Work vehicle control system

Abstract

To enhance work efficiency of a work vehicle by streamlining transfer thereof to a work starting point while avoiding a no-entry zone.SOLUTION: A work vehicle control system according to an embodiment comprises a control section which controls a traveling vehicle body, enabling a work vehicle to perform work while autonomously traveling along a work route. The control section: sets a turning radius of the traveling vehicle body while traveling and no-entry and no-deviation zones in an agricultural field; determines whether each vertex of the no-entry and no-deviation zones is a convex vertex or a concave vertex; plans a travel route of the traveling vehicle body from a current position to a work start point; adjusts the travel route entering the no-entry zone to follow a detour circle that passes through a convex vertex of the no-entry zone if the initially planned route intersects the no-entry zone; and modifies the travel route to follow a detour circle that passes through a concave vertex of the no-deviation zone if the initially planned route deviates from the no-deviation zone. Additionally, the detour circle is not configured to pass through the concave vertex of the no-entry zone and the convex vertex of the no-deviation zone.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to a control system for a work vehicle. [Background technology]

[0002] Conventionally, when setting a work route for a work vehicle such as an agricultural tractor capable of autonomous driving, a technology is known in which a candidate identification area is set by an identification unit that identifies candidate autonomous driving routes along which the work vehicle can begin autonomous driving, and a work route included in the candidate identification area can be identified as a candidate autonomous driving route (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-147163 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology described above, when the position where the work vehicle starts autonomous driving (the position where work starts, hereinafter referred to as the work start point) is determined in advance, it is not possible to generate an appropriate movement route to the work start point, so it is not possible to improve the efficiency of movement to the work start point. Also, for example, even if there is an area (no-entry area) into which it is not desired to enter when moving to the work start point, it is not possible to set an efficient movement route while bypassing the no-entry area. In other words, the conventional technology described above has room for further improvement in terms of improving work efficiency.

[0005] The present invention has been made in consideration of the above, and aims to provide a control system for a work vehicle that can improve work efficiency by streamlining movement to a work starting point while bypassing no-entry areas. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objective, a control system for a work vehicle according to an embodiment includes a traveling body capable of traveling within a field, a positioning device that acquires the self-position of the traveling body, an azimuth angle acquisition means that acquires the azimuth angle of the traveling body, and a control unit that generates a work path including a work start point within the field and controls the traveling body to perform work while traveling autonomously along the generated work path, wherein the control unit pre-sets a turning radius of the traveling body when moving within the field and a no-entry area that is an inner area of ​​a closed polygon within the field and that prohibits the traveling body from entering, setting a deviation-prohibited area in an outer area of ​​the entry-prohibited area, determining whether each vertex of the entry-prohibited area is a convex vertex or a concave vertex, and determining whether each vertex of the deviation-prohibited area is a convex vertex or a concave vertex; A movement route from the self-position of the traveling vehicle body to the work start point is set, and when the movement route enters the no-entry area, A movement route entering the entry-prohibited area is corrected so as to pass through a detour circle set at a convex vertex of the entry-prohibited area, and when the movement route deviates from the deviation-prohibited area, the movement route is corrected so as to pass through a detour circle set at a concave vertex of the deviation-prohibited area, and detour circles are not set at the concave vertices of the entry-prohibited area and the convex vertices of the deviation-prohibited area. It is characterized by: Effect of the Invention

[0007] According to the work vehicle according to this embodiment, it is possible to efficiently move to the work start point while bypassing the no-entry areas, thereby improving work efficiency. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic left side view showing a work vehicle according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing the control system for the work vehicle according to the embodiment. [Diagram 3] Figure 3 is an explanatory diagram (part 1) of autonomous driving in a farm field. [Figure 4] Figure 4 is an explanatory diagram (part 2) of autonomous driving in a farm field. [Diagram 5] FIG. 5 is a flowchart (part 1) showing the process of setting a travel route. [Figure 6] FIG. 6 is a flowchart (part 2) showing the process of setting a travel route. [Figure 7] FIG. 7 is an explanatory diagram of a route pattern of a travel route. [Figure 8] FIG. 8A is an explanatory diagram of a route pattern of left turn-right turn-left turn, and FIG. 8B is an explanatory diagram of a route pattern of right turn-left turn-right turn. [Figure 9] FIG. 9 is an explanatory diagram of a movement route that detours around a no-entry area or a no-departure area. [Figure 10] FIG. 10 is an explanatory diagram (part 1) of the setting of a detour route around a no-entry area. [Figure 11] FIG. 11 is an explanatory diagram (part 2) of setting a detour route around a no-entry area. [Figure 12] FIG. 12 is an explanatory diagram (part 1) of the setting of a detour route for a deviation-prohibited area. [Figure 13] FIG. 13 is an explanatory diagram (part 2) of the setting of a detour route around a deviation-prohibited area. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of a control system for a work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below.

[0010] <Overview of Work Vehicles (Tractors)> First, an overview of a work vehicle 1 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a schematic left side view showing a work vehicle 1 according to an embodiment. In the following, a tractor will be used as an example of the work vehicle 1. The tractor 1, which is a work vehicle, is an agricultural tractor that performs agricultural work in a field while traveling by itself.

[0011] In addition, the tractor 1, which is a work vehicle, is operated by a driver (also called an operator) while traveling within a field to perform specified tasks, and also performs specified tasks while traveling autonomously within the field through control of each part by a control system centered on the control unit 200 (see Figure 2), which will be described later.

[0012] In the following description, the forward / rearward direction is the direction of travel of the tractor 1 when traveling straight, with the forward side of the traveling direction being defined as "front" and the rear side being defined as "rear." The traveling direction of the tractor 1 is the direction from the operator's seat 8 to the steering wheel 9, which will be described later, when the tractor 1 is traveling straight.

