Control method for work vehicle, control program for work vehicle, control system for work vehicle, and work system

Abstract

This invention provides a control method, a control program, a control system, and a work system for a work vehicle that enable it to travel on a more suitable path. The control method for the work vehicle (10) is a method for controlling a work vehicle (10) that can perform work while traveling on a work site (F1). The control method includes: setting an allowable limit distance (L1); and changing a margin value. The allowable limit distance (L1) is specified using a margin value based on the work vehicle (10) and becomes the limit of the outline (fourth outline (f14)) that allows the work vehicle (10) to approach the work site (F1).

Description

Technical Field

[0001] The present invention relates to a control method for a work vehicle capable of performing work while traveling on the 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 related technology, a technique is known for setting boundary lines in the area along the edge of an agricultural work area (field surface) defined by field ridges (boundaries) to prevent the vehicle from contacting the ridges (for example, see Patent Document 1). The work vehicle involved in this related technology includes: a vehicle position calculation unit that calculates the vehicle's position; and an anti-boundary control unit that, based on the boundary line and the vehicle's position, prohibits movement beyond the boundary line, thus preventing contact between the vehicle and the field ridges by driving only inside the boundary line. The boundary line represents the limit of the vehicle's position for preventing contact between the work vehicle and the field ridges surrounding the work area; as long as the vehicle's position does not cross the boundary line, the work vehicle will not contact the field ridges or other boundary objects.

[0003] The related technology also includes a boundary crossing permit unit that permits the vehicle to cross the boundary line via a boundary crossing permit command; and a boundary crossing permit command unit that outputs the boundary crossing permit command to the boundary crossing permit unit based on the driving control status. For example, in the case of seedling resupply during seedling planting operations while the vehicle is traveling in a straight line, a boundary crossing permit command is provided in the seedling resupply process using remote control operation.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2021-108597

[0005] In the aforementioned technologies, the position of the boundary line remains constant unless a permission to cross the boundary is granted during events such as seedling replenishment. For example, even when the work vehicle is traveling at low speed, it is difficult to allow the work vehicle to travel on such a path if there is no risk of contact even if the work vehicle is brought closer to the outer boundary line (field ridge) of the work area. Summary of the Invention

[0006] The purpose of this invention is to provide a control method, a control program, a control system, and a work system for work vehicles that enable them to travel on more suitable paths.

[0007] One aspect of the present invention relates to a control method for a work vehicle capable of performing work while traveling on a work site, comprising: setting an allowable limit distance, which is defined using a margin value based on the work vehicle and becomes the limit for allowing the work vehicle to approach the outline of the work site; and changing the margin value.

[0008] 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 for the work vehicle described above.

[0009] One aspect of the present invention relates to a control system for a work vehicle capable of performing work while traveling on a work site. The control system includes a setting processing unit and a modification processing unit. The setting processing unit sets an allowable limit distance, which is defined using a margin value based on the work vehicle and serves as the limit allowing the work vehicle to approach the outline of the work site. The modification processing unit modifies the margin value.

[0010] One aspect of the present invention relates to an operating system comprising the aforementioned control system for operating vehicles and the body of the aforementioned operating vehicle.

[0011] According to the present invention, 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 are provided that enable the work vehicle to travel on a more suitable path. Attached Figure Description

[0012] Figure 1 This is a schematic side view showing the appearance of the work vehicle involved in Embodiment 1.

[0013] Figure 2 This is a schematic block diagram of the operating system involved in Implementation Method 1.

[0014] Figure 3 This is a schematic diagram illustrating an example of a target path in the operating system according to Embodiment 1.

[0015] Figure 4 This is a schematic top view illustrating an example of the operation of the work vehicle involved in Embodiment 1.

[0016] Figure 5 This is a schematic diagram illustrating an example of a target path generated in the control system for work vehicles according to Embodiment 1.

[0017] Figure 6 This is a schematic diagram illustrating an example of the permissible limit distance used in the control system for work vehicles according to Embodiment 1.

[0018] Figure 7 This is a schematic diagram illustrating an example of the permissible limit distance used in the control system for work vehicles according to Embodiment 1.

[0019] Figure 8This is a schematic diagram illustrating an example of the permissible limit distance used in the control system for work vehicles according to Embodiment 1.

[0020] Figure 9 This is a schematic diagram illustrating an example of the permissible limit distance used in the control system for work vehicles according to Embodiment 1.

[0021] Figure 10 This is a flowchart illustrating an example of the operation of the control system for the work vehicle involved in Implementation Method 1.

[0022] Figure 11 This is a schematic diagram illustrating an example of the permissible limit distance used in the control system of the work vehicle involved in the variation.

[0023] Figure 12 This is a schematic diagram illustrating an example of the permissible limit distance used in the control system for work vehicles according to Embodiment 2.

[0024] Figure 13 This is a schematic diagram illustrating an example of the permissible limit distance used in the control system for work vehicles according to Embodiment 3.

[0025] Explanation of reference numerals in the attached figures

[0026] 1...Control system for work vehicles; 10...Work vehicle; 11...Body; 100...Work system; 135...Setting processing unit; 136...Change processing unit; F1...Working location; f11~f14...First to fourth outline lines (outline); L1...Permissible limit distance; L11...Margin value; L12...Braking distance; Ps1...Reference point; R1...Target path (path); r11...Working path (straight path); r12...Connecting path (non-working path, turning path); r132...Second outer perimeter path (outermost perimeter path). Detailed Implementation

[0027] 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.

[0028] (Implementation Method 1)

[0029] [1] Overall structure

[0030] First, refer to Figure 1 and Figure 2The overall structure of the work system 100 according to this embodiment will be described. The work vehicle control system 1 (hereinafter also simply 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 installed 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.

[0031] 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. "Capable of communicating" as used in this disclosure 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 lines, packet lines, or wireless LAN. The communication method between the work vehicle 10 and the terminal device 20 is 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 a necessary feature of the control system 1.

[0032] Work vehicle 10 is at work site F1 (refer to) Figure 3 The vehicle 10 travels while performing certain operations on the work site F1 via the work machine 12. The term "operation" as used in this disclosure refers to the work performed by the work machine 12 on the work site F1, including various agricultural operations such as planting (transplanting), sowing, fertilizing, pesticide application, leveling, or harvesting, as well as various construction operations. In this embodiment, as an example, the operation performed by the work vehicle 10 is planting (transplanting) seedlings in the paddy field that serves as the work site F1.

[0033] 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, the work machine 12 includes a seedling platform for holding seedling mats and a planting arm for taking seedlings from the seedling mats and planting them, etc., to perform seedling planting operations. Here, the work machine 12 is installed on the rear side of the body 11 (the side opposite to the forward direction of the body 11). That is, the work machine 12 is connected to the rear side of the body 11 and performs operations while moving forward with the body 11. In this embodiment, the work machine 12 is included in the components of the work vehicle 10, but the work machine 12 may also not be included in the components of the work vehicle 10.

[0034] 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, for example, construction machinery. In this embodiment, unless otherwise specified, a rice transplanter will be used as an example for explanation. This operating vehicle 10 moves on the work site F1, such as a field, via its body 11, enabling it to perform planting operations by planting rice seedlings on the work site F1.

[0035] In this embodiment, as an example, the work vehicle 10 is an automated machine that can be ridden by a person (operator) and can operate through automatic driving (autonomous driving and autonomous operation). However, it is not limited to this; the work vehicle 10 can be an unmanned machine that operates through automatic driving, or it can be operated by a person (operator) (including remote operation).

[0036] The term "work site" as used in this disclosure refers to an area where the work vehicle 10 performs various operations such as planting (transplanting rice seedlings), sowing seeds, fertilizing, applying pesticides, leveling, or harvesting while moving. This includes paddy fields, dry fields, orchards, and pastures. For example, if a paddy field or dry field where crops (agricultural products) such as rice, wheat, soybeans, or buckwheat are grown is work site F1, then the crops grown in work site F1 are agricultural products. Furthermore, if flowers and trees are grown in a flower and tree field, then the flower and tree field becomes work site F1; if trees grow in a forest to become timber, as in forestry, then the forest becomes work site F1. In this case, the crops grown in work site F1 are flowers, trees, or the like. In this embodiment, unless otherwise specified, the example of the work vehicle 10 being used for planting seedlings in a field (work site F1), and work site F1 being a paddy field for rice cultivation, will be used for explanation. Furthermore, work site F1 is not limited to a field; for example, if the work vehicle 10 is construction machinery, then the site where the construction machinery performs its operations becomes work site F1.

[0037] Furthermore, the work vehicle 10 can move automatically not only within the work site F1 (here, the field), but also on roads such as paths outside the field outside the work site F1. The work vehicle 10 is configured to be able to move automatically based on the positioning device 16 (see reference). Figure 2 The system locates the current position of the work vehicle 10 and automatically travels (moves) along a pre-defined target path (including paths outside the fields) within and outside the work site F1. Paths outside the fields can be, for example, connecting roads between multiple work sites F1 (fields). These connecting roads can be agricultural roads, forest roads, highways, private roads, or motor vehicle lanes, and can also be roads dedicated to the work vehicle 10 or roads accessible to general vehicles (passenger cars, etc.).

[0038] [2] Structure of the work vehicle

[0039] Next, refer to Figure 1 and Figure 2 The structure of the work vehicle 10 involved in this embodiment will be described in detail.

[0040] In this embodiment, for ease of explanation, the vertical direction of the work vehicle 10 in its usable state 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, these directions are not intended to limit the direction of use of the work vehicle 10 (the direction of use).

