system 100. The work machine 12 is mounted on the body 11. That is, the work system 100 includes the work vehicle control system 1 and the body 11 of the work vehicle 10.

[0030] In this embodiment, the control system 1 includes a control device 13 mounted on the body 11 of the work vehicle 10 (see reference 13). Figure 2 The work vehicle 10 and the terminal device 20 are capable of communicating with each other. In this disclosure, "capable of communicating" means being able to send and receive information directly or indirectly via a communication network (network) N1 or a repeater, using appropriate communication methods such as wired or wireless communication (communication using radio waves or light as a medium). The work vehicle 10 and the terminal device 20 can communicate, for example, via a communication network N1 such as the Internet, LAN (Local Area Network), WAN (Wide Area Network), public telephone lines, mobile phone networks, packet-switched networks, or wireless LANs. The means of communication between the work vehicle 10 and the terminal device 20 are not limited to the examples described above, but can be achieved through appropriate communication methods. Furthermore, the ability for the work vehicle 10 and the terminal device 20 to communicate with each other is not an essential structure in the control system 1.

[0031] Work vehicle 10 is at work site F1 (refer to) Figure 3 The vehicle 10 travels and performs a certain operation within the work site F1 using the work machine 12. In this disclosure, "operation" refers to the work performed by the work machine 12 on the work site F1, including various agricultural operations such as planting (transplanting rice seedlings), sowing, fertilizing, applying pesticides, leveling, or harvesting, as well as various construction operations. In this embodiment, as an example, the operation performed by the work vehicle 10 is set as planting (transplanting rice seedlings) in a paddy field, which is the work site F1.

[0032] When the body 11 of the work vehicle 10 moves at the work site F1, the work machine 12 performs operations within the work site F1. In this embodiment, as an example, for planting seedlings, the work machine 12 includes: a seedling platform for holding seedling mats; and a planting arm for removing seedlings from the seedling mats and planting them. Here, the work machine 12 is installed at the rear of the body 11 (opposite to the forward direction of the body 11). That is, the work machine 12 is connected to the rear of the body 11 and moves forward with the body 11 and performs operations as the body 11 moves forward. In this embodiment, the work machine 12 is assumed to be a structural element of the work vehicle 10, but it may not be a structural element of the work vehicle 10.

[0033] The term "operating vehicle" as used in this disclosure refers to machinery that performs various operations on a work site F1, such as a field. Examples include agricultural machinery (farm machinery) such as rice transplanters, tractors, seeders, spreaders, sprayers, transplanters, and harvesters. The operating vehicle 10 may also be construction machinery (construction machinery). In this embodiment, unless otherwise specified, the case of a rice transplanter as the operating vehicle 10 will be used as an example for explanation. This operating vehicle 10, with its body 11, can perform the planting operation of transplanting seedlings onto the work site F1 by traveling on the work site F1.

[0034] In this embodiment, as an example, the work vehicle 10 is configured as an automaton that can be ridden by a person (operator) but can also perform actions through autonomous driving (autonomous driving and autonomous operation). However, it is not limited to this; the work vehicle 10 can be a drone that performs actions through autonomous driving or can perform actions through human (operator) operation (including remote operation).

[0035] In this disclosure, "work site" refers to an area where the work vehicle 10 performs various operations such as planting (transplanting rice seedlings), sowing, fertilizing, applying pesticides, leveling, or harvesting while moving. This includes paddy fields, dry fields, orchards, and pastures. For example, when a paddy field or dry field where crops (crops) such as rice, wheat, soybeans, or buckwheat are grown is work site F1, the crops grown in work site F1 are crops. Furthermore, when seedlings are grown in a nursery, the nursery is work site F1; when trees are grown in a forest to become timber, as in forestry, the forest is work site F1. In this case, the crops grown in work site F1 are seedlings or trees. In this embodiment, unless otherwise specified, the case where the work vehicle 10 is used for planting seedlings in a field (work site F1), and work site F1 is a paddy field for rice cultivation, will be described as an example. In addition, the work site F1 is not limited to fields. For example, if the work vehicle 10 is construction machinery, then the site where the construction machinery is working is the work site F1.

[0036] Furthermore, the work vehicle 10 can move not only within the work site F1 (here, a field), but also via autonomous driving on roads outside the field, such as paths outside the work site F1. The work vehicle 10 is configured to be able to move based on the positioning device 16 (see reference 16). Figure 2 The system uses the current location information of the work vehicle 10 to automatically drive (move) along a pre-defined target path (including paths outside the field) within and outside the work site F1. Paths outside the field are, for example, connecting roads between multiple work sites F1 (fields). These connecting roads can be farmland roads, forest roads, public roads, private roads, or motor vehicle lanes, and can be dedicated to the work vehicle 10 or accessible to general vehicles (passenger cars, etc.).

[0037] [2] Structure of the work vehicle

[0038] Next, refer to Figure 1 and Figure 2 The structure of the work vehicle 10 involved in this embodiment will be described in detail.

[0039] In this embodiment, for ease of explanation, the vertical direction in which the work vehicle 10 can be used is defined as the up-down direction D1. The forward-backward direction D2 and the left-right direction D3 are defined based on the direction observed from the person (operator) sitting in the body 11 (driver's seat 111) of the work vehicle 10 (see reference). 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-mentioned directions do not limit the direction of use of the work vehicle 10 (the direction of use).

[0040] like Figure 2 As shown, based on the body 11 and the work machine 12, the work vehicle 10 also includes a control device 13, a driving device 14, a monitoring device 15, a positioning device 16, a communication device 17, and a display device 18. The control device 13, the driving device 14, the monitoring device 15, the positioning device 16, the communication device 17, and the display device 18 are all mounted on the body 11.

[0041] The machine body 11 has a pilot unit 111 that can be ridden by a person (operator) (see reference). Figure 1 The driving unit 111 is equipped with a steering device, a transmission device, and an operating device. The steering device, transmission device, and operating device are operating units operated by an operator or the control device 13. Therefore, the work vehicle 10 can perform both manual driving based on operator manual operation and automatic driving based on the control device 13. Furthermore, as described above, the work machine 12 is connected to the rear of the body 11.

[0042] In this embodiment, the planting machine 12 is connected to the rear of the machine body 11, and when the machine body 11 moves forward, it can perform planting operations on the field, which serves as the work site F1. Here, the planting machine 12 is designed for planting multiple rows (for example, 6, 7, or 8 rows), and has a working width W1 in the width direction (left-right direction D3) corresponding to the number of rows (see reference). Figure 4 That is, for example, if the work machine 12 is for planting 7 rows, it can simultaneously handle 7 rows of seedlings in the width direction (left-right direction D3). In this embodiment, as an example, it is assumed that the work vehicle 10 is an 8-row rice transplanter equipped with the work machine 12 for planting 8 rows.

[0043] Thus, the work vehicle 10 according to this embodiment can travel on the work site F1 and perform operations on multi-row work trains arranged in a direction intersecting the travel direction (front-back direction D2) (left-right direction D3). In this embodiment, as an example, the work vehicle 10 is an 8-row rice transplanter; therefore, the multi-row work trains Vr1 to Vr8 (refer to...) Figure 4 To ensure that multiple seedlings V1 (refer to) Figure 4 The seedlings are arranged in eight rows, one in the forward direction (front-back direction D2) and the other in eight rows, spaced at predetermined intervals in the left-right direction D3. That is, the work vehicle 10 can perform planting operations on the eight rows Vr1 to Vr8 in parallel (simultaneously). Therefore, the work vehicle 10 can simultaneously plant a maximum of eight rows of work rows Vr1 to Vr8 while moving forward.

[0044] like Figure 1As shown, the traveling device 14 includes a front wheel 141, a rear wheel 142, and a power source (engine and / or motor, etc.). The front wheel 141 and rear wheel 142 are, for example, a pair, left and right. The traveling device 14 uses power generated by the power source to drive the rear wheel 142, enabling the machine body 11 to travel (move). Here, the front wheel 141 functions as a steering wheel, enabling turning in the left-right direction D3. Thus, the machine body 11 can travel within the work area F1 in both the forward-backward direction D2 and the left-right direction D3.