[0013] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction. In the following, left and right are defined with respect to the "front" side. That is, when the operator is seated in the operator's seat 8 and facing forward, the left hand side is the "left" and the right hand side is the "right". The up-down direction is the vertical direction. The front-rear direction, the left-right direction, and the up-down direction are perpendicular to each other in three dimensions. In the following description, the tractor 1 or the traveling vehicle body 2 may be referred to as the "machine body".

[0014] As shown in FIG. 1, the tractor 1 includes a traveling body 2 and a work implement 6. The traveling body 2 is capable of traveling in a field and includes front wheels 3 and rear wheels 4. The front wheels 3 are a pair of left and right wheels for steering (steered wheels). The rear wheels 4 are a pair of left and right wheels for driving (drive wheels). The traveling body 2 may include a crawler device instead of the wheels (at least one of the front wheels 3 and the rear wheels 4). In this case, the traveling crawlers are the drive wheels.

[0015] Rotational power generated by an engine E, which is a drive source housed inside a bonnet 5, is transmitted to rear wheels 4, which are drive wheels, after being appropriately reduced in speed by a speed change device (transmission) 121 (see FIG. 2) provided in a power transmission device (mission case) 12. The rear wheels 4 are driven by the rotational power transmitted from the engine E. The speed change device 121 switches the rotational power transmitted from the engine E to one of a plurality of gears (for example, 1st to 8th gears).

[0016] The traveling vehicle body 2 is configured to be able to transmit power generated by the engine E and reduced in speed by the transmission 121 to the front wheels 3 via the 4WD clutch as well. In this case, when the 4WD clutch transmits power, the four wheels, the front wheels 3 and the rear wheels 4, are driven by the power transmitted from the engine E. Also, when the 4WD clutch blocks the transmission of power, only the two wheels, the rear wheels 4, are driven by the power transmitted from the engine E. In this way, the traveling vehicle body 2 is configured to be able to switch between two-wheel drive (2WD) and four-wheel drive (4WD).

[0017] A work implement 6 that performs work in a farm field is connected to the rear of the traveling body 2, and a PTO device 7 having a PTO (Power take-off) shaft 71 that transmits power to drive the work implement 6 is provided. A driver's seat 8 where a driver sits when operating the tractor 1 is provided in the center of the traveling body 2.

[0018] A steering wheel 9, which is a handle for steering the front wheels 3, is provided in front of the cockpit 8. The steering wheel 9 and a drive section for driving the steering wheel constitute a steering device 122 (see FIG. 2). The steering wheel 9 is provided at the upper end of a handle post 10. Various operating pedals 11 (accelerator pedal, brake pedal, clutch pedal) are provided below the handle post 10, near the feet of the pilot when he or she sits in the cockpit 8.

[0019] In addition, a lifting device 13 that raises and lowers the work implement 6 is provided at the rear of the traveling body 2. The lifting device 13 moves the work implement 6 to a non-working position by raising the work implement 6. In addition, the lifting device 13 moves the work implement 6 to a ground work position by lowering the work implement 6. The lifting device 13 includes a hydraulic lifting cylinder 131, a lift arm 132, a lift rod 133, a lower link 134, and a top link 135.

[0020] When hydraulic oil is supplied to the lift cylinder 131, the lift arm 132 rotates about the axis AX to raise the work implement 6, and when hydraulic oil is discharged from the lift cylinder 131, the lift arm 132 rotates about the axis AX to lower the work implement 6. A lift arm sensor that detects the rotation angle of the lift arm 132 is provided at the base of the lift arm 132 (near the axis AX). The height of the work implement 6 is calculated based on the detection value of the lift arm sensor.

[0021] Furthermore, the lift arm 132 is connected to the lower link 134 via the lift rod 133. In this manner, the lifting device 13 connects the work machine 6 to the traveling body 2 by the lower link 134 and the top link 135 so that the work machine 6 can be raised and lowered.

[0022] 1 illustrates an example in which the working machine 6 is a rotary tiller. The rotary tiller tills the field (soil) by rotating the tiller tines 61 using power transmitted from a PTO shaft 71 of a PTO device 7.

[0023] The tractor 1 also includes a control unit 200 (see FIG. 2). The control unit 200 controls the engine E and also controls the traveling speed of the traveling vehicle body 2. The control unit 200 also controls the work implement 6.

[0024] The tractor 1 also includes a positioning device 150. The positioning device 150 is provided on the upper part of the traveling body 2, and measures the position of the traveling body 2 at a predetermined period to obtain information (e.g., latitude and longitude) of the traveling body 2's own position P0 (see FIG. 3). The positioning device 150 is, for example, a GNSS (Global Navigation Satellite System), and can receive radio waves from a navigation satellite S orbiting in the sky to perform positioning and timing.

[0025] Furthermore, the tractor 1 allows the operator to set various tasks in a specific field by operating the mobile terminal device 160. The mobile terminal device 160 is, for example, a tablet terminal, and can be connected to a communication network such as the Internet, and can be connected to the work management device via the communication network. In this case, the work management device is a system capable of so-called cloud computing. The mobile terminal device 160 and the work management device are connected, for example, via a wireless LAN (Local Area Network).

[0026] The mobile terminal device 160 includes a storage unit including a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and a display unit and an operation unit including a touch panel. Note that various keys and buttons may be provided separately as the operation unit. The mobile terminal device 160 may also include a processing unit having a CPU (Central Processing Unit) and the like so as to be able to control each unit by electronic control, similar to the control unit 200 described later.