[0041] like Figure 2 As shown, in addition to the body 11 and the work machine 12, the work vehicle 10 also has a control device 13, a driving device 14, a detection device 15, a positioning device 16, a communication device 17, and a display device 18. The control device 13, the driving device 14, the detection device 15, the positioning device 16, the communication device 17, and the display device 18 are all mounted on the body 11.

[0042] The machine body 11 has a pilot unit 111 that can be ridden by a person (operator) (see reference). Figure 1The driver's compartment 111 is equipped with a steering mechanism, a transmission, and an operating mechanism. These components are operated by an operator or the control device 13. Therefore, the work vehicle 10 can perform both manual driving (based on operator manual control) and automatic driving (based on the control device 13). Furthermore, as described above, a work machine 12 is connected to the rear of the chassis 11.

[0043] In this embodiment, the planting machine 12 is connected to the rear side of the machine body 11, and can perform planting operations on the field, which serves as the work site F1, when the machine body 11 moves forward. Here, the planting machine 12 corresponds to multi-row (for example, 6 rows, 7 rows, or 8 rows, etc.) planting, 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 it is a planting machine 12 corresponding to 7 rows of planting, it can plant 7 rows of seedlings simultaneously in the width direction (left-right direction D3). In this embodiment, as an example, it is assumed that the working vehicle 10 is an 8-row rice transplanter equipped with a planting machine 12 corresponding to 8 rows.

[0044] Thus, the work vehicle 10 according to this embodiment can perform work on multiple rows of work trains arranged in a direction intersecting the travel direction (front-back direction D2) along the work site F1. In this embodiment, as an example, the work vehicle 10 is an 8-row rice transplanter, therefore the multiple rows of work trains Vr1~Vr8 (refer to...) Figure 4 (This refers to the process of separating multiple seedlings V1 (refer to...)) Figure 4 The seedlings arranged in the forward direction (front-back direction D2) are arranged at predetermined intervals in the left-right direction D3, forming eight rows of seedlings. That is, the work vehicle 10 can perform planting operations on the eight work rows Vr1 to Vr8 in parallel (simultaneously). Therefore, the work vehicle 10 can simultaneously plant up to eight work rows Vr1 to Vr8 while moving forward.

[0045] like Figure 1 As shown, the traveling device 14 includes front wheels 141, rear wheels 142, and a power source (engine and / or motor, etc.). For example, a pair of front wheels 141 and rear wheels 142 are each provided on the left and right. The traveling device 14 drives at least the rear wheels 142 (in this embodiment, the rear wheels 142 and the front wheels 141) with the power generated by the power source, thereby enabling the machine body 11 to travel (move). Here, the front wheels 141 function as steering wheels, allowing them to turn in the left and right directions D3. Thus, the machine body 11 can travel within the work area F1 in a forward / backward direction D2 and a left / right direction D3.

[0046] At least during autonomous driving, the driving unit 14 operates according to the control unit 13's operation of the steering mechanism, transmission, and operating devices as described above. For example, in the driving unit 14, the angle of the front wheels 141 is changed by the control unit 13's operation of the steering mechanism, thereby changing the direction of travel of the vehicle body 11. Furthermore, the transmission is switched by the control unit 13, changing the gear position to forward or reverse, thus switching the vehicle body 11's driving mode to forward or reverse. Additionally, the control unit 13 operates the accelerator or brake of the operating device to control the speed of the power source, or uses an electric actuator to drive the brakes to brake the front wheels 141 and rear wheels 142.

[0047] Detection device 15 pairs of detection areas As1 (reference) Figure 4 The detection device 15 detects objects (obstacles). In this embodiment, as an example, the objects to be detected 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 detection device 15 can include various sensors such as radar, sonar sensors, LiDAR (Light Detection and Ranging), human sensors, or cameras (image sensors). Here, the detection device 15 is preferably a three-dimensional sensor capable of measuring the distance and orientation of the object to be detected using a TOF (Time of Flight) method or a stereo camera method. The TOF method measures the distance to the ranging point based on the round-trip time from the arrival of light or sound at the ranging point to its return. Thus, the detection device 15 can output measurement information, including the position of the object to be detected when viewed from above, to the control device 13. In this embodiment, as an example, the detection device 15 utilizes millimeter-wave radar (millimeter-wave radar) or a sonar sensor utilizing ultrasonic waves (or sound waves).

[0048] The positioning device 16 determines the current position (latitude, longitude, and altitude, etc.) of the aircraft 11. Specifically, the positioning device 16 uses a satellite positioning system such as GNSS (Global Navigation Satellite System) to calculate the current position (latitude and longitude) of the aircraft 11. That is, the positioning device 16 has a positioning antenna that receives positioning signals from satellites and calculates the current position based on the positioning signals. Furthermore, the positioning device 16 includes an inertial sensor, which can also detect the current orientation and other attitude of the aircraft 11.

[0049] Alternatively, the positioning device 16 can detect the current position with relatively high accuracy, similar to RTK (Real Time Kinematic) positioning, which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (base station) closer to the work vehicle 10. The current position of the vehicle body 11 can be the same as the positioning position (the position of the positioning antenna), or it can be a position offset from the positioning position, such as the center position of the vehicle body 11 when viewed from above. As the positioning device 16, for example, a mobile phone terminal, smartphone, or tablet terminal can also be used instead.

[0050] The communication device 17 is a communication interface used to connect the work vehicle 10 (control device 13, positioning device 16, etc.) to external devices via wired or wireless means, and to perform data communication with the external devices in accordance with a prescribed communication protocol. In this embodiment, the communication device 17 is capable of communicating with the terminal device 20, which is an external device, via the communication network N1. Furthermore, the communication device 17 is capable of wirelessly connecting to the communication network N1, allowing communication with the terminal device 20 at any time, even when the work vehicle 10 is moving (driving) at the work site F1. For example, a mobile phone terminal, smartphone, or tablet terminal may be used instead of the communication device 17.

[0051] 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 information to the user (operator). Display device 18 is, for example, configured in the driver's unit 111, and provides various information to the operator by displaying a screen containing various information. In this disclosure, "screen" means an image displayed by display device 18, including pictures, graphics, photographs, text descriptions, and moving images. The screen displayed on display device 18 includes not only still images but also images (moving images) that change constantly. Furthermore, display device 18 has the function of outputting sound (including voice) to the user (operator) and the function of receiving user (operator) operations.

[0052] The control device 13 is primarily structured as 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), and performs various processes (information processing). In this embodiment, the control device 13 is primarily structured as a computer system with one or more processors, and therefore the control device 13 is implemented by executing the control program for the work vehicle through one or more processors. In this embodiment, the control device 13 is a unified controller that performs overall control of the work vehicle 10, and for example, it is composed of an electronic control unit (ECU). However, the control device 13 may also be set up independently of the unified controller.

[0053] The control device 13 is configured to communicate with devices installed in various parts of the machine body 11. Specifically, the control device 13 is electrically connected to the work machine 12, the travel device 14, the detection device 15, the positioning device 16, the communication device 17, and the display device 18. Thus, the control device 13 can control the work machine 12 and the travel device 14, or obtain the detection results from the detection 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 via repeaters or the like.

[0054] In this embodiment, such as Figure 2 As shown, the control device 13 includes an acquisition processing unit 131, a driving processing unit 132, a work support processing unit 133, a storage unit 134, a setting processing unit 135, and a change processing unit 136.

[0055] The acquisition processing unit 131 performs acquisition processing to obtain 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.

[0056] 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 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a pre-set target path, thereby enabling the automatic driving of the work vehicle 10. Furthermore, the driving processing unit 132 controls the work machine 12 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a pre-set target path, thereby performing work based on the work vehicle 10 (planting work in this embodiment) at an appropriate location on the target path.

[0057] Specifically, when the driving processing unit 132 receives a driving start instruction from the terminal device 20, it initiates automatic driving of the work vehicle 10. For example, when an 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 along the target path R1 (refer to...). Figure 3 It begins to drive automatically and performs operations based on the work machine 12 (planting operations in this embodiment).

[0058] The target path R1 for enabling the work vehicle 10 to drive automatically is generated, for example, in the terminal device 20. 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.

[0059] Additionally, the driving processing unit 132 stops the automatic driving of the work vehicle 10 when it receives a driving stop instruction from the terminal device 20. For example, when the operator presses the stop button on the operation screen of the terminal device 20, the terminal device 20 outputs a driving stop instruction to the work vehicle 10.

[0060] In addition, the term "autonomous driving" as used in this disclosure includes "autonomous driving" in which the work vehicle 10 drives autonomously without relying on the operation of an operator, and "semi-autonomous driving" in which only steering is automated, such as straight-line assist.

[0061] "Autonomous driving" is, for example, a driving mode in which, in addition to automatic steering control of the steering wheel (front wheel 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, a driving mode in which only automatic steering control of the steering wheel (front wheel 141) is performed, while 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).

[0062] As another example, the work vehicle 10 can also be driven by the operator's manual steering. For example, the operator sits in the work vehicle 10 and drives the work vehicle 10 by manually steering while confirming the target path R1.

[0063] The operation support processing unit 133 performs operation support processing to support the operation based on the work machine 12 (planting operation in this embodiment). The operation support processing includes, for example, processing to support the operator's operation of the work machine 12 through prompts (display or sound output, etc.) related to the operation of the work machine 12 via a user interface such as a display device 18; and processing to directly control the work machine 12. In this embodiment, in principle, the operation support processing unit 133 performs the former processing (i.e., processing to support the operator's operation of the work machine 12) as the operation support processing.