[0045] The driving unit 14 performs actions based on the operation of the control unit 13 on the steering device, transmission device, and operating device, at least during autonomous driving. For example, regarding the driving unit 14, the angle of the front wheels 141 is changed by the control unit 13's operation on the steering device, such as using a hydraulic power steering mechanism, to change the direction of travel of the vehicle body 11. Furthermore, the driving mode of the vehicle body 11 is switched to forward or reverse by the control unit 13's operation on the transmission device, such as switching the gears of the transmission to forward or reverse gears. Additionally, the control unit 13 controls the speed of the power source by operating the accelerator or brake of the operating device, or brakes the front wheels 141 and rear wheels 142 using an electromagnetic brake.

[0046] Monitoring device 15 monitors area As1 (reference) Figure 4 The monitoring device 15 monitors objects (obstacles) that are being monitored. In this embodiment, for example, the objects being monitored include people and other animals, moving bodies such as vehicles (including other work vehicles), structures such as walls and pillars, plants, steps, or other obstacles. The monitoring device 15 may include various sensors such as radar, sonar sensors, LiDAR (Light Detection and Ranging), human sensors, or cameras (image sensors). Here, the monitoring device 15 is preferably a 3D sensor capable of measuring the distance and orientation of the object being monitored by a Time-of-Flight (TOF) method that measures the distance to a ranging point based on the round-trip time of light or sound reaching and returning from the ranging point, or a stereo camera method. Thus, the monitoring device 15 can output measurement information, including the position of the object being monitored from a top-down view, to the control device 13. In this embodiment, for example, it is assumed that the monitoring device 15 is a millimeter-wave radar (millimeter-wave radar) or a sonar sensor that uses ultrasound (or sound waves).

[0047] The positioning device 16 determines the current position (latitude, longitude, and altitude, etc.) of the aircraft 11. Specifically, the positioning device 16 calculates the current position (latitude and longitude) of the aircraft 11 using a satellite positioning system such as GNSS (Global Navigation Satellite System). 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. Furthermore, the positioning device 16 includes an inertial sensor, which can also detect the current orientation and other attitude of the aircraft 11.

[0048] Furthermore, the positioning device 16 can detect the current position with high accuracy using RTK (Real-Time Kinematic) positioning, which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) near the work 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 that deviates from the positioning position, such as the center position of the body 11 when viewed from above. As the positioning device 16, for example, a mobile phone terminal, smartphone, or tablet terminal can be used instead.

[0049] The communication device 17 is a communication interface that connects the work vehicle 10 (control device 13 and positioning device 16, etc.) to external devices via wired or wireless means, and performs data communication with the external devices in accordance with a prescribed communication protocol. In this embodiment, the communication device 17 can communicate with the terminal device 20, which is an external device, via the communication network N1. Furthermore, the communication device 17 can be connected to the communication network N1 wirelessly, so that even though the work vehicle 10 is moving (driving) at the work site F1, it can communicate with the terminal device 20 at any time. For example, a mobile phone terminal, smartphone, or tablet terminal can be used as the communication device 17.

[0050] The display device 18 is a user interface, such as a liquid crystal display or an organic EL display, used to display various information and provide prompts to the user (operator). For example, the display device 18 is disposed in the driver's compartment 111, and provides various information to the operator by displaying a screen containing various information. In this disclosure, "screen" means an image displayed using the display device 18, including pictures, graphics, photographs, text, and animations. The screen displayed on the display device 18 is not limited to static images, but also includes constantly changing images (animations). Furthermore, the display device 18 has the function of outputting sound (including voice) to the user (operator) and the function of accepting user (operator) operations.

[0051] The control device 13 is based on a computer system with one or more processors such as a CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory) to perform various processes (information processing). In this embodiment, the control device 13 is based on a computer system with one or more processors; therefore, the control device 13 is implemented by executing the control program for the work vehicle using one or more processors. In this embodiment, the control device 13 is a comprehensive controller that controls the entire work vehicle 10, for example, it is composed of an electronic control unit (ECU). However, the control device 13 may also be separate from the comprehensive controller.

[0052] The control device 13 is configured to communicate with devices installed in various parts of the machine body 11. Specifically, the work machine 12, the travel device 14, the monitoring device 15, the positioning device 16, the communication device 17, and the display device 18 are electrically connected to the control device 13. Thus, the control device 13 can control the work machine 12 and the travel device 14, or acquire the detection results from the monitoring device 15 and the positioning device 16. Here, the control device 13 can directly transmit and receive various information (data) with each device, or indirectly through a repeater or the like.

[0053] In this embodiment, such as Figure 2 As shown, the control device 13 includes a (first) acquisition processing unit 131, a driving processing unit 132, a work assistance processing unit 133, and a storage unit 134.

[0054] The acquisition processing unit 131 performs acquisition processing to acquire work site information related to work site F1. Here, the work site information includes outline information based on the shape (outline) of work site F1. That is, the acquisition processing unit 131 acquires outline information based on the outline of work site F1.

[0055] The driving processing unit 132 performs driving processing to control the driving device 14. As an example, the driving processing unit 132 controls the driving device 14 to automatically drive the working vehicle 10 based on the current position of the working vehicle 10 calculated using the positioning device 16 and a pre-set target path. Furthermore, the driving processing unit 132 controls the work machine 12 based on the current position of the working vehicle 10 calculated using the positioning device 16 and the pre-set target path to perform the work of the working vehicle 10 (planting operation in this embodiment) at an appropriate position on the target path.

[0056] Specifically, if the driving processing unit 132 receives a driving start instruction from the terminal device 20, the automatic driving of the work vehicle 10 begins. For example, if the operator presses the 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 within the work site F1 according to the target path R1 (refer to...). Figure 3 It starts to drive automatically and performs the work of the work machine 12 (planting operation in this embodiment).

[0057] For example, the terminal device 20 generates a target path R1 for the automatic driving of the work vehicle 10. That is, the work vehicle 10 obtains the path data corresponding to the target path R1 from the terminal device 20 and drives automatically according to the target path R1.

[0058] Additionally, if the driving processing unit 132 receives a driving stop instruction from the terminal device 20, it will stop the automatic driving of the work vehicle 10. For example, if the operator operates the stop button on the operation screen of the terminal device 20, the terminal device 20 will output a driving stop instruction to the work vehicle 10.

[0059] In addition, the term "automatic driving" as used in this disclosure includes "autonomous driving" in which the work vehicle 10 drives autonomously without relying on the operator's operation, and "semi-automatic driving" in which only steering is automated, such as straight-line assist.

[0060] "Autonomous driving" is, for example, the following driving mode: in addition to the automatic steering of the steering wheels (front wheels 141), the vehicle speed and other parameters are automatically controlled so that the work vehicle 10 travels along the target path R1. "Straight-line assist" is, for example, the following driving mode: only the steering wheels (front wheels 141) are automatically steered, and the vehicle speed and other parameters are controlled by the operator so that the work vehicle 10 travels along a straight path parallel to a reference straight line (reference line).

[0061] As another example, the work vehicle 10 can be driven by the operator's manual steering. For instance, the operator rides in the work vehicle 10 and, while confirming the target path R1, drives the work vehicle 10 by manual steering.

[0062] The work assistance processing unit 133 performs work assistance processing to assist the operator in operating the work machine 12 (planting operation in this embodiment). Work assistance processing includes, for example, providing prompts (display or sound output, etc.) related to operating the work machine 12 via a user interface such as a display device 18 to assist the operator in operating the work machine 12, and processing for directly controlling the work machine 12. In this embodiment, the work assistance processing unit 133 essentially performs the former processing (i.e., processing to assist the operator in operating the work machine 12) as work assistance processing.

[0063] The storage unit 134 is a non-volatile memory that stores various data such as the control program for the work vehicle and target path information related to the target path R1. That is, the driving processing unit 132 can cause the driving device 14 to perform automatic driving along the target path R1 based on the target path information stored in the storage unit 134.