[0027] The task management device is a processing device having a CPU and the like, a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a HDD (Hard Disk Drive), and further a computer provided with an input / output device.

[0028] The tractor 1 also includes an azimuth angle acquisition means 170 (see FIG. 2). The azimuth angle acquisition means 170 acquires the azimuth angle of the traveling vehicle body. The azimuth angle acquisition means 170 is, for example, an azimuth angle sensor. Hereinafter, the azimuth angle acquisition means 170 will be referred to as an azimuth angle sensor.

[0029] The azimuth angle sensor 170 detects, for example, the absolute azimuth angle of the traveling direction of the traveling vehicle body 2 (for example, "north" is 0° (360°), "east" is 90°, "south" is 180°, and "west" is 270°). The azimuth angle sensor 170 detects the absolute azimuth angle at regular time intervals and transmits the detected absolute azimuth angle to the control unit 200 or the like. Note that the azimuth angle acquisition means 170 may be, in addition to an azimuth angle sensor, for example, a geomagnetic sensor or the like.

[0030] <Work vehicle (tractor) control system> Next, the control system 100 for a work vehicle according to the embodiment, i.e., a control system for a work vehicle (tractor) 1 centered around a control unit 200, will be described with reference to Fig. 2. Fig. 2 is a block diagram showing the control system 100 for a work vehicle according to the embodiment. As shown in Fig. 2, the control unit 200 includes an engine ECU (Electronic Control Unit) 201, a traveling system ECU 202, and a work implement lifting system ECU 203.

[0031] The engine ECU 201 controls the rotation speed of the engine E. The traveling system ECU 202 controls the traveling speed of the traveling vehicle body 2 (see FIG. 1) by controlling the rotation of the drive wheels (rear wheels 4). The working machine lifting system ECU 203 controls the lifting device 13 to drive the working machine 6 to lift and lower.

[0032] The control unit 200 is capable of controlling each part through electronic control, and is equipped with a processing unit having a CPU (Central Processing Unit) and the like, as well as a memory unit consisting of, for example, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc., in which various programs and necessary data such as a planned travel route (hereinafter referred to as the work route) R1 of the traveling vehicle body 2 that is set in advance for each field, which will be described later, are stored.

[0033] 2, the control unit 200 is connected to a positioning device (GNSS) 150, an azimuth angle sensor 170, an engine rotation sensor 110, a vehicle speed sensor 111, a gear shift sensor 112, a turning angle sensor 113, etc. In addition, the control unit 200 is connected to an engine E, a gear shift device 121, a steering device 122, an elevator device 13, etc.

[0034] The engine revolution sensor 110 detects the revolution speed of the engine E. The vehicle speed sensor 111 detects the traveling speed (vehicle speed) of the traveling vehicle body 2 (see FIG. 1). The gear shift sensor 112 detects which of a plurality of gear shift stages the transmission 121 is in. The turning angle sensor 113 detects the turning angle of the front wheels 3 (see FIG. 1), which are steered wheels.

[0035] The control unit 200 receives inputs of position (self-position) information of the traveling vehicle body 2 in a field or the like from the positioning device 150, the number of revolutions of the engine E from the engine revolution sensor 110, the vehicle speed of the traveling vehicle body 2 from the vehicle speed sensor 111, the current gear position from the gear shift sensor 112, and the turning angle of the front wheels 3 from the turning angle sensor 113. When the control unit 200 causes the traveling vehicle body 2 to travel autonomously, as described above, the control unit 200 uses the detection value of the turning angle sensor 113 to feed back the turning angle of the front wheels 3, thereby controlling the steering cylinder connected to the steering wheel 9 (see FIG. 1 ), thereby steer- ing the steering wheel 9.

[0036] In the control unit 200, the engine ECU 101 is connected to the engine E, the traveling system ECU 102 is connected to the transmission 121 and the steering system 122, and the work machine lifting system ECU 103 is connected to the lifting device 13. The work machine lifting system ECU 103 lifts and lowers the work machine via the lifting device 13.

[0037] Furthermore, in the control unit 200, when the traveling body 2 is made to travel autonomously, a work route R1 (see FIG. 3) corresponding to the work content by the work implement 6 is determined in advance for each field, digitized, and stored in the memory unit. Based on the measurement results of the positioning device 150, the control unit 200 controls the engine E, the transmission 121, the steering device 122, the lifting device 13, and the like so that the tractor 1 performs work while traveling along the work route R1 stored in the memory unit. The work route R1 is set according to the shape and size of the field, the width, length, and number of ridges formed in the field, and the type of crop. Furthermore, the control unit 200 sets in advance the turning radius of the tractor 1 (traveling body 2) when moving in the field.

[0038] As described above, the control unit 200 is wirelessly connected to, for example, a portable terminal device (tablet terminal) 160 that can be carried by the worker. The control unit 200 controls each part of the tractor 1 based on an instruction signal from the portable terminal device 160 operated by the worker. The control unit 200 may have a machine information database of the tractor 1 and be configured to be able to transmit and receive information such as the model from the portable terminal device 160 or the like.

[0039] <Autonomous driving in farm fields> Next, the autonomous traveling of the work vehicle (tractor) 1 in the field F1 will be described with reference to Fig. 3 to Fig. 8. Fig. 3 and Fig. 4 are explanatory diagrams of the autonomous traveling in the field F1, and are schematic diagrams of the field from above. Fig. 3 shows a case where the distance between the circle C1 of the turning radius when the traveling body 2 starts moving and the circle C2 of the turning radius when entering the work path R1 is a predetermined distance (for example, 10 m) or more, and Fig. 4 shows a case where the distance between the circle C1 of the turning radius when the traveling body 2 starts moving and the circle C2 of the turning radius when entering the work path R1 is less than the predetermined distance.