[0064] 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 enable 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.

[0065] The setting processing unit 135 executes the setting of the allowable limit distance L1 (refer to...). Figure 6 The setting process is as follows: The allowable limit distance L1 is based on the operating vehicle 10 and uses a margin value L11 (refer to...). Figure 7 The setting processing unit 135 defines the allowable limit distance L1, which is set based on the work vehicle 10, to allow the work vehicle 10 to approach the outline of the work site F1. In short, while traveling within the work site F1, the work vehicle 10 can approach the outline to a position within the allowable limit distance L1, but cannot approach the outline further, i.e., it cannot approach the outline to a position less than the allowable limit distance L1.

[0066] The change processing unit 136 performs change processing to modify the margin value L11. That is, in this embodiment, the margin value L11 used to define the allowable limit distance L1 is not a constant value, but can be changed by the change processing unit 136. If the margin value L11 increases, the allowable limit distance L1 also increases; if the margin value L11 decreases, the allowable limit distance L1 also decreases. Therefore, for example, by decreasing the margin value L11, the allowable limit distance L1 is reduced, so that the work vehicle 10 can get closer to the outline of the work site F1 and can travel on a path (target path R1) that is closer to the outline of the work site F1.

[0067] Furthermore, at least when the detection device 15 detects an obstacle as a detection target during the automatic driving of the work vehicle 10, the control device 13 outputs an alarm (including a report via sound and / or light) and performs obstacle avoidance processing (including detour, deceleration, or stopping) by controlling 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 and display it there.

[0068] In addition to the aforementioned structure, the work vehicle 10 also includes a battery, a fuel tank, and various sensors. The battery supplies power for operation to various parts of the work vehicle 10, such as the control device 13. In particular, electronic devices such as the control device 13, detection device 15, positioning device 16, communication device 17, and display device 18 operate by means of power supplied from the battery, thereby enabling operation even when the power source (engine) of the travel device 14 is stopped.

[0069] [3] Structure of the terminal device

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

[0071] In this embodiment, the terminal device 20 can communicate with the work vehicle 10 as described above, and together with the control device 13 of the work vehicle 10, constitutes the control system 1. That is, the components 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 provided in the terminal device 20. In this case, the components 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 provided in the control device 13. In this case, the components of the control system 1 are implemented only by the control device 13.

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

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

[0074] 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 information processing unit 21 is electrically connected to the storage unit 22, operation display unit 23, and communication unit 24. Therefore, the information processing unit 21 can read and write information to the storage unit 22, control the display on the operation display unit 23, or obtain 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.

[0075] Such a terminal device 20 is a user interface used to receive operation inputs from users (operators) and output various information to the users. For example, the terminal device 20 receives various operations performed by the user by outputting electrical signals corresponding to the user's operations on the operation display unit 23. Furthermore, the terminal device 20 outputs various information to the user by displaying various screens on the operation display unit 23.

[0076] 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 relates to the work machine 12 installed on the machine body 11, including, for example, the type, identification information, model name, and specifications (size) of the work machine 12. Work vehicle information relates to the machine body 11 (vehicle body) of the work vehicle 10, including, for example, the type of machine body 11 (e.g., half-track / wheeled), identification information, model name, and specifications (size). Field information relates to the field that serves as the work site F1, including the field's 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 work information is information related to the work performed by the work vehicle 10, such as the type of work and how the work is specifically performed. Furthermore, information regarding the presence or absence of coordinated work performed by the work vehicle 10, the width of the field boundary, and the width of uncultivated land may also be included in the work information.

[0077] The information stored in the storage unit 22 (target path information, machine information, vehicle information, field information, and operation information, etc.) is set (registered) by user (operator) through operation input on 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 on the operation display unit 23, or the operation vehicle 10 can automatically identify the machine 12 installed on the body 11 and send it to the terminal device 20. The terminal device 20 can also obtain the above information from external devices other than the operation vehicle 10 (e.g., servers, external storage media, or other terminal devices, etc.).

[0078] The operation display unit 23 is a user interface that includes 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 receiving operations. As an example, an 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 example, the operator can set automatic driving information (including target path information) related to the automatic driving of the work vehicle 10.

[0079] 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 enables operators to perform both close-range and remote monitoring of the work vehicle 10 in autonomous driving. Close-range monitoring refers to monitoring within the operator's visual range, while remote monitoring refers to monitoring using images displayed around the work vehicle 10 on the terminal device 20. Remote monitoring can also monitor multiple work vehicles 10 through a single terminal device 20. However, these definitions are merely examples, and other definitions may be used. Here, the operational status of the work vehicle 10 also includes the detection results of the detection device 15 on the detected object. 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. Therefore, remote operation of the work vehicle 10 by the operator is possible.

[0080] The communication unit 24 is a communication interface used to connect the terminal device 20 to the work vehicle 10 via wired or wireless means, and to perform data communication with the work vehicle 10 in accordance with a prescribed communication protocol. In this embodiment, the communication unit 24 is at least able to communicate with the work vehicle 10 (its communication device 17) via the communication network N1. Furthermore, the communication unit 24 is at least able to connect to the communication network N1 wirelessly, so it can communicate with the work vehicle 10 at any time, even in locations sufficiently far from the work vehicle 10.

[0081] In addition, 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, and an output processing unit 213. In this embodiment, as an example, the information processing unit 21 is mainly structured as a computer system with one or more processors. Therefore, by executing the control program for the work vehicle through one or more processors, the aforementioned multiple functional units (such as the generation processing unit 211) are implemented. These multiple functional units included in the information processing unit 21 can be distributed in multiple housings or disposed in a single housing.

[0082] The generation processing unit 211 performs path generation processing to generate a path (target path R1) for the work vehicle 10 to travel (autonomously drive) in 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, for 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 on the operation display unit 23.

[0083] Specifically, the generation and processing unit 211 generates the starting position of driving (P1) based on the field information (refer to...). 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. For example, the generation processing unit 211 generates a target path R1 for moving the body 11 of the work vehicle 10 from the starting position P1 to the ending position P2 within the work site F1.

[0084] In this embodiment, the field information included in the generation data includes outline information based on the outline of the work site F1. Since the work vehicle 10 travels along the target path R1 within the work site F1, the generation processing unit 211 generates a path (target path R1) for the work vehicle 10 to travel without exceeding the outline of the work site F1 determined based on the outline information, which is essentially based on the generation data.

[0085] The registration processing unit 212 performs registration processing of 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 based on the operation input made by the user (operator) to the operation display unit 23.

[0086] The output processing unit 213 performs output processing, for example, outputting 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.

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

[0088] Furthermore, the output processing unit 213 can also output the generated target path R1 to the operation display unit 23 for display. The output 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 also be sending to other devices (such as user terminals), printing, writing to non-temporary recording media, or voice output.

[0089] Terminal device 20 can also access the website (agricultural support website) of the server providing agricultural support services via communication network N1. In this case, terminal device 20 can function as a terminal for operating the server by executing a browser program through information processing unit 21. Moreover, the server has the aforementioned processing units and executes each processing step.

[0090] [4] Control methods for work vehicles

[0091] The following is for reference Figures 3-10 This paper mainly describes an example of a control method (hereinafter referred to as "control method") for the work vehicle 10 executed by the control system 1 (control device 13 and terminal device 20).

[0092] The control method described in this embodiment is executed by a control system 1, which is primarily based on a computer system. In other words, it is specifically implemented through 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.

[0093] Here, when the control system 1 performs a pre-set specific start operation for executing the control program, it 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) in the terminal device 20. On the other hand, when the control system 1 performs a pre-set specific end operation, it 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) in the terminal device 20.

[0094] Additionally, the following, such as Figure 3 As shown, the work site F1 is a field with a quadrilateral shape when 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, in 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.

[0095] [4.1] Basic movements

[0096] First, refer to Figure 3 and Figure 4 The basic operation of the control system 1 according to this embodiment, which enables the work vehicle 10 to automatically travel along the target path R1 in a work site F1 consisting of a field, will be described. Figure 4 yes Figure 3 Enlarged schematic view of the area near the corner between the first outline f11 and the fourth outline f14.

[0097] exist Figure 3 and Figure 4 In 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 performing work on the work machine 12. The connecting path r12 connects the multiple work paths r11 and is used for the work vehicle 10 to make turns to change its direction of travel. It is also the path through which the work vehicle 10 travels (moves) without using the work machine 12 for work (non-work path).

[0098] 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 3In the accompanying drawings, which represent the target path R1, the target path R1 (and the work vehicle 10) generated for the work site F1 is schematically shown in 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.

[0099] More specifically, such as Figure 3 As shown, the target path R1 includes 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 illustrated 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. Furthermore, multiple work paths r11 are configured at constant intervals along (parallel to) this work path r11 on the right side of the figure. These multiple work paths r11 are arranged in an alternating pattern, with 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 extending in the opposite direction.

[0100] Here, each of the multiple work paths r11 is a straight path (straight path) 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. By having the work vehicle 10 travel along the multiple work paths r11, planting operations are carried out on approximately the entire area of ​​the work site F1 (except for the edge area that becomes the perimeter). Furthermore, adjacent pairs of work paths r11 are connected by a connecting path r12 that connects the end of one work path r11 that becomes the first outline f11 side and the beginning of another work path r11 that becomes the second outline f12 side.