[0064] Furthermore, when an obstacle is detected by the monitoring device 15 as the monitoring object during the automatic driving of the work vehicle 10, the control device 13 executes the output of an alarm (including a notification based on sound and / or light) and obstacle avoidance processing (including detour, deceleration, or stopping) to control the driving device 14. The control device 13 can also output obstacle location information and the execution history of obstacle avoidance processing to the terminal device 20 for display.

[0065] In addition to the above structure, the work vehicle 10 also includes a battery, a fuel tank, and various sensors. The battery supplies power to various parts of the work vehicle 10, such as the control device 13, for operation. In particular, electronic devices such as the control device 13, monitoring device 15, positioning device 16, communication device 17, and display device 18 operate by means of power supplied from the battery, thus enabling them to operate even when the power source (engine) of the travel device 14 is stopped.

[0066] [3] Structure of the terminal device

[0067] Next, refer to Figure 1 and Figure 2 The structure of the terminal device 20 according to this embodiment will be described in detail.

[0068] In this embodiment, the terminal device 20 can communicate with the work vehicle 10 in the manner described above, and together with the control device 13 of the work vehicle 10, constitutes the control system 1. That is, the structural elements of the control system 1 are at least distributed between the work vehicle 10 and the terminal device 20. However, it is not limited to this structure. For example, the functions of the control device 13 can also be implemented in the terminal device 20. In this case, the structural elements of the control system 1 are implemented only by the terminal device 20. Conversely, for example, the functions of the terminal device 20 can also be implemented in the control device 13. In this case, the structural elements of the control system 1 are implemented only by the control device 13.

[0069] In this embodiment, as an example, the terminal device 20 is composed of a general-purpose terminal such as a tablet terminal, smartphone, or laptop computer. Figure 2As 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. Furthermore, the terminal device 20 also includes a sound output unit for outputting sound (including voice) to the user (operator) and a battery.

[0070] The information processing unit 21 performs various processes (information processing) based on a computer system having one or more processors such as a CPU and one or more memories such as ROM and RAM. In this embodiment, the information processing unit 21 is based on a computer system having one or more processors, so the information processing unit 21 is implemented by executing the control program for the work vehicle using 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, thereby enabling the control device 13 and the terminal device 20 to cooperate and realize the control system 1.

[0071] The information processing unit 21 is configured to communicate with various parts of the terminal device 20 (storage unit 22, operation display unit 23, and communication unit 24). That is, the storage unit 22, operation display unit 23, and communication unit 24 are electrically connected to the information processing unit 21. Therefore, the information processing unit 21 can read and write information relative to the storage unit 22, control the display on the operation display unit 23, or acquire operation input for the operation display unit 23. Here, the information processing unit 21 can directly send and receive various types of information (data) with each part, or indirectly via a repeater or the like.

[0072] This terminal device 20 is a user interface for accepting user (operator) input and outputting various information to the user. For example, the terminal device 20 accepts various user operations by outputting electrical signals corresponding to the user's operations on the operation display unit 23. Furthermore, the terminal device 20 displays various screens on the operation display unit 23 and outputs various information to the user.

[0073] Storage unit 22 is a non-volatile memory that stores various data such as the control program for the work vehicle and target path information related to the target path R1. Furthermore, storage unit 22 can store various data such as work machine information, work vehicle information, field information, and work information. Work machine information includes information related to the work machine 12 mounted on the body 11, such as the type, identification information, model name, model number, and size of the work machine 12. Work vehicle information includes information related to the body 11 (vehicle body) of the work vehicle 10, such as the type of body 11 (e.g., half-track / wheeled), identification information, model name, model number, and size. Field information includes information related to the field designated as work site F1, including field identification information, field name, location, shape, size, start position of work (start of travel position), end position of work (end of travel position), and work direction. The operation information is information related to the operation performed by the operation vehicle 10, such as the type of operation and how it is performed. Furthermore, the operation information may also include whether the operation vehicle 10 is coordinating operations, the width of the field edge, and the width of uncultivated land.

[0074] The information stored in the storage unit 22 (target path information, machine information, vehicle information, field information, and operation information, etc.) is set (registered) through user (operator) input to the operation display unit 23 or obtained from the operation vehicle 10. For example, the type of machine 12 in the machine information can be specified by the user through operation of the operation display unit 23, or the operation vehicle 10 can automatically identify the machine 12 mounted on the body 11 and send it to the terminal device 20. The above information can also be obtained by the terminal device 20 from external devices other than the operation vehicle 10 (such as servers, external storage media, or other terminal devices, etc.).

[0075] The operation display unit 23 is a user interface equipped with a display unit such as a liquid crystal display or an organic EL display for displaying various information, and an operation unit such as a touch panel, mouse, keyboard, mechanical switch, or encoder for accepting operations. For example, the operator can operate the operation unit 23 to set (register) various information by viewing the operation screen displayed on the operation display unit 23. For instance, the operator can set automatic driving information (including target path information) related to the automatic driving of the work vehicle 10.

[0076] Furthermore, the operation display unit 23 displays the progress of the work at the work site F1, as well as the operational status of the work vehicle 10, including its target path R1, (actual) trajectory, current position, and speed. This allows for both close-range and remote monitoring of the work vehicle 10 in autonomous driving mode by the operator. Close-range monitoring, for example, means monitoring within the operator's visual range, while remote monitoring, for example, means monitoring based on images of the area surrounding the work vehicle 10 displayed on the terminal device 20. Remote monitoring also allows monitoring of multiple work vehicles 10 using a single terminal device 20. However, this definition is merely one example, and other definitions are possible. Here, the operational status of the work vehicle 10 also includes the monitoring results of the objects monitored by the monitoring device 15. Furthermore, the operation display unit 23 can receive start or stop instructions from the operator. The terminal device 20 can remotely control the work vehicle 10 by sending these start or stop instructions to it. Therefore, remote operation of the work vehicle 10 by the operator is possible.

[0077] The communication unit 24 serves as a communication interface that connects the terminal device 20 to the work vehicle 10 via wired or wireless means, enabling data communication with the work vehicle 10 according to a prescribed communication protocol. In this embodiment, the communication unit 24 is capable of communicating with the work vehicle 10 (its communication device 17) via the communication network N1. Furthermore, the communication unit 24 can connect to the communication network N1 wirelessly, thus allowing communication with the work vehicle 10 at any time, even in locations sufficiently far from it.

[0078] However, in this embodiment, such as 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, a (second) acquisition processing unit 214, a determination processing unit 215, a reconstruction processing unit 216, and a notification processing unit 217. In this embodiment, as an example, the information processing unit 21 is mainly structured as a computer system with one or more processors. Therefore, one or more processors execute the control program for the work vehicle, thereby implementing the above-mentioned multiple functional units (such as the generation processing unit 211). The multiple functional units included in the information processing unit 21 can be distributed in multiple housings or disposed in a single housing.

[0079] The generation processing unit 211 performs the following path generation process: generating a path (target path R1) for the work vehicle 10 to travel (autopilot) at the work site F1. Here, the generation processing unit 211 generates the target path R1 based on generation data stored in the storage unit 22, including work machine information, work vehicle information, field information, and work information. That is, regarding the target path R1, for example, the generation processing unit 211 generates the target path based on work machine information, work vehicle information, field information, and work information set (registered) by the user (operator) through operation input to the operation display unit 23.

[0080] Specifically, the generation and processing unit 211 generates data based on the driving start position P1 (referenced from the field information). Figure 3 ) and the end position of the journey P2 (refer to Figure 3 The generation processing unit 211 generates a target path R1 within the work site F1 based on the generation data, which is used to move the body 11 of the work vehicle 10 from the starting position P1 to the ending position P2 within the work site F1.