[0040] Fig. 5 and Fig. 6 are flow charts showing the process of setting the movement route R2. Of these, Fig. 6 shows the process of setting the movement route R2 that does not deviate from the deviation-prohibited area A2. Fig. 7 is an explanatory diagram (table) of the route pattern of the movement route R2. Fig. 8 is an explanatory diagram of (a) a route pattern of left turn-right turn-left turn, and (b) a route pattern of right turn-left turn-right turn.

[0041] For example, in the case of tilling work using a tractor 1 that performs work while traveling autonomously, the control unit 200 (see Figure 2) generates a work path R1 in which appropriate turning positions, tilling depth, etc. are specified based on information including, for example, the overall length, overall width, and tread of the tractor 1, the capacity of the work implement 6 (see Figure 1), and the shape and area of ​​the field F1.

[0042] The worker H can also send instructions to the tractor 1 remotely by operating the mobile terminal device 160 from the ridge F2 or the like.

[0043] As shown in Figures 3 and 4, the tractor 1 enters the field F1 from the entrance / exit of the field F1 along the work path R1, and automatically performs tilling work while appropriately turning and traveling in the work area A1 set in the field F1. Depending on the program, the tractor 1 can also be controlled to exit the field F1 from the entrance / exit of the field F1 after tilling work and stop at a specified location.

[0044] The tractor 1 (traveling body 2) performs ground work while circling the headland area, which is, for example, the inside of the ridge F2, i.e., a predetermined area from the edge of the field F1 to the inside, as the headland area. The tractor 1 performs ground (cultivation) work while repeating straight movements and turns along a work route R1 from a preset work start point P1 to a work end point P2 in a work area A1 that is inside the headland area.

[0045] <Setting the movement route to the work starting point> In this embodiment, as shown in Figs. 3 and 4, a movement route R2 of the tractor 1 (traveling body 2) is set so that the tractor 1 can move along an appropriate route to a work start point P1 when starting work.

[0046] In this case, as shown in Figures 3 and 4, the control unit 200 sets a circle C1 of a turning radius tangent to the azimuth angle vector V1 acquired by the azimuth angle acquisition means 170 and the self-position P0 acquired by the positioning device 150, and sets a circle C2 of a turning radius tangent to the vector V2 of the work path R1 and the work start point P1. The control unit 200 also sets a tangent L1 to the two turning radius circles C1 and C2. The control unit 200 generates multiple routes based on the two turning radius circles C1 and C2 and the tangent L1.

[0047] Here, the circle C1 of the turning radius tangent to the azimuth angle vector V1 and the self-position P0 has two circles: a left-turn movement start circle C1L where the traveling body 2 starts moving by turning left, and a right-turn movement start circle C1R where the traveling body 2 starts moving by turning right. Also, the circle C2 of the turning radius tangent to the vector V2 of the work path R1 and the work start point P1 has two circles: a left-turn approach circle C2L where the traveling body 2 enters the work path R1 by turning left, and a right-turn approach circle C2R where the traveling body 2 enters the work path R1 by turning right.

[0048] Then, the control unit 200 selects a circle C1 (C1L, C1R) with a turning radius on either the left or right side of the traveling vehicle body 2, selects a circle C2 (C2L, C2R) with a turning radius on either the left or right side of the work start point P1, and sets the shortest route from the self-position P0 to the work start point P1 from these multiple (four) routes as the travel route R2. The control unit 200 displays the set travel route R2 on the display screen of the mobile terminal device 160.

[0049] When setting the movement route R2, the control unit 200 generates a plurality of routes based on two circles C1 and C2 with different turning radii and a tangent line L1, as shown in FIG. 5 (step S101).

[0050] Next, the control unit 200 selects the shortest route from the self-position P0 to the work start point P1 from the multiple routes (step S102). Next, the control unit 200 sets the selected shortest route as the movement route R2 (step S103) and ends the process.

[0051] According to this configuration, in the autonomous traveling of the tractor 1, a route that can be traveled is generated by smoothly connecting the self-position P0 of the traveling body 2 and the work start point P1, and the tractor 1 can travel along the route (travel route) R2 that is the shortest among the generated routes, so that the efficiency of the movement to the work start point P1 can be improved and the work can be started smoothly. This improves the work efficiency.

[0052] 3 and 4, the control unit 200 sets a departure-prohibited area A2 outside the working area A1, where departure of the traveling vehicle body 2 is prohibited. Therefore, the traveling vehicle body 2 can travel (move) inside the departure-prohibited area A2. If the shortest route from the self-position P0 to the working start point P1 among multiple routes includes a partial route that deviates from the departure-prohibited area A2, the control unit 200 excludes the route including the partial route. In other words, if the route includes a deviation component (partial route) from the departure-prohibited area A2, the route is excluded.

[0053] Then, the control unit 200 sets the shortest route between the self-position P0 and the work start point P1 from the remaining routes excluding the routes including the deviation component as the movement route R2. In this case, even if a route including a deviation component is the shortest route, such a route is not set as the movement route R2. Note that if the next shortest route includes a deviation component, it is not set as the movement route R2. This is repeated until a route not including a deviation component is the shortest route. Also, if all routes include a deviation component, the control unit 200 does not set the movement route R2, and displays, for example, on the display screen of the mobile terminal device 160, that the movement route R2 cannot be set.

[0054] When setting a movement route R2 that does not deviate from the deviation-prohibited area A2, the control unit 200 generates multiple routes based on two circles C1 and C2 with different turning radii and a tangent line L1, as shown in FIG. 6 (step S201).