[0101] Furthermore, the outer peripheral path r13 is continuous with the terminal of the final (second outline line f12 side) work path r11 among multiple work paths r11, and encircles the outer periphery of work site F1 along the outline lines (first outline line f11 to fourth outline line 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 end point P2 of the journey, thus circling around the outer perimeter area of ​​the work site F1.

[0102] According to this target path R1, the work vehicle 10, in the work site F1, is located in the inner area F11, excluding the outer peripheral area F12 of the outer perimeter. Figure 3 The planting operation is carried out while the work vehicle 10 travels back and forth parallel to the work path r11 from the starting position P1. 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 travels on the outer perimeter path r13, it is preferable that the work vehicle 10 is driven automatically in a "manned state" with an operator riding on 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.

[0103] In summary, when the work vehicle 10 travels along the work path r11, it performs the work (planting work) through the work machine 12. 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, multiple rows (8 rows) of working columns Vr1 to Vr8 (seedling columns) are formed in the passage area A1 along the left-right direction D3, which is orthogonal to the direction of travel of the working vehicle 10.

[0104] Similarly, when the work vehicle 10 travels along the outer perimeter path r13, it also performs work (planting work) through the work machine 12. Therefore, the work vehicle 10 in the outer perimeter area F12 ( Figure 4 The imaginary line (double-dotted line) indicates that multiple seedlings V1 have also been planted in the area A2 that has been traversed. Here, although in... Figure 4 The diagram is omitted, but multiple rows (8 rows) of work trains Vr1~Vr8 (seed trains) are formed in the area A2 in the left and right directions D3, which are orthogonal to the direction of travel of the work vehicle 10.

[0105] The target path R1 is not limited to Figure 3 The path shown 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, the work vehicle 10 may also first travel in the outer area F12 and then in the inner area F11.

[0106] In addition, Figure 3In the example, the connecting path r12 set in the outer peripheral area F12 includes a turning path for a right turn in a gentle turn, but the turning pattern for changing the orientation of the work vehicle 10 is not limited to a "gentle turn". For example, the connecting path r12 may also include a turning pattern that allows the machine body 11 to turn in a limited space, such as a so-called "fishtail turn". Similarly, for the turning pattern of the work vehicle 10 traveling on the outer peripheral path r13, appropriate turning patterns such as "gentle turn" or "fishtail turn" can also be applied.

[0107] 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. As an example, an operator rides in the work vehicle 10 and drives it around the perimeter of the registered work site F1 (teaching drive). The terminal device 20 obtains the position information of the work vehicle 10 during the drive and, based on this position information, identifies the position and shape of the work site F1 and registers it as work site F1. An outer path r13 is generated along the path traveled by the work vehicle 10 during this teaching drive. Based on the performance information of such teaching drives or past driving paths, work site F1 is registered, thereby enabling the generation of a target path R1 from an initial avoidance state for obstacles such as culverts that are difficult to detect using only the detection device 15.

[0108] Furthermore, multiple travel widths can be reserved in the outer perimeter area F12 of the work site F1 to generate multiple work paths r11, and multiple outer perimeter paths r13 with multiple travel widths can be generated along the outer perimeter (outer contour line) of the work site F1. In this case, after the work vehicle 10 has traveled on multiple work paths r11, it travels sequentially from the inside to the outside on the multiple outer perimeter paths r13. At this time, the work vehicle 10 preferably travels automatically 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.

[0109] [4.2] Permissible maximum distance

[0110] Next, refer to Figures 5-9 The processing (setting processing, etc.) related to the allowable limit distance L1 is explained.

[0111] In the control system 1 of this embodiment, a target path R1 is basically generated to enable the work vehicle 10 to travel (autopilot) without exceeding the outline of the work site F1. Therefore, the work vehicle 10 performs work on the work site F1 while traveling along the target path R1 within the work site F1, so as to prevent the body 11 from protruding out of the work site F1 (i.e., the outer side of the outer diameter).

[0112] In this case, for example, Figure 5 As shown, a target path R1 can be generated at least based on the boundary line La1 to prevent the body 11 of the work vehicle 10 from protruding outward from the boundary line La1. That is, taking into account the detection error of the positioning device 16, in order to avoid the work vehicle 10 from contacting the field ridge or the like outside the work site F1, a safety margin is ensured at the outer perimeter of the work site F1, and a target path R1 is generated so that the work vehicle 10 can travel further inward of this safety margin. In other words, a target path R1 is generated so that when the work vehicle 10 travels on the work site F1, it is not brought completely close to the outer contour line (first outer contour line f11 to fourth outer contour line f14) of the work site F1, but rather the work vehicle 10 can travel without exceeding the boundary line La1, which is set at a certain value L2 inward from the outer contour line.

[0113] like Figure 5 As shown, when the boundary line La1 is located inside the outer contour line, the area between the boundary line La1 and the outer contour line ( Figure 5 The shaded area becomes a safety margin zone. The target path R1 is generated based on the boundary line La1 to prevent the work vehicle 10 from protruding outward (towards the outline side) from the boundary line La1, which becomes the inner periphery of the safety margin zone. Therefore, even if detection errors occur in the positioning device 16, the work vehicle 10 will only exceed the safety margin zone and is unlikely to exceed the outline (first outline f11 to fourth outline f14).

[0114] Furthermore, when the width of the aforementioned safety margin zone is a fixed value L2, the position of the boundary line La1 set inside the outer contour line is constant. For example, even when the work vehicle 10 is traveling at low speed, it is difficult to make the work vehicle 10 travel on such a path if there is no risk of contact even if the work vehicle 10 is brought closer to the outer contour line (ridge) of the work site F1.

[0115] Therefore, in the control method described in this embodiment, the structure described below enables the work vehicle 10 to travel on a more suitable path.

[0116] That is, the control method of the work vehicle 10 according to this embodiment is a control method of the work vehicle 10 that can perform work while traveling on the work site F1. The control method includes: setting an allowable limit distance L1; and changing the margin value L11. The allowable limit distance L1 is defined using the margin value L11 based on the work vehicle 10, and becomes the limit of the distance that allows the work vehicle 10 to approach the outline of the work site F1.

[0117] In summary, in the control method described in this embodiment, the reference is not the outline of the work site F1, but the work vehicle 10, and a permissible limit distance L1 is set as the limit allowing the work vehicle 10 to approach the outline of the work site F1. Therefore, when the work vehicle 10 travels within the work site F1, it can approach the outline to a position within the permissible limit distance L1 from the outline, but cannot approach the outline further, that is, it cannot approach the outline to a position less than the permissible limit distance L1 from the outline. Therefore, even if detection errors occur in the positioning device 16, the work vehicle 10 is unlikely to exceed the outline (first outline f11 to fourth outline f14).

[0118] Furthermore, in this control method, the permissible limit distance L1 can be changed by altering the margin value L11 used to define it. Therefore, for example, in situations where the work vehicle 10 is traveling at low speed, and there is no risk of contact even if the work vehicle 10 is brought closer to the outline (ridge) of the work site F1, the permissible limit distance L1 is reduced by decreasing the margin value L11. This allows the work vehicle 10 to travel even at a position closer to the outline of the work site F1. As a result, it has the advantage of enabling the work vehicle 10 to travel on a more suitable path.

[0119] More specifically, such as Figure 6 As shown, the permissible limit distance L1 is set starting from a reference point Ps1 set for the work vehicle 10 when viewed from above. In this embodiment, as an example, the reference point Ps1 is set near the center of the body 11 of the work vehicle 10 when viewed from above. However, the reference point Ps1 may also be located inside or outside the body 11 of the work vehicle 10 when viewed from above.

[0120] By setting such an allowable limit distance L1, such as Figure 6 As shown, an imaginary circle C1 is defined centered at reference point Ps1. Imaginary circle C1 is an imaginary line representing the limit of the outline allowing the work vehicle 10 to approach the work site F1, and its radius is the allowable limit distance L1. Therefore, when the margin value L11 is changed and the allowable limit distance L1 is changed, the size of the imaginary circle C1 centered at reference point Ps1 changes. For example, by decreasing the margin value L11, the allowable limit distance L1 is reduced, thus making the imaginary circle C1 smaller.

[0121] When the work vehicle 10 travels on the work site F1, it basically follows the target path R1 to prevent the outline of the work site F1 from entering the imaginary circle C1. On the other hand, a contact determination is made between the work vehicle 10 and the field ridge (outline) based on the distance from the work vehicle 10 to the ridge. For example, if the ridge is locally close to the side of the target path R1, and the probability of contact is high, contact avoidance measures (such as stopping or detouring the work vehicle 10) are performed. In this contact determination, the allowable limit distance L1 is used. If the ridge enters the allowable limit distance L1 (i.e., the imaginary circle C1), it is determined that the probability of contact is high. By reducing the allowable limit distance L1, the contact determination can be relaxed, preventing unnecessary contact avoidance measures. In this way, if the allowable limit distance L1 becomes smaller and the imaginary circle C1 becomes smaller, the work vehicle 10 can travel even at a position closer to the outline of the work site F1.

[0122] The margin value L11 can be changed, for example, based on user operation. Specifically, a setting screen for changing (setting) the margin value L11 can be displayed on the operation display unit 23 of the terminal device 20, and the margin value L11 can be changed on this setting screen based on the operation of the operator (user) on the operation display unit 23. As an example, the margin value L11 can be increased or decreased by a predetermined increment or decrement (for example, "1 cm") based on user operation.