[0081] The generation processing unit 211 performs the following path generation process: generating a path (target path R1) for the work vehicle 10 to travel (autopilot) on the work site F1. Here, the generation processing unit 211 generates the target path R1 based on generation data stored in the storage unit 22, including work machine information, work vehicle information, field information, and work information. That is, regarding the target path R1, for example, the generation processing unit 211 generates the target path based on work machine information, work vehicle information, field information, and work information set (registered) by the user (operator) through operation input to the operation display unit 23.

[0082] In this embodiment, the field information included in the generation data includes outline information based on the outline of the work site F1. The work vehicle 10 travels along the target path R1 within the work site F1. Therefore, the generation processing unit 211 generates a path (target path R1) that prevents the work vehicle 10 from traveling through the area exposed by the outline of the work site F1 as determined by the outline information, based essentially on the generation data.

[0083] The registration processing unit 212 performs the following registration processing: registering information such as machine information, vehicle information, field information, and operation information. That is, information such as machine information, vehicle information, field information, and operation information used to generate the target path R1 are registered (set) by the registration processing unit 212, for example, through user (operator) operation input to the operation display unit 23.

[0084] The output processing unit 213 performs output processing for example as follows: outputting the path data of the target path R1 to the work vehicle 10. That is, the path data related to the target path R1 generated by the generation processing unit 211 is output from the output processing unit 213 to the communication unit 24, and then sent from the communication unit 24 to the work vehicle 10.

[0085] For example, when starting work, the operator selects the field (work site F1), the work area, and confirms the target path R1, thus issuing a work start instruction. If 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. If the work vehicle 10 receives the path data generated in the terminal device 20, it stores the path data in the storage unit 134. Furthermore, the work vehicle 10 performs automatic driving (autonomous driving and autonomous operation) based on the current position of the work vehicle 10 calculated using the positioning device 16 and the target path R1 determined according to the path data.

[0086] Furthermore, the output processing unit 213 can also output the generated target path R1 to the operation display unit 23, thereby enabling the operation display unit 23 to display the output. The output method of the output processing unit 213 is not limited to sending or displaying to the work vehicle 10 as described above. For example, it can be sending to other devices (user terminals, etc.), printing, writing to non-temporary recording media, or voice output.

[0087] The acquisition processing unit 214 performs the following acquisition process: acquiring detection information and registration information as information relating to the outline of the work site F1 in a top-view view. The detection information is information relating to the outline of the work site F1 and is information detected by the work vehicle 10 during its operation. On the other hand, the registration information is information relating to the outline of the work site F1 and is information pre-registered for the work site F1. That is, the acquisition processing unit 214 acquires two different types of information (detection information and registration information) that, although both relate to the outline of the work site F1 in a top-view view, are actually separate. In this embodiment, as described above, the outline information relating to the shape (outline) of the work site F1, which is pre-registered by the registration processing unit 212 and stored in the field information in the storage unit 22 at least before the generation of the target path R1, is an example of registration information.

[0088] More specifically, regarding detection information, the acquisition and processing unit 214 acquires it periodically or irregularly from the work vehicle 10 via the communication unit 24. On the other hand, regarding registration information, the acquisition and processing unit 214 acquires it periodically or irregularly from the storage unit 22. The timing of the acquisition of detection information and the timing of the acquisition of registration information by the acquisition and processing unit 214 can be the same or different. Similarly, the frequency at which the acquisition and processing unit 214 acquires detection information and the frequency at which it acquires registration information can be the same or different.

[0089] The determination processing unit 215 performs the following determination processing: it compares the detection information and the registration information to make a determination related to the deviation of the outline. That is, when there are two types of information related to the outline of the work site F1, namely the detection information detected by the work vehicle 10 during its operation and the registration information pre-registered (at least before the generation of the target path R1), the determination processing unit 215 compares these two types of information. Furthermore, the determination processing unit 215 compares the detection information and the registration information to make a determination related to the "deviation" between the outline determined based on the registration information and the outline determined based on the detection information.

[0090] The reconstruction processing unit 216 performs the following reconstruction process: if it is determined that a predetermined deviation has occurred in the outline, it reconstructs the object information related to the outline. That is, as a result of the determination processing unit 215, if it is confirmed that a predetermined "deviation" has occurred between the outline determined based on the registration information and the outline determined based on the detection information, the reconstruction processing unit 216 reconstructs the object information. Here, as an example, the object information that becomes the object of reconstruction includes information related to the outline (shape) of the work site F1. In short, if the determination processing unit 215 determines that a predetermined deviation has occurred in the outline, the reconstruction processing unit 216 recalculates (reconstructs) the information on the shape (outline) of the work site F1 that reflects the deviation. The "reconstruction" referred to here includes not only recreating the object information, but also correcting only the parts of the object information that need correction.

[0091] The notification processing unit 217 performs notification processing as follows: when it is determined that a specified deviation has occurred in the outline, a notification is issued. Here, "notification" means, for example, informing the operator or others. The notification method based on the notification processing unit 217 may include, for example, display (to the operation display unit 23, etc.), sound (including voice) output, transmission to other devices (work vehicle 10), printing, or writing to a non-temporary recording medium, or a combination thereof. In this embodiment, as an example, the notification processing unit 217 issues a notification by displaying it to the operation display unit 23.

[0092] More specifically, when the "deviation" between the outline determined based on the registration information and the outline determined based on the detection information is greater than or equal to a first determination threshold, the object information is reconstructed by the reconstructing processing unit 216 as "the outline has a prescribed deviation". On the other hand, when the "deviation" between the outline determined based on the registration information and the outline determined based on the detection information is greater than or equal to a second determination threshold, the notification processing unit 217 notifies the object information as "the outline has a prescribed deviation". The units for the first and second determination thresholds are, for example, units of distance (length) such as "cm".

[0093] Here, the first determination threshold and the second determination threshold can be the same or different. If the first determination threshold and the second determination threshold are different, the first determination threshold can be greater than or less than the second determination threshold. If the first determination threshold and the second determination threshold are the same, then the "prescribed deviation" that determines whether the reconstruction processing unit 216 performs reconstruction processing and the "prescribed deviation" that determines whether the notification processing unit 217 performs notification processing are the same. Therefore, if the "deviation" of the outline is greater than or equal to the first determination threshold (= the second determination threshold), both reconstruction processing and notification processing are performed. On the other hand, if the first determination threshold is greater than the second determination threshold, then the "prescribed deviation" that determines whether the reconstruction processing unit 216 performs reconstruction processing and the "prescribed deviation" that determines whether the notification processing unit 217 performs notification processing are different. Therefore, even if the "deviation" of the outline is, for example, greater than or equal to the second determination threshold (< the first determination threshold), notification processing is performed, but reconstruction processing may not be performed.

[0094] Terminal device 20 can be configured to access a website (agricultural assistance site) providing agricultural assistance services via communication network N1. In this case, terminal device 20 can function as an operating terminal for the server by executing a browsing program using information processing unit 21. Furthermore, the server has the aforementioned processing units and executes each processing step.

[0095] [4] Control methods for work vehicles

[0096] The following is for reference Figures 3-9 An example of a control method (hereinafter referred to as the "control method") for a work vehicle 10 mainly executed by the control system 1 (control device 13 and terminal device 20) will be described.

[0097] The control method described in this embodiment is executed by a control system 1, which is primarily based on a computer system. Therefore, in other words, it is implemented using a control program for a work vehicle (hereinafter referred to as the "control program"). That is, the control program described in this embodiment is a computer program used to cause one or more processors to execute the various processes involved in the control method.

[0098] Here, when a specific pre-set start operation for executing the control program is performed, the control system 1 executes the various processes involved in the control method. The start operation is, for example, starting the application program (control program for the work vehicle) using the terminal device 20. On the other hand, when a specific pre-set end operation is performed, the control system 1 terminates the various processes involved in the control method. The end operation is, for example, ending the application program (control program for the work vehicle) using the terminal device 20.