[0055] Next, the control unit 200 selects the shortest route from the self-position P0 to the work start point P1 from the multiple routes (step S202). Next, the control unit 200 determines whether the shortest route includes a partial route that deviates from the deviation-prohibited area A2 (step S203).

[0056] If the control unit 200 determines that the shortest route includes a partial route that deviates from the deviation-prohibited area A2 (step S203: Yes), it reselects the shortest route from among routes other than the route that includes the deviating partial route, sets the reselected shortest route as the travel route R2 (step S204), and terminates the processing.

[0057] Furthermore, if the control unit 200 determines that the shortest route does not include a partial route that deviates from the deviation forbidden area A2 (step S203: No), the control unit 200 sets the selected shortest route as the travel route R2 (step S103) and ends the process. Note that in the processes of steps S203 and S204, the control unit 200 may also determine whether the reselected shortest route includes a partial route that deviates from the deviation forbidden area A2, and may repeat this process until it is determined that the reselected shortest route does not include a partial route that deviates from the deviation forbidden area A2.

[0058] With this configuration, it is possible to move along the shortest route (movement route) R2 while preventing deviation from the field F1 or contact with the ridge F2, thereby making it possible to efficiently move to the work starting point P1 while ensuring safety.

[0059] Here, a case where the distance between circle C1 of the turning radius when the traveling body 2 starts moving and circle C2 of the turning radius when entering the work path R1 is less than a predetermined distance will be further explained with reference to Figures 7 and 8.

[0060] As shown in Figure 7, when the distance between circle C1 of the turning radius when the traveling vehicle body 2 starts moving and circle C2 of the turning radius when entering the work path R1 is greater than or equal to a predetermined distance, the control unit 200 sets a movement path R2 from among four route patterns: a route of left turn-straight-left turn, a route of left turn-straight-right turn, a route of right turn-straight-left turn, and a route of right turn-straight-right turn.

[0061] In addition, if the distance between circle C1 of the turning radius when the traveling vehicle body 2 starts moving and circle C2 of the turning radius when entering the work path R1 is less than a predetermined distance, the control unit 200 sets the movement path R2 from among the four route patterns of left turn-straight-left turn, left turn-straight-right turn, right turn-straight-left turn, and right turn-straight-right turn, plus two additional route patterns of left turn-right-left turn and right turn-left-right turn.

[0062] When setting a left turn-right turn-left turn route, the control unit 200 further sets a connecting circle C3 of a turning radius tangent to the two circles C1 and C2 of turning radii as shown in Fig. 8(a). Also, when setting a right turn-left turn-right turn route, the control unit 200 further sets a connecting circle C3 of a turning radius tangent to the two circles C1 and C2 of turning radii as shown in Fig. 8(b).

[0063] With this configuration, even if the distance between circle C1 of the turning radius when the traveling body 2 starts moving and circle C2 of the turning radius when entering the work path R1 is short, it is possible to set a movement path R2 that is the shortest path, thereby making it possible to efficiently move to the work starting point P1.

[0064] Also, the worker can remotely instruct the traveling vehicle body 2 to start moving by using the mobile terminal device 160. In this case, the control unit 200 sets a movement route R2 based on the self-position P0 and the azimuth angle at the time when the mobile terminal device 160 instructs the traveling vehicle body 2 to start moving, that is, at the time when the control unit 200 receives an instruction signal to start moving from the mobile terminal device 160. Then, the control unit 200 moves the traveling vehicle body 2 along the set movement route R2.

[0065] According to this configuration, a reasonable route can be set from the point where the mobile terminal device 160 issues an instruction to start moving, i.e., the point where the control unit 200 receives an instruction signal to start moving from the mobile terminal device 160, to the work start point P1, thereby making it possible to efficiently move to the work start point P1.

[0066] <Routes that avoid no-entry and no-departure areas> Next, the entry prohibited area A3 and the movement route R2 that bypasses the entry prohibited area A3 will be described with reference to Fig. 9. Fig. 9 is an explanatory diagram of the movement route R2 that bypasses the entry prohibited area A3 and the deviation prohibited area A2. As shown in Fig. 9, the control unit 200 sets the entry prohibited area A3 in advance as an inner area of ​​a closed polygon in the field F1. The control unit 200 also sets the deviation prohibited area A2 in the outer area of ​​the entry prohibited area A3.

[0067] The no-entry area A3 is an area in which the traveling vehicle body 2 is prohibited from traveling, for example, in order to prevent the traveling vehicle body 2 from damaging the area while the traveling vehicle body 2 is moving to the work start point P1. The no-departure area A2 is an area in which the traveling vehicle body 2 is prohibited from departing, as described above.

[0068] When an entry-prohibited area A3 or a deviation-prohibited area A2 is set, the control unit 200 sets a movement route R2 that detours around the entry-prohibited area A3 or the deviation-prohibited area A2.

[0069] When the control unit 200 sets the no-entry area A3, it sets a detour circle C4 with a turning radius that detours around the no-entry area A3 at a vertex p1 of the polygonal no-entry area A3. The control unit 200 sets a movement route R2 from the self-position P0 of the traveling body 2 to the work start point P1. If the set movement route R2 enters the no-entry area A3, the control unit 200 corrects the movement route R2 so that it detours around the no-entry area A3 via the detour circle C4.

[0070] The control unit 200 sets the detour circle C4 only at the convex vertex p1a among the vertices p1 of the forbidden area A3. In other words, the control unit 200 does not set the detour circle C4 at the concave vertex p1b of the forbidden area A3.