[0123] Therefore, the operator can adjust the margin value L11 to any value and set the allowable limit distance L1 to any distance on the setting screen displayed on the operation display unit 23.

[0124] Furthermore, the margin value L11 can be changed, for example, based on the position of the work vehicle 10 on the path (target path R1) when the work vehicle 10 is automatically traveling, the speed of the work vehicle 10, and the distance from the outline of the work site F1 to the work vehicle 10. That is, the change processing unit 136 of the control device 13 changes the margin value L11 based on the position of the work vehicle 10, the speed of the work vehicle 10, and the distance from the outline of the work site F1 to the work vehicle 10. Therefore, the allowable limit distance L1 set based on the work vehicle 10 (reference point Ps1) changes automatically based on the position of the work vehicle 10 on the target path R1, the speed of the work vehicle 10, and the distance from the outline of the work site F1 to the work vehicle 10.

[0125] exist Figure 6 In the example, for a work vehicle 10 traveling on the outer perimeter path r13 during autonomous driving, the permissible limit distance L1 set based on this work vehicle 10 is shown. Figure 6As an example, the allowable margin value L11 included in the limit distance L1 varies depending on the speed of the working vehicle 10. Basically, the higher the speed of the working vehicle 10, the larger (longer) the allowable limit distance L1 (margin value L11), and the lower the speed of the working vehicle 10, the smaller (shorter) the allowable limit distance L1 (margin value L11).

[0126] Alternatively, the allowable margin value L11 included in the limit distance L1 can also vary depending on the distance from the outline of the work site F1 to the work vehicle 10. In this case, basically, the smaller the distance from the outline of the work site F1 to the work vehicle 10, the larger (longer) the allowable limit distance L1 (margin value L11), and the larger the distance from the outline of the work site F1 to the work vehicle 10, the smaller (shorter) the allowable limit distance L1 (margin value L11).

[0127] Furthermore, the control method according to this embodiment also includes: when the distance from the reference point Ps1 of the work vehicle 10 to the outer contour line becomes less than or equal to the allowable limit distance L1, suppression control is performed to prevent the work vehicle 10 from protruding from the outer contour line. This "suppression control" refers to control that prevents the work vehicle 10 from protruding from the outer contour line, for example, by decelerating, stopping, or turning, or a combination thereof. That is, when the distance from the reference point Ps1 of the work vehicle 10 to the outer contour line becomes less than or equal to the allowable limit distance L1, the driving processing unit 132 of the control device 13 suppresses the work vehicle 10 from protruding from the outer contour line, for example, by decelerating or stopping the work vehicle 10.

[0128] Therefore, even if the work vehicle 10 slips or engages in other unexpected behavior, it can prevent the work vehicle 10 from contacting the field ridges or other obstacles outside the work area F1. Here, for example, when the work vehicle 10 is traveling at low speed, the impact of the aforementioned slipping or other unexpected behavior is small. Therefore, by adjusting the margin value L11 according to the speed of the work vehicle 10, it is possible to prevent the allowable limit distance L1 from increasing excessively and the work vehicle 10 from moving excessively away from the outline.

[0129] In this embodiment, such as Figure 7 As shown, the permissible limit distance L1 is the distance obtained by adding at least the braking distance L12 corresponding to the speed of the working vehicle 10 and the margin value L11. The "braking distance" referred to here is the distance required for the working vehicle 10 to stop when braking force is applied. This braking distance L12 is not a constant value, but varies according to the speed of the working vehicle 10. That is, the higher the speed of the working vehicle 10, the larger (longer) the braking distance L12; the lower the speed of the working vehicle 10, the smaller (shorter) the braking distance L12.

[0130] That is, the permissible limit distance L1 is the sum of the margin value L11 and the braking distance L12 (L1 = L11 + L12). Therefore, by setting the permissible limit distance L1 with the reference point Ps1 of the working vehicle 10 as the starting point, such as... Figure 7 As shown, a double imaginary circle is defined, consisting of an imaginary circle C2 centered at the reference point Ps1 and an imaginary circle C1. Imaginary circle C2 is an imaginary line with a radius of braking distance L12 centered at the reference point Ps1. That is, imaginary circle C2 is set at a margin value L11 that is inside imaginary circle C1.

[0131] Furthermore, by using the braking distance L12 plus the margin value L11 to obtain the permissible limit distance L1, when the automatically moving work vehicle 10 is stopped, it is possible to stop the work vehicle 10 at a position that does not exceed the outline of the work site F1.

[0132] In addition, in this embodiment, such as Figure 7 As illustrated, the margin value L11 and the braking distance L12 can be changed independently. That is, it is possible to change only the margin value L11 included in the allowable limit distance L1 and the braking distance L12, for example, only the margin value L11, or only the braking distance L12. Furthermore, for example, it is also possible to change the margin value L11 and the braking distance L12 differently by decreasing the margin value L11 and increasing the braking distance L12 simultaneously.

[0133] exist Figure 7 As an example, the following diagram illustrates imaginary circles C1 and C2 when the margin value L11 is "large" and the braking distance L12 is "large", the margin value L11 is "small" and the braking distance L12 is "large", and the margin value L11 is "small" and the braking distance L12 is "small". Thus, if either the margin value L11 or the braking distance L12 decreases, the imaginary circle C1 decreases, allowing the work vehicle 10 to travel even at a position closer to the outline of the work site F1.

[0134] exist Figure 7 The example shown illustrates how each of the margin value L11 and braking distance L12 can be varied in two stages, "large" and "small". However, it is not limited to this example; the margin value L11 and braking distance L12 can also be varied in three or more stages or steplessly.

[0135] In this way, since the margin value L11 and the braking distance L12 can be changed independently, the allowable limit distance L1 can be set more precisely. As a result, the work vehicle 10 can travel even at a position closer to the outline of the work site F1, and the work vehicle 10 can travel on a more appropriate path.

[0136] Furthermore, in this embodiment, the margin value L11 and braking distance L12 are determined by individually weighting specific parameters. For example, when the speed of the work vehicle 10 is used as the specific parameter, the margin value L11 can be weighted by a coefficient of "2" for the speed, and the braking distance L12 can be weighted by a coefficient of "1.5" for the speed. In this case, for example, when the speed increases by "1", the margin value L11 increases by "2", and correspondingly, the braking distance L12 increases by "1.5". Thus, even if the margin value L11 and braking distance L12 are determined based on a common specific parameter, the margin value L11 and braking distance L12 can be changed individually.

[0137] Additionally, in this embodiment, for example, such as Figure 8 As shown, the work vehicle 10 can automatically travel along the target path R1, so the margin value L11 changes at least during the automatic travel of the work vehicle 10, depending on the position of the work vehicle 10 on the target path R1. That is, the margin value L11 is automatically changed according to where the work vehicle 10 is traveling on the target path R1 during automatic travel.

[0138] Therefore, the margin value L11 can be automatically changed according to the position of the work vehicle 10 on the target path R1, and an appropriate allowable limit distance L1 can be set. As an example, when driving on a path in the inner area F11 of the work site F1, such as the work path r11, even if the above-mentioned slippage or other unexpected behavior occurs, since the possibility of the work vehicle 10 protruding from the outline of the work site F1 is low, it is not necessary to set the allowable limit distance L1 too large.

[0139] exist Figure 8 In the example, the illustration shows a work vehicle 10 traveling on work path r11 and a work vehicle 10 traveling on connecting path r12, with different permissible limit distances L1 set for these work vehicles 10. Figure 8 As an example, the permissible limit distance L1 set based on the work vehicle 10 traveling on the work path r11 is set to be smaller than the permissible limit distance L1 set based on the work vehicle 10 traveling on the connecting path r12. Therefore, the imaginary circle C1 set around the work vehicle 10 traveling on the work path r11 is smaller than the imaginary circle C1 set around the work vehicle 10 traveling on the connecting path r12.

[0140] Here, connecting path r12 is an example of a non-operational path where the work vehicle 10 does not perform any work. That is, in this embodiment, the target path R1 includes the operation path r11 where the work vehicle 10 performs work, and the non-operational path (connecting path r12, etc.) where the work vehicle 10 does not perform work. When the work vehicle 10 is located on the operation path r11, the margin value L11 is smaller compared to the case where the work vehicle 10 is located on a non-operational path. When traveling on a path such as the operation path r11, where the probability of the work vehicle 10 protruding from the outline of the work site F1 is already low even if the aforementioned slippage or other unexpected behavior occurs, the margin value L11 is reduced compared to traveling on a non-operational path (connecting path r12, etc.), thus reducing the allowable limit distance L1. Therefore, when the work vehicle 10 is traveling on a path where the probability of protruding from the outline of the work site F1 is low, the allowable limit distance L1 will not increase unnecessarily, and the reduction in work efficiency can be suppressed.

[0141] Here, the work path r11 is an example of a straight path for the work vehicle 10, and the connecting path r12 is an example of a turning path for the work vehicle 10. That is, in this embodiment, the target path R1 includes a straight path for the work vehicle 10 (work path r11, etc.) and a turning path for the work vehicle 10 (connecting path r12, etc.). When the work vehicle 10 is on a turning path, the margin value L11 is larger than when the work vehicle 10 is on a straight path. When the work vehicle 10 is traveling on a path where there is a high probability of the work vehicle 10 protruding from the outline of the work site F1 in the event of unexpected events such as slippage, such as a turning path (connecting path r12, etc.), the margin value L11 is increased compared to traveling on a straight path (work path r11, etc.), and the allowable limit distance L1 is increased. Therefore, when the work vehicle 10 is traveling on a path where there is a high probability of protruding from the outline of the work site F1, by ensuring that the allowable limit distance L1 is large, it is possible to suppress the work vehicle 10 from protruding from the outline.