[0099] Additionally, the following, such as Figure 3 As shown, the work site F1 is a quadrilateral field viewed from above. One short side of the outer perimeter of work site F1 is assumed to be "first outer perimeter f11", another short side is assumed to be "second outer perimeter f12", one long side is assumed to be "third outer perimeter f13", and another long side is assumed to be "fourth outer perimeter f14". Furthermore, at work site F1, the starting position P1 is located near the corner between the first outer perimeter f11 and the third outer perimeter f13, and the ending position P2 is located near the corner between the second outer perimeter f12 and the third outer perimeter f13.

[0100] [4.1] Basic Movements

[0101] First, refer to Figure 3 and Figure 4 The basic operation of the work vehicle 10 automatically traveling along the target path R1 on the work site F1 consisting of a certain field, using the control system 1 according to this embodiment, will be described. Figure 4 yes Figure 3 A detailed enlarged view of the area near the corner between the first outline f11 and the fourth outline f14.

[0102] exist Figure 3 and Figure 4In the example, the target path R1 includes the work path r11, the connecting path r12, and the peripheral path r13. The work path r11 and the peripheral path r13 are the paths through which the work vehicle 10 travels (moves) while using the work machine 12 to perform operations. The connecting path r12 is a path that connects multiple work paths r11, allowing the work vehicle 10 to make turns to change its direction of travel, and is also a path through which the work vehicle 10 travels (moves) without using the work machine 12 (non-work path).

[0103] exist Figure 3 In the attached diagram representing the target path R1, solid lines indicate the paths where the work vehicle 10 performs operations (work path r11 and peripheral path r13), while dashed lines indicate paths where the work vehicle 10 does not perform operations (connecting path r12). Figure 3 The attached diagram, which represents the target path R1, schematically shows the target path R1 (and the work vehicle 10) generated about the work site F1 from a top-down view. Figure 3 and Figure 4 In the middle, the front-to-back direction D2 and the left-to-right direction D3 are based on Figure 3 and Figure 4 The orientation of the body 11 of the work vehicle 10 shown is the reference direction.

[0104] More specifically, such as Figure 3 As shown, the target path R1 comprises multiple work paths r11 extending between a pair of long sides (the third outline f13 and the fourth outline f14) of the work site F1. That is, in Figure 3 In the example target path R1, a work path r11 is configured extending upwards from the driving start position P1 set in the lower left corner of the figure. Multiple (parallel) work paths r11 are arranged at constant intervals on the right side of the figure along this work path r11. The multiple work paths r11 are configured such that work paths r11 extending from one long side (third outline f13) of the work site F1 towards another long side (fourth outline f14) and work paths r11 in the opposite direction are arranged alternately.

[0105] Here, all the multiple work paths r11 are straight paths (straight paths) through which the work vehicle 10 moves forward while using the work machine 12 to perform work. The spacing between adjacent work paths r11 is set based on the width dimension (work width W1) of the work machine 12 in the left-right direction D3. The work vehicle 10 travels along the multiple work paths r11 to carry out planting operations on approximately the entire area of ​​the work site F1 (except for the edge area at the periphery). Furthermore, adjacent pairs of work paths r11 are connected by a connecting path r12 that connects the end of one work path r11 on the first outline f11 side to the beginning of another work path r11 on the second outline f12 side.

[0106] Furthermore, the outer perimeter path r13 is as follows: it is continuous with the end of the final (second outline line f12 side) work path r11 among multiple work paths r11, and surrounds the outer perimeter of work site F1 along the outline lines (first to fourth outline lines f11 to f14) of work site F1. Figure 3 In the example, the outer perimeter path r13 extends from the lower right corner of the diagram to the lower left corner, from the lower left corner to the upper left corner, from the upper left corner to the upper right corner, and from the upper right corner to the lower right corner, thus circling the outer perimeter of the work site F1.

[0107] According to this target path R1, the work vehicle 10, in the work site F1, except for the inner area F11 of the outer periphery F12 (which is the outer periphery),... Figure 3 The planting operation is performed by the work vehicle 10 traveling back and forth parallel to the work path r11 from the starting position P1 (inside the single-dot dashed line). Then, the work vehicle 10 performs planting operations while traveling clockwise around the outer perimeter path r13 towards the ending position P2 in the outer perimeter area F12. However, when the work vehicle 10 is traveling on the outer perimeter path r13, it is preferable to perform automatic driving of the work vehicle 10 with the operator riding in the machine body 11. As a result, the work vehicle 10 can perform planting operations on approximately the entire area of ​​the work site F1, including the outer perimeter area F12.

[0108] In summary, when traveling along the work path r11, the work vehicle 10 uses the work machine 12 to perform the work (planting operation), therefore, as Figure 4 As shown, multiple seedlings V1 are planted in the passage area A1, which has been traversed by the working vehicle 10 (working machine 12) in the inner area F11. Here, in the passage area A1, multiple rows (8 rows) of working columns Vr1 to Vr8 (seedling columns) are formed in the left-right direction D3, which is orthogonal to the direction of travel of the working vehicle 10.

[0109] Similarly, when traveling on the outer perimeter path r13, the work vehicle 10 also uses the work machine 12 to perform work (planting work). Therefore, for the work vehicle 10 in the outer perimeter area F12 ( Figure 4 In the area A2 (shown by the virtual line, double-dotted line), multiple rice seedlings V1 have also been planted. Here, Figure 4 The illustration is omitted, but in the area through A2, there are also multi-row (8-row) operation columns Vr1~Vr8 (seedling columns) arranged in the left and right directions D3 orthogonal to the direction of travel of the operation vehicle 10.

[0110] The target path R1 is not limited to Figure 3 The path shown in the example can be set appropriately. Additionally, in Figure 3 In this process, the work vehicle 10 first travels in the inner area F11 and then in the outer area F12, but the travel order of the work vehicle 10 is not limited to this. For example, it is also possible for the work vehicle 10 to first travel in the outer area F12 and then in the inner area F11.

[0111] In addition, Figure 3 In the example, the connecting path r12 set in the outer perimeter area F12 includes a turning path for turning right in a gentle manner, but the turning method for changing the orientation of the work vehicle 10 is not limited to a "gentle turn". The connecting path r12 may include, for example, the following turning method: in order to turn the machine body 11 in a limited space, such as a so-called "fishtail turn", the machine body 11 turns while switching between forward and reverse. Similarly, regarding the turning method of the work vehicle 10 when traveling on the outer perimeter path r13, appropriate turning methods such as "gentle turn" or "fishtail turn" can also be applied.

[0112] To achieve the automated driving of the work vehicle 10 as described above, the shape of the work site F1 needs to be identified and registered in advance. For example, an operator rides in the work vehicle 10 and drives it in a manner that circles the perimeter of the registered work site F1 (teaching drive). The terminal device 20 obtains the position information of the work vehicle 10 during its journey and, based on this position information, identifies the position and shape of the work site F1 and registers it as work site F1. In this teaching drive, an outer path r13 is generated along the path traveled by the work vehicle 10. By registering the work site F1 based on actual information from this teaching drive or previous driving paths, a target path R1 can be generated, for example, regarding obstacles such as culverts that are difficult to detect using only the monitoring device 15, even if the obstacle is initially avoided.

[0113] Furthermore, multiple work paths r11 can be generated by leaving a width corresponding to multiple strokes in the outer perimeter area F12 of the work site F1, and outer perimeter paths r13 corresponding to multiple strokes can be generated along the outer perimeter (outer contour line) of the work site F1. In this case, after the work vehicle 10 performs work on the multiple work paths r11, it travels sequentially from the inside to the outside on the outer perimeter paths r13 corresponding to multiple turns. Preferably, the work vehicle 10 automatically travels in an unmanned state on the inner outer perimeter path r13 and automatically travels in a manned state on the outermost outer perimeter path r13.

[0114] [4.2] Deviation of outline

[0115] Next, refer to Figures 5-8 The handling (judgment handling, etc.) of the deviation relationship with the outline (first to fourth outline f11 to f14) of the work site F1 is explained.