[0071] In addition, when the movement route R2 that detours around the no-entry area A3 includes a route R2c (see FIG. 12) that deviates from the no-departure area A2, the control unit 200 changes the route R2c that deviates from the no-departure area A2 so that it passes through a detour circle C5 set at the vertex p2 of the no-departure area A2.

[0072] The control unit 200 sets the detour circle C5 only at the concave vertex p2b of the vertex p2 of the departure forbidden area A2. In other words, the control unit 200 does not set the detour circle C5 at the convex vertex p1a of the departure forbidden area A2.

[0073] <Setting detour routes for prohibited areas> Next, the setting of a detour route (movement route R2) for the entry-prohibited area A3 will be described with reference to Fig. 10 and Fig. 11. Fig. 10 and Fig. 11 are explanatory diagrams for setting a detour route (movement route R2) for the entry-prohibited area A3.

[0074] As shown in Figures 10 and 11, the control unit 200 sets a movement route R2 based on a circle C1 of a turning radius tangent to the azimuth angle vector V1 and the self-position P0, a circle C2 of a turning radius tangent to the vector V2 of the work route R1 and the work starting point P1, the two turning radius circles C1 and C2, and a tangent L2 (see Figure 9) to the detour circle C4 of the no-entry area A3.

[0075] As shown in Fig. 10, when setting the forbidden area A3, the control unit 200 connects the vertices p1 based on the order of the vertices p1 specified by the operator to set the forbidden area A3. When specifying the vertices p1, it is preferable to specify the vertices p1 in a clockwise or counterclockwise order (in the examples shown in Figs. 10 and 11, in the order of positions a1, a2, . . . a7, or in the order of positions a7, a6, . . . a1). The order of positions a1, a2, . . . a7 is referred to as ascending order, and the order of positions a7, a6, . . . a1 is referred to as descending order.

[0076] The control unit 200 stores each side of the no-entry area A3 as a vector Vs1 based on the order of the specified vertices p1. The control unit 200 calculates the cross product of adjacent vectors Vs1 from the stored vectors Vs1. The control unit 200 determines whether the vertex p1 is a convex vertex p1a or not based on the calculated cross product value. In this case, the control unit 200 determines whether the vertex p1 is a convex vertex p1a or a concave vertex p1b depending on whether the value of the cross product is a positive or negative value. If the value of the cross product is a positive value, it is determined to be a convex vertex p1a, and if the value of the cross product is a negative value, it is determined to be a concave vertex p1b.

[0077] Here, the mobile terminal device 160 (see FIG. 2) is operated by an operator or the like when setting the forbidden area A3. When setting the forbidden area A3, the mobile terminal device 160 displays a guide to have the vertices p1 specified in a clockwise or counterclockwise order. The control unit 200 connects the vertices p1 based on the order of the vertices p1 specified by the mobile terminal device 160 to set the forbidden area A3.

[0078] As shown in FIG. 10, the control unit 200 first sets the shortest route (movement route R2) from the self-position P0 to the work start point P1 based on the turning radius circle C1, the turning radius circle C2, and the tangent L1 to the two turning radius circles C1 and C2 (see FIG. 3).

[0079] When the movement route R2 includes a route R2a that enters the forbidden area A3, the control unit 200 modifies the route R2a that enters the forbidden area A3 so that it passes through the detour circle C4 that is set in ascending order based on the specified order from the vertex p1 (vertex p1 at position a1) adjacent to the work starting point P1 among the vertices p1. In the example shown in Fig. 10, the vertex p1 at position a2 is modified so that it passes through the detour circle C4.

[0080] As shown in FIG. 11, if a route R2a entering a forbidden area A3 is not eliminated within the movement route R2, the route R2a entering the forbidden area A3 is modified so that it passes through vertex p1 (vertex p1 at position a4) via a detour circle C4.

[0081] In this way, the control unit 200 corrects the route so that it passes through the detour circles C4 set in ascending order based on the specified order, and when there is no route R2a that enters the no-entry area A3, it sets route R2b as a route within the movement route R2. Note that, although the examples shown in Figures 10 and 11 pass through the detour circles C4 set in ascending order, it may be configured to pass through the detour circles C4 set in descending order based on the specified order.

[0082] According to this configuration, in autonomous traveling, a movable route is generated by smoothly connecting the self-position P0 of the traveling body 2 and the work start point P1, and if there is an area in the field F1 that should not be disturbed, this is set as a no-entry area A3 for the traveling body 2, and a travel route R2 that bypasses the no-entry area A3 is set, thereby making it possible to efficiently move to the work start point P1 while bypassing the no-entry area A3. This makes it possible to improve work efficiency.

[0083] Also, by setting a detour circle C4 only at the convex vertex p1a of the polygonal forbidden area A3, it is possible to connect the set detour circles C4 and detour around the forbidden area A3 via the shortest route. However, even if a detour circle C4 is set at the concave vertex p1b of the polygonal forbidden area A3, it is not possible to move smoothly while avoiding entry into the forbidden area A3.

[0084] Furthermore, by having the vertices p1 of the polygonal forbidden area A3 specified in order in a clockwise (or counterclockwise) direction, the forbidden area A3 can be set accurately.

[0085] In addition, when each vertex p1 of the polygonal forbidden area A3 is specified in order, it is possible to determine whether the vertex p1 is a convex vertex p1a or a concave vertex p1b by the cross product value of the vectors Vs1 of the adjacent sides, that is, by whether the cross product value is a positive or negative value. This makes it possible to set the necessary information for the forbidden area A3 with simple operations.