[0142] In addition, such as Figure 9 As shown, when multiple stroke widths are reserved in the outer perimeter area F12 of the work site F1, and multiple stroke paths r13 are generated along the outer perimeter (outline) of the work site F1, the margin value L11 can also be changed according to the outer perimeter path r13. Figure 9 In the example, the target path R1 includes the outermost path r13, which is the sum of the first outermost path r131 and the second outermost path r132. The first outermost path r131 is located inside the second outermost path r132, and the second outermost path r132 is outside the first outermost path r131, that is, the outermost path.

[0143] exist Figure 9In the example, the illustration shows a work vehicle 10 traveling on a first peripheral path r131 and a work vehicle 10 traveling on a second peripheral path r132, with different permissible limit distances L1 set for these work vehicles 10. Figure 9 As an example, the permissible limit distance L1 set based on the work vehicle 10 traveling on the second outer perimeter path r132 is set to be smaller than the permissible limit distance L1 set based on the work vehicle 10 traveling on the first outer perimeter path r131. Therefore, the imaginary circle C1 set around the work vehicle 10 traveling on the second outer perimeter path r132 is smaller than the imaginary circle C1 set around the work vehicle 10 traveling on the first outer perimeter path r131.

[0144] Here, the second outer perimeter path r132 is an example of the outermost perimeter path along which the work vehicle 10 travels in a circle. That is, in this embodiment, the target path R1 includes the outermost perimeter path (the second outer perimeter path r132, etc.) along which the work vehicle 10 travels in a circle. When the work vehicle 10 is located on the outermost perimeter path, the margin value L11 becomes smaller compared to the case where the work vehicle 10 is located outside the outermost perimeter path (the first outer perimeter path r131, etc.). In this embodiment, in particular, the margin value L11 becomes minimal when the work vehicle 10 travels on the outermost perimeter path (the second outer perimeter path r132, etc.). The minimum value of the margin value L11 can be 0 or approximately 0. Thus, when traveling on the outermost perimeter path (the second outer perimeter path r132, etc.), the margin value L11 is reduced, and the allowable limit distance L1 is reduced. Therefore, the work vehicle 10 can be brought as close as possible to the outline of the work site F1, and the work area for the work site F1 can be expanded.

[0145] As explained above, the margin value L11 (allowable limit distance L1) is not fixed, but changes according to the driving status of the work vehicle 10, including its position. The "driving status of the work vehicle 10" mentioned here includes not only the position of the work vehicle 10 on the target path R1 during automatic driving as described above, but also, for example, the position of the work vehicle 10 during manual driving, the elapsed time since the start of automatic driving, and remote operations performed by the operator on the work vehicle 10.

[0146] As an example, when the work vehicle 10 is automatically driving along the edge of the field ridge (the outline of the work site F1), it is preferable to reduce the margin value L11 and the allowable limit distance L1. This allows the work vehicle 10 to approach the outline of the work site F1 as closely as possible, expanding the work area of ​​the work site F1. Furthermore, from the start of the automatic driving of the work vehicle 10 until a certain period of time has elapsed (immediately after the start of automatic driving), it is preferable to reduce the margin value L11 and the allowable limit distance L1. Additionally, for example, when an operator remotely operates the work vehicle 10 using the terminal device 20, it is preferable to reduce the margin value L11 and the allowable limit distance L1. Furthermore, whether driving automatically or manually, when the work vehicle 10 is driving near a specific area, it is preferable to reduce the margin value L11 and the allowable limit distance L1. The "specific area" referred to here includes, for example, the completed or uncompleted work area within the work site F1, and areas within the work site F1 where automatic driving is prohibited.

[0147] Furthermore, the control method according to this embodiment also includes a change mode for specifying a margin value L11. Specifically, the margin value L11 is changed or multiple change modes are registered based on any one of the following: the position of the work vehicle 10 on the target path R1, the speed of the work vehicle 10, the distance from the outline of the work site F1 to the work vehicle 10, or a combination thereof. Then, for example, a setting screen for specifying any change mode from multiple change modes is displayed on the operation display unit 23 of the terminal device 20, and the change mode can be specified on the setting screen based on the operation of the operation display unit 23 by the operator (user).

[0148] As a specific example of the change mode, for each of the margin value L11 and braking distance L12, it can also be specified that it varies based on either the position of the work vehicle 10 on the target path R1, the speed of the work vehicle 10, or the distance from the outline of the work site F1 to the work vehicle 10. As an example, in the first change mode, the margin value L11 varies based on both the position of the work vehicle 10 on the target path R1 and the distance from the outline of the work site F1 to the work vehicle 10, while the braking distance L12 varies only based on the speed of the work vehicle 10. In the second change mode, the margin value L11 varies only based on the position of the work vehicle 10 on the target path R1, while the braking distance L12 varies based on both the speed of the work vehicle 10 and the distance from the outline of the work site F1 to the work vehicle 10.

[0149] Here, the modification mode may, for example, include weighted coefficients for specific parameters. As an example, in the first modification mode, the value multiplied by a coefficient "2" for the vehicle speed, a specific parameter, is used as the margin value L11 and braking distance L12. On the other hand, in the second modification mode, the value multiplied by a coefficient "1.2" for the vehicle speed is used as the margin value L11 and braking distance L12. In this case, even at the same vehicle speed, the margin value L11 and braking distance L12 of the first modification mode are larger than those of the second modification mode, thus more reliably preventing the work vehicle 10 from protruding from the outline.

[0150] In this way, by specifying how to change the margin value L11 and its change mode, the work vehicle 10 can travel on a more appropriate path. The change mode can be specified by the user (operator, etc.) or automatically based on, for example, the state of the work site F1 (the degree of mud, etc.), the state of the work vehicle 10, or the environment (weather, etc.).

[0151] Furthermore, the control method described in this embodiment also includes the feature of invalidating the allowable limit distance L1 when a specific cancellation condition is met. The "cancellation condition" referred to here is a condition requiring the work vehicle 10 to move outward from the work site F1. For example, the remaining amount of materials (seedlings or fuel) consumed by the work vehicle 10 during its operation (planting operation in this embodiment) falls below a certain threshold. When the work vehicle 10 is a harvester such as a combine harvester, the cancellation condition includes the amount of harvested material stored exceeding the certain threshold.

[0152] Thus, when the cancellation condition is met, the permissible limit distance L1 is temporarily invalidated, so that even if the outline of the work vehicle 10 is within the permissible limit distance L1, no suppression control is applied, and it can move to the outside of the work site F1. The cancellation condition may also include the work vehicle 10 reaching the end position P2, that is, the end of the work journey along the target path R1, etc.

[0153] Furthermore, the threshold values ​​for comparing the remaining material quantity during the round trip with the remaining material quantity after the round trip can be different. Specifically, the threshold value for comparing the remaining material quantity after the round trip is set higher than the threshold value for comparing the remaining material quantity during the round trip. Thus, even if the amount of material has not decreased significantly at the end of the round trip, material replenishment can be performed before the start of the next round trip.

[0154] Furthermore, when the cancellation conditions are met, the driving processing unit 132 preferably stops the driving vehicle 10 based on conditions such as the operator (user) issuing a stop instruction, the driving vehicle 10 crossing the outline and traveling a predetermined distance, or the driving vehicle 10 traveling a predetermined distance from the end position P2. The stop instruction is, for example, sent from the terminal device 20 to the driving vehicle 10 by the user's specific operation on the terminal device 20.

[0155] Here, the margin value L11 includes negative values. That is, the margin value L11, which specifies the distance from the reference point Ps1 of the working vehicle 10, i.e., the allowable limit distance L1, can be positive (+) or negative (-). When the margin value L11 is negative, the allowable limit distance L1 can also be negative. If the allowable limit distance L1 is negative, then the absolute value of the allowable limit distance L1 by which the reference point Ps1 of the working vehicle 10 protrudes outward from the working site F1 relative to the outline of the working site F1 (first outline f11 to fourth outline f14) is specified.

[0156] For example, depending on the height of the field ridges around the work site F1, the type of field ridges (soil / concrete, etc.), the presence or absence of obstacles around the work site F1, the presence or absence of the work machine 12, the work width W1, the lifting status of the work machine 12, and the turning capability of the work vehicle 10, there may be situations where at least a portion of the machine body 11 (including the work machine 12) can protrude outwards from the work site F1 without any problem. When registering the work site F1 (during demonstration driving), etc., if it is confirmed that there is no problem even if it protrudes outwards from the work site F1, by setting the margin value L11 to a negative value as described above, more flexible path driving is possible.

[0157] [4.3] Overall processing

[0158] Next, refer to Figure 10 The overall process of handling changes related to the margin value L11 in the control method is described.

[0159] like Figure 10 As shown, the setting processing unit 135 of the control system 1 sets the margin value L11 as the default value and sets the allowable limit distance L1 based on the reference point Ps1 of the work vehicle 10 (S1). Then, the control system 1 obtains information such as the position of the work vehicle 10 on the target path R1, the speed of the work vehicle 10, and the distance from the outline of the work site F1 to the work vehicle 10 (S2).

[0160] For example, when the conditions for changing the margin value, such as the change in the speed of the work vehicle 10, are met (S3: "Yes"), the change processing unit 136 of the control system 1 changes the margin value L11 and changes the allowable limit distance L1 (S4). On the other hand, if the conditions for changing the margin value, such as the change in the speed of the work vehicle 10, are not met (S3: "No"), the control system 1 skips step S4 and ends the series of processes.