[0116] Regarding the control system 1 according to this embodiment, the generation processing unit 211 of the terminal device 20 basically generates a target path R1 such that the work vehicle 10 travels (automatic driving) without being exposed beyond the outline of the work site F1. Therefore, the work vehicle 10 travels along the target path R1 within the work site F1 while performing work on the work site F1 in a manner that prevents the body 11 from being exposed outside the work site F1 (i.e., the outer side of the outer diameter).

[0117] However, as Figure 5 As shown, the shape of the work site F1 can sometimes change due to factors such as embankment construction or the influence of wind and rain. "Embankment construction" refers to the following operation: filling the paddy field surrounding the work site F1 with soil from the paddy field to seal cracks or holes, thereby preventing water leakage from the work site F1. The shape of the work site F1 can also change due to the abrasion or collapse of the embankment caused by wind and rain. Furthermore, if the shape of the work site F1 changes, the outline (…) Figure 5 In the example, the position of the fourth outline (f14) also changes. Figure 5 In the diagram, the outline before the change (fourth outline f14) is represented by a virtual line (double-dotted line), and the outline after the change (fourth outline f14) is represented by a solid line (thick line).

[0118] exist Figure 5 In the example, the fourth outline f14 extends inward toward the work site F1, i.e., toward the side of the third outline f13. Therefore, the area of ​​the work site F1 decreases due to the change in the position of the outline (fourth outline f14). When the position of the outline of the work site F1 changes in this way, it is sometimes preferable to also change the path (target path R1) of the work vehicle 10 traveling within the work site F1. For example, in... Figure 5 In the example, if the work vehicle 10 travels on a target path R1 generated corresponding to the shape (outline) of the work site F1 before the change, the body 11 of the work vehicle 10 may protrude from the (changed) outline (fourth outline f14) outwards from the work site F1. In this case, the body 11 may also come into contact with field ridges or other structures existing around the work site F1. Therefore, for example, it may be required to change the target path R1 in a way that does not protrude from the outline of the changed work site F1.

[0119] Therefore, whenever a task is performed, the shape of the work site F1 should be remeasured and recorded through methods such as teaching the vehicle. However, if the shape of the work site F1 is remeasured and recorded every time a task is performed, the efficiency of the task may decrease significantly.

[0120] Therefore, in the control method described in this embodiment, a control method that makes it difficult to reduce work efficiency is achieved through the structure described below.

[0121] That is, the control method for the work vehicle 10 according to this embodiment is a control method for a work vehicle 10 capable of traveling on a work site F1. This control method includes the following steps: acquiring detection information and registration information as information relating to the outline of the work site F1 in a top-view view; and making a determination related to deviations from the outline by comparing the detection information and the registration information. The detection information is information relating to the outline of the work site F1, and is information detected by the work vehicle 10 during travel. The registration information is information relating to the outline of the work site F1, and is information pre-registered regarding the work site F1.

[0122] In summary, in the control method of this embodiment, when the shape (outer contour line) of the work site F1 changes, a "deviation" occurs between the outer contour line determined based on pre-registered registration information and the outer contour line determined based on detection information detected by the work vehicle 10 during operation. Figure 5 In the example, the outline (fourth outline f14) determined based on the registration information is represented by a virtual line (double-dotted line), and the outline (fourth outline f14) determined based on the detection information is represented by a solid line (thick line). The control method involved in this embodiment focuses on the "deviation" of this outline and makes a determination related to this "deviation," thereby being able to determine whether the shape (outline) of the work site F1 has changed. Therefore, according to this control method, there is an advantage that the shape of the work site F1 does not need to be re-measured and registered each time work is performed, and the work efficiency is unlikely to decrease.

[0123] The control method according to this embodiment also includes the following steps: when it is determined that a predetermined deviation has occurred in the outline, object information related to the outline is reconstructed. That is, for a certain work site F1, when the determination processing unit 215 determines that a predetermined deviation has occurred between the outline determined based on the registration information and the outline determined based on the detection information, the reconstruction processing unit 216 reconstructs object information related to the outline of the work site F1.

[0124] Specifically, the reconstruction processing unit 216 reconstructs the outline information (registration information) of the work site F1, which is pre-registered by the registration processing unit 212 and stored in the storage unit 22, based on the detection information. As a result, the outline information registered in the storage unit 22 is updated based on the detection information detected by the work vehicle 10 during operation, and becomes consistent with the current (changed) outline of the work site F1. Therefore, for example, when the operation display unit 23 displays the progress of the work at work site F1, a display corresponding to the current shape of work site F1 is also made, thus improving the accuracy of the operator's close-range and long-range monitoring of the work vehicle 10.

[0125] Furthermore, the driving device 14 of the work vehicle 10 or the work machine 12 can be controlled based on the reconstructed outline information, for example, during automatic or manual driving, according to the distance between the machine body 11 and the outline (field ridge). For example, when the work vehicle 10 is traveling towards the outline (field ridge), deceleration (braking) control of the driving device 14 and / or lifting control of the work machine 12 can be performed based on the distance from the outline determined by the reconstructed outline information, thereby preventing contact between the work machine 12 and the field ridge. Furthermore, the acceleration control of the driving device 14 based on the current (changed) shape (outline) of the work site F1 can also shorten the work time.

[0126] Furthermore, in this embodiment, the work vehicle 10 is capable of automatic driving. Therefore, the control method according to this embodiment also includes the following steps: when it is determined that a predetermined deviation has occurred in the outline, object information including a target path R1 for enabling the work vehicle 10 to drive automatically is reconstructed. That is, regarding a certain work site F1, when the determination processing unit 215 determines that a predetermined deviation has occurred between the outline determined based on the registration information and the outline determined based on the detection information, the reconstruction processing unit 216 recalculates the target path R1 generated for that work site F1 and reconstructs object information including the target path R1.

[0127] Specifically, the reconstruction processing unit 216 reconstructs the path (target path R1) used by the work vehicle 10 to travel (autopilot) on the work site F1 pre-generated by the generation processing unit 211 as object information based on detection information. Thus, the target path R1 used for the automatic travel of the work vehicle 10 is updated based on the detection information detected by the work vehicle 10 during travel, becoming a path corresponding to the current (changed) shape (outline) of the work site F1. Therefore, for example, the work vehicle 10 automatically travels along the reconstructed target path R1, enabling the work vehicle 10 to travel in a manner that prevents the body 11 from being exposed from the outline of the work site F1.

[0128] Figure 6 This is a schematic diagram illustrating a specific example of reconstructing the target path R1 using the reconstruction processing unit 216. Figure 6 In this diagram, the original outline (fourth outline f14) is represented by a dashed line (double-dotted line), and the changed outline (fourth outline f14) is represented by a solid line (thick line). When the outline exhibits a specified deviation, such as... Figure 6 As shown, the reconstructing processing unit 216 reconstructs (modifies) the working path r11 and connecting path r12 of the target path R1 in a manner that prevents the machine body 11 from being exposed from the changed outline of the working site F1. Figure 6 In the diagram, the target path R1 before reconstruction is represented by a virtual line (double-dotted line), and the target path R1 after reconstruction is represented by a solid line (operation path r11) and a dashed line (connecting path r12). That is, when the position of the outer contour line moves inward toward the work site F1, the turning position is changed to the closer forward side (inward of the work site F1) to avoid the machine 11 from contacting the field ridge.

[0129] Similarly, the peripheral path r13 of the target path R1 is also reconstructed using the reconstruction processing unit 216. Figure 7 In this diagram, the original outline (fourth outline f14) is represented by a dashed line (double-dotted line), and the changed outline (fourth outline f14) is represented by a solid line (thick line). When the outline exhibits a specified deviation, such as... Figure 7 As shown, the reconstructing processing unit 216 reconstructs (modifies) the outer perimeter path r13 of the target path R1 in a manner that prevents the machine body 11 from being exposed from the changed outline of the work site F1. Figure 7 In the diagram, the target path R1 before reconstruction is represented by a virtual line (double-dotted line), and the target path R1 after reconstruction is represented by a solid line (operation path r11) and a dashed line (connecting path r12). That is, when the outer contour line moves inward toward the work site F1, the outer perimeter path r13 also changes inward toward the work site F1 along the changed outer contour line to avoid the machine 11 contacting the field ridge.