[0086] In addition, if the movement route R2 includes a route R2a that enters a prohibited area A3, the route R2a that enters the prohibited area A3 is modified so that it passes through detour circles C4 that are set in ascending (or descending) order based on the specified order from the vertex p1 that is adjacent to the work starting point P1 among the vertices p1, thereby eliminating movement through the detour circles C4 that do not need to be passed through, and can be set as an efficient movement route R2.

[0087] Then, the control unit 200 sets a movement route R2 based on a circle C1 of a turning radius tangent to the azimuth angle vector V1 and the self-position P0, a circle C2 of a turning radius tangent to the vector V2 of the work route R1 and the work starting point P1, and a tangent L2 to the two turning radius circles C1, C2 and the detour circle C4 of the no-entry area A3.

[0088] This makes it possible to change direction through a natural turn, thereby improving the efficiency of movement to the work start point P1 while bypassing the no-entry area A3, and allowing work to be started smoothly.

[0089] The control unit 200 may be configured to generate two routes, one that goes around the forbidden area A3 in a clockwise direction and the other that goes around the forbidden area A3 in a counterclockwise direction, and set the shorter of the two routes as the movement route R2. This allows the robot to move efficiently to the work start point P1 while going around the forbidden area A3, and allows the robot to start work smoothly.

[0090] <Setting detour routes around prohibited areas> Next, the setting of the detour route (movement route R2) for the deviation forbidden area A2 will be described with reference to Fig. 12 and Fig. 13. Fig. 12 and Fig. 13 are explanatory diagrams for setting the detour route (movement route R2) for the deviation forbidden area A2.

[0091] As shown in Fig. 12, when setting the deviation-prohibited area A2, the control unit 200 connects the vertices p2 based on the order of the vertices p2 specified by the operator to set the deviation-prohibited area A2. When specifying the vertices p2, it is preferable to specify the vertices p2 in a clockwise or counterclockwise order (in the examples shown in Figs. 12 and 13, in the order of positions b1, b2, . . . b7, or in the order of positions b7, b6, . . . b1). The order of positions b1, b2, . . . b7 is referred to as ascending order, and the order of positions b7, b6, . . . b1 is referred to as descending order.

[0092] The control unit 200 stores each side of the departure-prohibited area A2 as a vector Vs2 based on the order of the specified vertices p2. The control unit 200 calculates the cross product of adjacent vectors Vs2 from the stored vectors Vs2. The control unit 200 judges whether the vertex p2 is a concave vertex p2b based on the calculated cross product value. In this case, the control unit 200 judges whether the vertex p2 is a concave vertex p2b or a convex vertex p2a depending on whether the value of the cross product is a positive value or a negative value. If the value of the cross product is a positive value, it is determined to be a convex vertex p2a, and if the value of the cross product is a negative value, it is determined to be a concave vertex p2b.

[0093] Here, the mobile terminal device 160 (see FIG. 2) is operated by an operator or the like when setting the deviation-prohibited area A2. When setting the deviation-prohibited area A2, the mobile terminal device 160 displays a guide to have the vertices p2 specified in a clockwise or counterclockwise order. The control unit 200 connects the vertices p2 based on the order of the vertices p2 specified by the mobile terminal device 160 to set the deviation-prohibited area A2.

[0094] As shown in FIG. 12, when the movement route R2 includes a route R2c that enters the deviation-prohibited area A2, the control unit 200 modifies the route R2c that enters the deviation-prohibited area A2 so that it passes through a detour circle C5 at vertex p2 (vertex p2 at position b3).

[0095] In this way, the control unit 200 corrects the route to go through the detouring circle C5, and when the route R2c that enters the departure-prohibited area A2 disappears, the control unit 200 sets the route R2d as a route within the travel route R2. Note that, when there are multiple detouring circles C5, the travel route R2 may be configured to go through the detouring circles C5 set in descending or descending order based on the designated order.

[0096] According to this configuration, when a route R2c that deviates from the deviation-prohibited area A2 is included within a movement route R2 that detours around the entry-prohibited area A3, the route R2c that deviates from the deviation-prohibited area A2 is changed to go through a detour circle C5 set at the concave vertex p2b of the deviation-prohibited area A2. This allows movement along the shortest movement route R2 while preventing deviation from the field F1 or contact with the ridge F2, so that it is possible to efficiently move to the work start point P1 while detouring the entry-prohibited area A3 while ensuring safety.

[0097] Furthermore, when each vertex p2 of the deviation-prohibited area A2 is specified in order, it is possible to determine whether the vertex p2 is a convex vertex p2a or a concave vertex p2b by the value of the cross product, i.e., whether the value of the cross product is positive or negative. This makes it possible to set the necessary information for the deviation-prohibited area A2 with a simple operation, and to efficiently move to the work starting point while bypassing the entry-prohibited area A3.

[0098] Then, the control unit 200 sets a movement route R2 based on a circle C1 of a turning radius tangent to the azimuth angle vector V1 and the self-position P0, a circle C2 of a turning radius tangent to the vector V2 of the work route R1 and the work starting point P1, and a tangent L2 to at least one of the two turning radius circles C1, C2 and the detour circle C4 of the no-entry area A3 and the detour circle C5 of the no-departure area A2.

[0099] This makes it possible to change direction through a natural turn, thereby improving the efficiency of movement to the work start point P1 while bypassing the no-entry area A3, and allowing work to be started smoothly.

[0100] According to the embodiment described above, the following work vehicle control system 100 is realized.