[0161] but, Figure 10 The flowchart shown is just an example. Processes can be added or omitted as appropriate, and the order of processes can be changed as well.

[0162] [5] Variations

[0163] Hereinafter, variations of Embodiment 1 are listed. The variations described below can be applied in appropriate combinations.

[0164] The control system 1 of this disclosure includes a computer system. The computer system is primarily structured with one or more processors and one or more memories as hardware. The functions of the control system 1 are realized by the processor executing a program (control program for the work vehicle) recorded in the computer system's memory. 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 also be constructed using electronic circuits.

[0165] Furthermore, integrating at least a portion of the functions of the control system 1 into a single housing is not a necessary structural requirement for the control system 1; the components of the control system 1 can also be distributed across multiple housings. Conversely, in Embodiment 1, the 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 also be implemented via the cloud (cloud computing) or similar technologies.

[0166] Furthermore, the allowable limit distance L1 can be set based on the work vehicle 10. As in Embodiment 1, it is not necessary to form an imaginary circle C1 centered on a reference point Ps1 set near the center of the body 11 of the work vehicle 10 in a top-down view. For example, as... Figure 11 As shown by the "imaginary circle" in the diagram, reference points Ps1 can also be set at multiple locations (for example, the four corners) of the body 11 of the work vehicle 10 when viewed from above, and imaginary circles C1 with radii of the allowable limit distance L1 can be set from each of these multiple reference points Ps1. Additionally, as... Figure 11As shown by the "vector", the limit distance L1 can also be set by a vector B1 extending in one direction from the reference point Ps1. Vector B1 has a specific directionality, for example, so that it extends towards the nearest outline or towards the direction of travel of the body 11.

[0167] Furthermore, the function of changing the margin value L11 described above is not limited to the automatic driving of the work vehicle 10, but also functions in manual driving (manual driving) based on the operator's manual operation.

[0168] Furthermore, the terminal device 20 is not limited to general-purpose terminals such as tablets, smartphones, or laptops; it can also be a dedicated terminal. Moreover, multiple terminal devices 20 can be associated with one work vehicle 10, in which case one work vehicle 10 can be controlled through multiple terminal devices 20. Conversely, one terminal device 20 can be associated with multiple work vehicles 10, in which case multiple work vehicles 10 can be controlled through one terminal device 20.

[0169] Furthermore, the target path R1 described above is merely an example and can be modified as appropriate. For instance, the working 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 as appropriate.

[0170] (Implementation Method 2)

[0171] The difference between the operating system 100 in this embodiment and Embodiment 1 is that it can change the position of the reference point Ps1 when viewed from above. Hereinafter, common reference numerals will be used to label structures identical to those in Embodiment 1, and appropriate descriptions will be omitted.

[0172] For example, such as Figure 12 As shown in the upper part (normally), it is assumed that reference points Ps1 are set at multiple locations (for example, the four corners) of the body 11 of the work vehicle 10 when viewed from above. Here, it is assumed that the limit distance L1 is allowed to be set by a vector B1 extending from the reference point Ps1 in one direction. The vector B1 has a specific directionality, for example, so that it extends towards the nearest outline or towards the front of the direction of travel of the body 11.

[0173] In this case, such as Figure 12 As shown in the lower part (when offset), the positions of multiple (four in this case) reference points Ps1 from a top-down view are changed towards the center side (inner side of the body 11) of the working vehicle 10. For example, if reference point Ps1 is set at the right front corner of the body 11, it is offset to the left rear. Figure 12 The lower part (when offset) shows the reference point Ps1 and vector B1 before the change using an imaginary line (double-dotted line).

[0174] Thus, in this embodiment, the position of the reference point Ps1 is not fixed but can be changed. Therefore, even if the permissible limit distance L1 from the reference point Ps1 is constant, the permissible limit distance observed from the center of the body 11 of the work vehicle 10 when viewed from above can be changed. For example, as... Figure 12 As shown, when the positions of multiple reference points Ps1 are shifted toward the center of the body 11 of the work vehicle 10 when viewed from above, the allowable limit distance observed from the center of the body 11 of the work vehicle 10 when viewed from above becomes smaller.

[0175] The position of the reference point Ps1 when viewed from above changes depending on the driving state of the work vehicle 10, including its position. In particular, if the driving state is such that multiple reference points Ps1 when viewed from above are shifted toward the center side (inner side of the body 11) of the body 10, it is preferable to substantially reduce the permissible limit distance observed from the center of the body 11 of the work vehicle 10 when viewed from above. That is, when the work vehicle 10 is automatically driving along the edge of the field ridge (the outline of the work site F1), when a certain period of time has elapsed since the start of the automatic driving of the work vehicle 10 (immediately after the start of automatic driving), when the operator remotely operates the work vehicle 10, and / or when the work vehicle 10 is driving near a specific area, whether automatically or manually, multiple reference points Ps1 when viewed from above are shifted toward the center side (inner side of the body 11).

[0176] Thus, for example, when the work vehicle 10 is automatically driving along the edge of the field, by shifting multiple reference points Ps1 from an overhead view toward the center side (inside the body 11) of the machine body 11, the work vehicle 10 can be brought as close as possible to the outline of the work site F1, thereby expanding the work area for the work site F1.

[0177] Furthermore, by shifting the positions of multiple reference points Ps1 from the top view towards the center of the body 11 of the work vehicle 10, the permissible limit distance can be set within a range equivalent to setting the permissible limit distance L1 as a negative (-) value as observed from the multiple reference points Ps1 normally. Thus, even when the permissible limit distance L1 is set by a vector B1 extending in one direction from the reference point Ps1, the margin value L11 can be set to a negative value, achieving the same action as setting the permissible limit distance to a negative value.

[0178] Furthermore, the change in the position of the reference point Ps1 when viewed from above is not limited to setting the reference point Ps1 at the four corners of the body 11 of the work vehicle 10 when viewed from above, but can also be applied to setting any reference point Ps1. Moreover, it is not limited to setting the allowable limit distance L1 by a vector B1 extending in one direction from the reference point Ps1; even when an imaginary circle C1 with a radius equal to the allowable limit distance L1 is set from the reference point Ps1, the change in the position of the reference point Ps1 when viewed from above can still be applied.

[0179] Alternatively, for example, the positions of multiple reference points Ps1 can be pre-registered, and the position of reference point Ps1 can be switched among these multiple reference points Ps1, thereby changing the position of reference point Ps1 when viewed from above. Figure 12 In the example, the positions of multiple reference points Ps1 in the "normal time" shown at the top and the positions of multiple reference points Ps1 in the "offset time" shown at the bottom are pre-registered. By switching between "normal time" and "offset time", the positions of multiple reference points Ps1 in the top view can be changed.

[0180] The structure of Embodiment 2 (including variations) can be used in appropriate combinations with the various structures (including variations) described in Embodiment 1.

[0181] (Implementation Method 3)

[0182] like Figure 13 As shown, the difference between the operating system 100 in this embodiment and Embodiment 1 is that it can change the allowable limit distance L1 according to the object height. Hereinafter, common reference numerals are used for structures identical to those in Embodiment 1, and appropriate descriptions are omitted.

[0183] exist Figure 13 In this context, it is assumed that reference points Ps1 are set at multiple locations (for example, the four corners) of the body 11 of the work vehicle 10 when viewed from above. Here, it is assumed that the limit distance L1 is allowed to be set by a vector B1 extending from the reference point Ps1 in one direction. The vector B1 has a specific directionality, for example, so that it extends towards the nearest outline or towards the front of the direction of travel of the body 11.

[0184] In this embodiment, multiple reference points Ps1 are pre-registered in the height direction (vertical direction D1). Among these multiple reference points Ps1, switching the reference point Ps1 switches the allowable limit distance L1. Figure 13In the example, two reference points Ps11 and Ps12 are registered in the height direction. For each reference point Ps11 and Ps12, vectors B11 and B12 with different lengths (allowable limit distance L1) are set. Here, the length of vector B11 extending from the lower reference point Ps11 is shorter than the length of vector B12 extending from the higher reference point Ps12.

[0185] In this embodiment, the limit distance L1 is allowed to be not fixed, but to vary according to the object height. The "object height" referred to here is the height of the object that becomes the collision avoidance target of the work vehicle 10; as an example, it is the height of the side ridge f10 located outside the work area F1 along the outline. For example, as... Figure 13 As shown in the upper part (low ridge), when the height of the ridge f10 is lower than the reference height, the reference point Ps11 on the lower side of the two reference points Ps11 and Ps12 is selected. Thus, the limiting distance L1 can be set smaller by using a shorter vector B11 extending from this reference point Ps11.

[0186] On the other hand, for example, such as Figure 13 As shown in the lower part (high ridge), when the height of the ridge f10 is higher than the reference height, the reference point Ps12 on the higher side of the two reference points Ps11 and Ps12 is selected. As a result, the limiting distance L1 can be set larger by using a longer vector B12 extending from this reference point Ps12.

[0187] In this embodiment, as an example, such as the pre-load platform 112 of the work vehicle 10, a reference height is set based on the lower end height of the structure located at a certain height above the ground (the ground contact surface of the front wheel 141 and the rear wheel 142).