[0130] Here, if the "deviation" between the outline determined based on the registration information and the outline determined based on the detection information is greater than or equal to a first determination threshold, it is considered that "the outline has a prescribed deviation," and the reconstructing processing unit 216 reconstructs object information (outline information and / or target path R1). For example, if the first determination threshold is 50 cm, in this case, if the outline determined based on the detection information has a deviation of 50 cm or more relative to the outline determined based on the registration information, the position of the outline deviates according to both the registration information and the detection information, thus "the outline has a prescribed deviation." When the outline deviates within a certain length range, the "deviation" of the outline compared to the first determination threshold can be the average value within that range, or it can be the center value, maximum value, or minimum value, etc.

[0131] Here, the control method involved in this embodiment further includes the following steps: when it is determined that the outline has produced a predetermined deviation, the user selects whether to reconstruct the object information based on the user's operation. That is, even if the "deviation" of the outline is above a first determination threshold and the determination processing unit 215 determines that "the outline has produced a predetermined deviation," the reconstruction processing unit 216 may not reconstruct the object information. That is, when the determination processing unit 215 determines that "the outline has produced a predetermined deviation," the reconstruction processing unit 216 confirms with the user (operator) whether to reconstruct the object information, and the object information is reconstructed only after the user selects to reconstruct.

[0132] Specifically, when the determination processing unit 215 determines that "the outline has deviated from the prescribed standard," the reconstruction processing unit 216 causes the operation display unit 23 to display a screen asking whether to allow the reconstruction of object information (outline information and / or target path R1). If the user (operator) performs a user operation to allow the reconstruction of object information on the operation display unit 23 on this screen, the reconstruction processing unit 216 performs the reconstruction of object information. On the other hand, if the user (operator) performs a user operation to refuse the reconstruction of object information on the operation display unit 23 on this screen, the reconstruction processing unit 216 does not perform the reconstruction of object information. Thus, it is possible to avoid reconstructing object information (outline information and / or target path R1) without the operator's knowledge.

[0133] Alternatively, the control method may include the following steps: pre-setting whether to allow reconstruction of object information when it is determined that the outline has a specified deviation. That is, when the determination processing unit 215 determines that "the outline has a specified deviation", the reconstruction processing unit 216 confirms whether to allow reconstruction of object information, and only reconstructs object information after allowing reconstruction.

[0134] Specifically, for example, in the setting screen displayed on the operation display unit 23, the user (operator) can preset whether to allow the reconstruction of object information (outline information and / or target path R1). When the setting screen indicates that object information reconstruction is allowed, if the determination processing unit 215 determines that "the outline has a predetermined deviation," the reconstruction processing unit 216 performs the reconstruction of the object information. On the other hand, when the setting screen indicates that object information reconstruction is denied, if the determination processing unit 215 determines that "the outline has a predetermined deviation," the reconstruction processing unit 216 does not perform the reconstruction of the object information. Therefore, it is possible to decide whether to perform the reconstruction of object information (outline information and / or target path R1) according to the operator's wishes.

[0135] Furthermore, the control method according to this embodiment also includes the following step: issuing a notification when it is determined that a predetermined deviation has occurred in the outline. That is, regarding a certain work site F1, when the determination processing unit 215 determines that a predetermined deviation has occurred between the outline determined based on the registration information and the outline determined based on the detection information, the notification processing unit 217 issues a notification.

[0136] Specifically, the notification processing unit 217 uses the display screen shown on the operation display unit 23 to notify the operator of any deviation in the position of the outline based on registration and detection information. The display screen includes text and / or images, and for example, includes a message indicating a deviation in the position of the outline, such as "There is a difference of more than 50 cm relative to the previously registered position of the field ridge." This allows the operator to be notified of the deviation in the position of the outline, enabling them to drive carefully, for example, when driving manually.

[0137] Here, if the "deviation" between the outline determined based on the registration information and the outline determined based on the inspection information is greater than or equal to the second determination threshold, the notification processing unit 217 notifies that "the outline has a prescribed deviation." For example, if the second determination threshold is 30 cm, in this case, if the outline determined based on the inspection information has a deviation of 30 cm or more relative to the outline determined based on the registration information, then the position of the outline has deviated according to both the registration information and the inspection information, thus "the outline has a prescribed deviation." When the outline deviates within a certain length range, the "deviation" of the outline compared to the first determination threshold can be the average value within that range, or it can be the central value, maximum value, or minimum value, etc.

[0138] Furthermore, if the first and second determination thresholds are the same, and the "deviation" of the outline is above the first determination threshold (= the second determination threshold), then both reconstruction processing and notification processing are performed. For example, the notification content at this time could include a message indicating that object information reconstruction is being carried out, such as "Reconstruct the path to avoid collisions." Therefore, by reconstructing object information (outline information and / or target path R1) based on the operator's understanding, further improvements in work efficiency can be achieved.

[0139] Furthermore, the control method may include the following step: providing information related to the amount of deviation of the outline. For example, when a notification is issued that the position of the outline has deviated based on registration information and inspection information, the notification processing unit 217 may also display a notification on the display screen regarding the amount of deviation between the outline determined based on the registration information and the outline determined based on the inspection information. As an example, this may include a message indicating the specific degree of deviation, such as "There is a difference of 75cm relative to the previously registered ridge position." Thus, the operator can be notified of the degree of deviation of the outline's position, for example, allowing for careful driving even when manually maneuvering.

[0140] Furthermore, regardless of whether the "outline has a prescribed deviation", the notification processing unit 217 can provide information related to the amount of deviation of the outline. That is, even if the "deviation" between the outline determined based on the registration information and the outline determined based on the inspection information is less than the second judgment threshold, it is preferable to provide a notification of the amount of deviation by means of display or the like.

[0141] Furthermore, the control method according to this embodiment also includes the step of setting a determination threshold for determining deviations related to the outline. Specifically, for example, in the setting screen displayed on the operation display unit 23, the user (operator) can preset the determination threshold (a first determination threshold and / or a second determination threshold). On this setting screen, if the determination threshold is set to a smaller value, the reconstruction or notification of object information can be performed with higher sensitivity. On the other hand, if the determination threshold is set to a larger value, frequent reconstruction or notification of object information can be avoided.

[0142] However, when the work vehicle 10 is capable of autonomous driving, the detection information is detected by the work vehicle 10 during its autonomous driving. In this embodiment, as an example, the detection information is detected using a monitoring device 15 mounted on the body 11 of the work vehicle 10. Figure 8 As shown, the monitoring device 15 monitors at least the monitoring object (obstacle) in the monitoring area As1 set in front of the machine body 11. Therefore, even without manual operation by the operator, detection information can be obtained, thereby improving work efficiency.

[0143] The monitoring device 15 uses various sensors such as radar, sonar sensors, LiDAR, or cameras to determine the position of the field ridges within the monitoring area As1, i.e., the distance from the machine body 11 to the field ridges. The acquisition and processing unit 214 acquires detection information indicating the position of the outer contour line (fourth outer contour line f14) based on the distance from the field ridge E2 measured by the monitoring device 15. The determination and processing unit 215 determines whether a predetermined deviation has occurred by comparing the position of the field ridge E2 shown in this detection information with the position of the field ridge E1 shown in the registration information.

[0144] However, it is not limited to this. For example, the detection information can also be detected by the work vehicle 10 while it is being driven manually.

[0145] [4.3] Overall Processing

[0146] Next, refer to Figure 9 The entire process of handling deviations related to the outline in the control method is explained.

[0147] like Figure 9 As shown, the acquisition and processing unit 214 of the control system 1 acquires detection information and registration information (S1) as information related to the outline of the work site F1 when viewed from above. Furthermore, the determination and processing unit 215 of the control system 1 compares the detection information detected by the work vehicle 10 during its operation with the pre-registered registration information, and makes a determination related to the "deviation" between the outline determined based on the registration information and the outline determined based on the detection information (S2).