[0188] Therefore, as Figure 13 As shown in the upper part, when the height of the field ridge f10 is lower than the reference height (low field ridge), since there is no risk of the prepared seedling platform 112 contacting the field ridge f10, by setting the allowable limit distance L1 to be small, the working vehicle 10 can be brought as close as possible to the outline of the work site F1, thus expanding the working area of ​​the work site F1. On the other hand, as Figure 13 As shown in the lower part, when the height of the field ridge f10 is higher than the reference height (high field ridge), by setting the allowable limit distance L1 to be larger, it is possible to prevent the pre-planting platform 112 from contacting the field ridge f10.

[0189] Regarding the height of the object, i.e. the height of the field ridge f10 ("low field ridge" or "high field ridge"), it can be determined, for example, based on the field ridge information contained in the field information, indicating whether it is a "low field ridge" or a "high field ridge", or it can be determined automatically based on the output of the ranging sensor that detects the height of the field ridge f10.

[0190] Furthermore, the change of the allowable limit distance L1 corresponding to the object height (the height of the field ridge f10) is not limited to the case where reference points Ps1 are set at the four corners of the body 11 of the work vehicle 10 when viewed from above, but can also be applied to the case where any reference point Ps1 is set. Moreover, it is not limited to the case where the allowable limit distance L1 is set by a vector B1 extending in one direction from the reference point Ps1, but can also be applied even when an imaginary circle C1 with a radius equal to the allowable limit distance L1 is set from the reference point Ps1.

[0191] Furthermore, multiple reference points Ps1 are pre-registered in the height direction (vertical direction D1). Switching between these reference points Ps1 to change the allowable limit distance L1 is not necessary. For example, even with the same reference point Ps1, the allowable limit distance L1 corresponding to the object height (the height of the field ridge f10) can be changed by altering the margin value L11.

[0192] The structure of Embodiment 3 (including variations) can be used in appropriate combinations with the various structures (including variations) described in Embodiment 1 or Embodiment 2.

[0193] [Notes on the Invention]

[0194] The following is a summary of the invention extracted from the above embodiments. Furthermore, the structures and processing functions described in the following notes can be selected and combined arbitrarily.

[0195] <Postscript 1>

[0196] A control method for a work vehicle, which enables the work vehicle to perform operations while traveling at the work site, has the following characteristics:

[0197] A permissible limit distance is set, which is specified using a margin value based on the aforementioned work vehicle, and becomes the limit allowing the aforementioned work vehicle to approach the outline of the aforementioned work site; and

[0198] Change the above remaining value.

[0199] <Appendix 2>

[0200] According to the control method of the work vehicle described in Appendix 1,

[0201] The aforementioned permissible limit distance is the distance obtained by adding the braking distance corresponding to the speed of the aforementioned operating vehicle to the aforementioned margin value.

[0202] <Appendix 3>

[0203] According to the control method of the work vehicle described in Appendix 2,

[0204] The aforementioned margin values ​​and braking distances can be changed individually.

[0205] <Appendix 4>

[0206] According to the control method of the work vehicle described in Appendix 3,

[0207] The aforementioned margin values ​​and braking distances are determined by individually weighting specific parameters.

[0208] <Appendix 5>

[0209] According to the control method of the operating vehicle described in any one of Appendix 1 to 4,

[0210] It also has the following function: if the distance from the reference point of the above-mentioned work vehicle to the above-mentioned outline becomes less than or equal to the above-mentioned allowable limit distance, then suppression control is performed to prevent the above-mentioned work vehicle from protruding from the above-mentioned outline.

[0211] <Appendix 6>

[0212] According to the control method of the work vehicle described in Appendix 5,

[0213] It also has the ability to change the position of the aforementioned reference point when viewed from above, based on the driving status of the aforementioned work vehicle.

[0214] <Appendix 7>

[0215] According to the control method of the operating vehicle described in any one of Appendix 1 to 6,

[0216] The aforementioned vehicles are capable of automatically traveling along the target path.

[0217] The aforementioned margin value changes according to the position of the aforementioned work vehicle on the aforementioned target path during the automatic driving of the aforementioned work vehicle.

[0218] <Postscript 8>

[0219] According to the control method of the work vehicle described in Appendix 7,

[0220] The aforementioned target paths include the operational paths along which the aforementioned vehicles perform operations, and the non-operational paths along which the aforementioned vehicles do not perform operations.

[0221] When the aforementioned work vehicle is located on the aforementioned work path, the aforementioned margin value becomes smaller compared to when the aforementioned work vehicle is located on the aforementioned non-work path.

[0222] <Postscript 9>

[0223] According to the control method of the operating vehicle described in Appendix 7 or 8,

[0224] The aforementioned target path includes both the straight-line path for the aforementioned work vehicle and the turning path for the aforementioned work vehicle.

[0225] When the aforementioned work vehicle is located on the aforementioned turning path, the aforementioned margin value becomes larger compared to when the aforementioned work vehicle is located on the aforementioned straight path.

[0226] <Postscript 10>

[0227] According to the control method of the operating vehicle described in any of the appendices 7-9,

[0228] The aforementioned target path includes the outermost perimeter path along which the aforementioned work vehicle travels in a circular motion along the aforementioned outline.

[0229] When the aforementioned work vehicle is located on the outermost perimeter path, the aforementioned margin value becomes smaller compared to when the aforementioned work vehicle is located outside the outermost perimeter path.

[0230] <Postscript 11>

[0231] According to the control method of the operating vehicle described in any one of the appendices 1 to 10,

[0232] It also has the ability to invalidate the aforementioned permissible limit distance under certain cancellation conditions.

[0233] <Postscript 12>

[0234] According to the control method of the operating vehicle described in any of the appendices 1 to 11,

[0235] It also has the following change mode: specifying the above-mentioned margin value.

[0236] <Postscript 13>

[0237] According to the control method of the operating vehicle described in any of the appendices 1 to 12,

[0238] The above margin value may be changed based on user actions.

[0239] <Postscript 14>

[0240] According to the control method of the work vehicle described in any of the appendices 1 to 13,

[0241] The above margin values ​​include negative values.

[0242] <Postscript 15>

[0243] According to the control method of the operating vehicle described in any of the appendices 1 to 14,

[0244] It also features the ability to adjust the above-mentioned allowable limit distance based on the object's height.

[0245] <Postscript 16>

[0246] A control program for a work vehicle.

[0247] This 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 15.

Claims

1. A control method for a work vehicle, characterized in that, a control method for a work vehicle capable of performing work while traveling at a work site, wherein... have: A permissible limit distance is set, which is defined using a margin value based on the work vehicle, and becomes the limit for the work vehicle to approach the outline of the work site; and Change the aforementioned margin value.

2. The control method for the operating vehicle according to claim 1, characterized in that, The allowable limit distance is a distance obtained by adding the braking distance corresponding to the speed of the operating vehicle to the margin value.

3. The control method for the operating vehicle according to claim 2, characterized in that, The margin value and the braking distance can be changed individually.

4. The control method for the operating vehicle according to claim 3, characterized in that, The margin value and the braking distance are determined by individually weighting specific parameters.

5. The control method for the operating vehicle according to any one of claims 1 to 4, characterized in that, It also features: if the distance from the reference point of the work vehicle to the outline becomes below the allowable limit distance, then suppression control is performed to prevent the work vehicle from protruding from the outline.

6. The control method for the operating vehicle according to claim 5, characterized in that, It also features the ability to change the position of the reference point when viewed from above, based on the driving status of the work vehicle.

7. The control method for the operating vehicle according to any one of claims 1 to 4, characterized in that, The work vehicle is capable of automatically traveling along the target path. The margin value changes according to the position of the work vehicle on the target path during the automatic driving of the work vehicle.

8. The control method for the operating vehicle according to claim 7, characterized in that, The target path includes the work path where the work vehicle performs operations and the non-work path where the work vehicle does not perform operations. When the work vehicle is located on the work path, the margin value is smaller compared to when the work vehicle is located on the non-work path.

9. The control method for the operating vehicle according to claim 7, characterized in that, The target path includes the straight path for the work vehicle to go straight and the turning path for the work vehicle to turn. When the work vehicle is on the turning path, the margin value is larger compared to when the work vehicle is on the straight path.

10. The control method for the operating vehicle according to claim 7, characterized in that, The target path includes the outermost peripheral path along which the work vehicle travels in a circle along the outline. When the work vehicle is located on the outermost perimeter path, the margin value is smaller compared to when the work vehicle is located outside the outermost perimeter path.

11. The control method for the operating vehicle according to any one of claims 1 to 4, characterized in that, It also has the ability to invalidate the allowed limit distance when certain cancellation conditions are met.

12. The control method for the operating vehicle according to any one of claims 1 to 4, characterized in that, It also has: a change mode for specifying the remaining value.

13. The control method for the operating vehicle according to any one of claims 1 to 4, characterized in that, The remaining value changes according to user actions.

14. The control method for the operating vehicle according to any one of claims 1 to 4, characterized in that, The margin value includes negative values.

15. The control method for the operating vehicle according to any one of claims 1 to 4, characterized in that, It also features: the ability to change the allowed limit distance based on the object height.

16. A control program for a work vehicle, characterized in that, A control method for causing one or more processors to execute the work vehicle as described in any one of claims 1 to 4.

17. A control system for a work vehicle, characterized in that, Work vehicles that can operate while moving around the work site. The control system for the work vehicle includes: The setting processing unit sets the allowable limit distance, which is defined using a margin value based on the work vehicle, and becomes the limit of the outline of the work site that allows the work vehicle to approach. and The change processing department changes the stated balance value.

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

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