[0148] Here, if the "deviation" of the outline is above the first determination threshold (S2: Yes), the reconstruction processing unit 216 of the control system 1 reconstructs the object information (outline information and / or target path R1) as "the outline has a specified deviation" (S3). On the other hand, if the "deviation" of the outline is less than the first determination threshold (S2: No), step S3 is skipped.

[0149] Furthermore, if the "deviation" of the outline is above the second determination threshold (S4: Yes), the notification processing unit 217 of the control system 1 will issue a notification via the operation display unit 23 as "the outline has a specified deviation" (S5). On the other hand, if the "deviation" of the outline is less than the second determination threshold (S4: No), step S5 is skipped.

[0150] but, Figure 9 The flowchart shown is just one example; you can add or omit processes as appropriate, or change the order of processes as well.

[0151] [5] Variations

[0152] The following are variations of Implementation 1. The variations described below can be appropriately combined and applied.

[0153] The control system 1 disclosed herein includes a computer system. The computer system is primarily structured with one or more processors and one or more memories as hardware. The processor executes a program (control program for the work vehicle) recorded in the computer system's memory to realize the functions of the control system 1 disclosed herein. The program can be pre-recorded in the computer system's memory, provided via electrical communication lines, or recorded on a non-temporary recording medium such as a memory card, optical disc, or hard disk drive that can be read by the computer system. Furthermore, some or all of the functional units included in the control system 1 can be constructed using electronic circuits.

[0154] Furthermore, integrating at least a portion of the functions of the control system 1 into a single housing is not essential for the control system 1, and the structural elements of the control system 1 can be distributed across multiple housings. Conversely, in Embodiment 1, functions distributed across multiple devices (e.g., control device 13 and terminal device 20) can also be integrated into a single housing. Moreover, at least a portion of the functions of the control system 1 can be implemented using the cloud (cloud computing) or similar technologies.

[0155] Furthermore, the terminal device 20 is not limited to general-purpose terminals such as tablets, smartphones, or laptops, but can also be a dedicated terminal. Moreover, multiple terminal devices 20 can be associated with one work vehicle 10, in which case the multiple terminal devices 20 can be used to control the one work vehicle 10. Conversely, one terminal device 20 can also be associated with multiple work vehicles 10, in which case the one terminal device 20 can be used to control multiple work vehicles 10.

[0156] Furthermore, the aforementioned target path R1 is merely one example and can be modified as appropriate. For instance, the operating direction of the work vehicle 10 (the direction of work path r11) and / or the driving sequence of work path r11 can also be modified accordingly.

[0157] [Postscript to the Invention]

[0158] The following is a summary of the invention derived from the above embodiments. Furthermore, the structures and processing functions described in the following notes can be selected and combined arbitrarily.

[0159] <Postscript 1>

[0160] A control method for a work vehicle, which is a control method for a work vehicle capable of traveling on a work site, wherein,

[0161] The control method for the operating vehicle includes the following steps:

[0162] Information relating to the outline of the work site as viewed from above, including detection information obtained by the work vehicle during operation and registration information pre-registered for the work site; and

[0163] A determination related to the deviation of the outline is made by comparing the detection information and the registration information.

[0164] <Appendix 2>

[0165] According to the control method of the work vehicle described in Appendix 1, among which,

[0166] The control method for the work vehicle also includes the following steps: if it is determined that the outline has a specified deviation, then object information related to the outline is constructed.

[0167] <Appendix 3>

[0168] According to the control method of the work vehicle described in Appendix 1, among which,

[0169] The work vehicle is capable of autonomous driving.

[0170] The control method for the work vehicle also includes the following steps: if it is determined that the outline has produced a specified deviation, then object information including a target path for the work vehicle to drive automatically is constructed.

[0171] <Appendix 4>

[0172] According to the control method of the operating vehicle described in Appendix 2 or 3, among which,

[0173] The control method for the work vehicle also includes the following steps: if it is determined that the outline has a specified deviation, the user selects whether to reconstruct the object information based on the user's operation.

[0174] <Appendix 5>

[0175] According to the control method of the operating vehicle described in Appendix 2 or 3, among which,

[0176] The control method for the work vehicle also includes the following steps: pre-setting whether to allow the reconstruction of the object information when it is determined that the outline has produced a specified deviation.

[0177] <Appendix 6>

[0178] According to the control method of the work vehicle described in any one of Appendix 1 to 5, among which,

[0179] The work vehicle is capable of autonomous driving.

[0180] The detection information is detected by the work vehicle during its automatic driving.

[0181] <Appendix 7>

[0182] According to the control method of the work vehicle described in any of the appendices 1 to 6, among which,

[0183] The control method for the work vehicle also includes the following steps: issuing a notification when it is determined that the outline has deviated by a specified margin.

[0184] <Appendix 8>

[0185] According to the control method of the work vehicle described in any of the appendices 1 to 7, among which,

[0186] The control method for the work vehicle also includes the following steps: providing information related to the deviation of the outline.

[0187] <Appendix 9>

[0188] According to the control method of the work vehicle described in any of the appendices 1 to 8, among which,

[0189] The control method for the work vehicle also includes the following steps: setting a determination threshold for determining the deviation related to the outline.

[0190] <Postscript 10>

[0191] A control program for a work vehicle, wherein,

[0192] The control program for the work vehicle is used to enable one or more processors to execute the control method for the work vehicle described in any of the appendices 1 to 9.

Claims

1. A control method for a work vehicle, wherein, The control method for the operating vehicle includes the following steps: Information relating to the outline of the work site when viewed from above, including detection information detected by the work vehicle during operation and registration information pre-registered for the work site; as well as A determination related to the deviation of the outline is made by comparing the detection information and the registration information.

2. The control method for the operating vehicle according to claim 1, wherein, The control method for the work vehicle also includes the following steps: if it is determined that the outline has a specified deviation, then object information related to the outline is constructed.

3. The control method for the operating vehicle according to claim 1, wherein, The work vehicle is capable of autonomous driving. The control method for the work vehicle also includes the following steps: if it is determined that the outline has produced a specified deviation, then object information including a target path for the work vehicle to drive automatically is constructed.

4. The control method for the operating vehicle according to claim 2 or 3, wherein, The control method for the work vehicle also includes the following steps: if it is determined that the outline has a specified deviation, the user selects whether to reconstruct the object information based on the user's operation.

5. The control method for the operating vehicle according to claim 2 or 3, wherein, The control method for the work vehicle also includes the following steps: pre-setting whether to allow the reconstruction of the object information when it is determined that the outline has produced a specified deviation.

6. The control method for the operating vehicle according to any one of claims 1 to 3, wherein, The work vehicle is capable of autonomous driving. The detection information is detected by the work vehicle during its automatic driving.

7. The control method for the operating vehicle according to any one of claims 1 to 3, wherein, The control method for the work vehicle also includes the following steps: issuing a notification when it is determined that the outline has deviated by a specified margin.

8. The control method for the operating vehicle according to any one of claims 1 to 3, wherein, The control method for the work vehicle also includes the following steps: providing information related to the deviation of the outline.

9. The control method for the operating vehicle according to any one of claims 1 to 3, wherein, The control method for the work vehicle also includes the following steps: setting a determination threshold for determining the deviation related to the outline.

10. A control program for a work vehicle, wherein, The control program for the work vehicle is used to enable one or more processors to execute the control method for the work vehicle as described in any one of claims 1 to 3.

11. A control system for a work vehicle, used for a work vehicle capable of traveling on a work site, wherein, The control system for the work vehicle includes: The acquisition and processing unit acquires information related to the outline of the work site when viewed from above, including detection information detected by the work vehicle during its operation and registration information pre-registered for the work site. as well as The determination processing unit makes a determination related to the deviation of the outline by comparing the detection information and the registration information.

12. An operating system, wherein, The operating system has the following features: The control system for the work vehicle as described in claim 11; and The body of the work vehicle.

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