[0101] (1) A vehicle is provided with a traveling vehicle body 2 capable of traveling within a field F1, a positioning device 150 that acquires a self-position P0 of the traveling vehicle body 2, an azimuth angle acquisition means 170 that acquires an azimuth angle of the traveling vehicle body 2, and a control unit 200 that generates a work path R1 including a work start point P1 within the field F1 and controls the traveling vehicle body 2 to perform work while autonomously traveling along the generated work path R1, and the control unit 200 determines a turning radius of the traveling vehicle body 2 when moving within the field F1 and an inner area of ​​a closed polygon within the field F1. The work vehicle control system 100 preliminarily sets an entry-prohibited area A3 into which the traveling vehicle body 2 is prohibited from entering, and when the entry-prohibited area A3 is set, a detour circle C4 with a turning radius that detours around the entry-prohibited area A3 is set at the apex p1 of the entry-prohibited area A3, and sets a movement route R2 from the self-position P0 of the traveling vehicle body 2 to the work start point P1, and if the set movement route R2 enters the entry-prohibited area A3, corrects the movement route R2 so as to detour around the entry-prohibited area A3 via the detour circle C4.

[0102] According to this type of work vehicle control system 100, during autonomous traveling, a route that can be traveled is generated by smoothly connecting the self-position P0 of the traveling body 2 and the work start point P1, and if there is an area in the field F1 that should not be disturbed, this is set as a no-entry area A3 for the traveling body 2, and a travel route R2 that bypasses the no-entry area A3 is set, thereby making it possible to efficiently travel to the work start point P1 while bypassing the no-entry area A3. This makes it possible to improve work efficiency.

[0103] (2) In the above (1), the control unit 200 sets the detour circle C4 only at the convex vertex p1a among the vertices p1 of the no-entry area A3.

[0104] According to such a work vehicle control system 100, in addition to the effect of (1) above, for example, even if a detour circle C4 is set at the concave vertex p1b of the polygonal no-entry area A3, smooth movement while avoiding entry into the no-entry area A3 cannot be achieved. Therefore, by setting the detour circle C4 only at the convex vertex p1a and connecting the set detour circles C4, it is possible to detour around the no-entry area A3 via the shortest route, and it is possible to efficiently move to the work starting point P1 while detouring the no-entry area A3.

[0105] (3) In the above (1) or (2), a work vehicle control system 100 is provided with a mobile terminal device 160 that is operated when setting a no-entry area A3, and the mobile terminal device 160 displays guidance to have the vertices p1 specified in a clockwise or counterclockwise order when setting the no-entry area A3, and the control unit 200 connects the vertices p1 based on the order of the specified vertices p1 to set the no-entry area A3.

[0106] According to such a work vehicle control system 100, in addition to the effects of (1) or (2) above, the no-entry area A3 can be accurately set by specifying each vertex p1 of the polygonal no-entry area A3 in clockwise or counterclockwise order, thereby making it possible to efficiently move to the work starting point P1 while bypassing the no-entry area A3.

[0107] (4) In (3) above, the control unit 200 stores each side of the no-entry area A3 as a vector Vs1 based on the order of the specified vertex p1, calculates the cross product of adjacent vectors Vs1, and determines whether the vertex p1 is a convex vertex p1a based on the value of the calculated cross product.

[0108] In addition to the effect of (3) above, with this work vehicle control system 100, when each vertex p1 of the polygonal no-entry area A3 is specified in order, it is possible to determine whether the vertex p1 is a convex vertex p1a or a concave vertex p1b based on the cross product value of the vectors Vs1 of each adjacent side, i.e., based on whether the cross product value is positive or negative. This makes it possible to set the necessary information for the no-entry area A3 with a simple operation, and to efficiently move to the work start point P1 while bypassing the no-entry area A3.

[0109] (5) In the above (3) or (4), when the movement route R2 includes a route R2a that enters a prohibited area A3, the control unit 200 modifies the route R2a that enters the prohibited area A3 to pass through detour circles C4 that are set in ascending or descending order based on the specified order from the vertex p1 that is adjacent to the work starting point P1 among the vertices p1, and when there is no route R2a that enters the prohibited area A3, sets route R2b as a route within the movement route R2.

[0110] According to such a work vehicle control system 100, in addition to the effects of (3) or (4) above, it is possible to set an efficient travel route R2 by eliminating movement through the detour circle C4 that does not need to be taken, thereby making it possible to efficiently move to the work starting point P1 while bypassing the no-entry area A3.

[0111] (6) In any one of (1) to (5) above, the control unit 200 sets a deviation-prohibited area A2 in an outer area of ​​the no-entry area A3 to prohibit the traveling vehicle body 2 from departing, and when a movement route R2 that detours around the no-entry area A3 includes a route R2c that deviates from the deviation-prohibited area A2, the control system 100 changes the route R2c that deviates from the deviation-prohibited area A2 to go through a detour circle C5 set at the concave vertex p2b of the deviation-prohibited area A2.

[0112] According to such a work vehicle control system 100, in addition to any one of the effects (1) to (5) above, it is possible to move along the shortest travel route R2 while preventing deviation from the field F1 or contact with the ridge F2, thereby ensuring safety and improving the efficiency of movement to the work starting point P1 while bypassing the no-entry area A3.

[0113] (7) A control system for a work vehicle as described above in (6), which is provided with a mobile terminal device 160 that is operated when setting the departure-prohibited area A2, and which displays guidance to have the user specify the vertices p2 in a clockwise or counterclockwise order when setting the departure-prohibited area A2, and which has a control unit 200 that sets the departure-prohibited area A2 by connecting the vertices p2 based on the order of the specified vertices p2, stores each side s2 of the departure-prohibited area A2 as a vector Vs2 based on the order of the specified vertices p2, calculates the cross product of adjacent vectors Vs2, and determines whether the vertex p2 is a concave vertex p2b based on the value of the calculated cross product.

[0114] In addition to the effect of (6) above, with this work vehicle control system 100, when each vertex p2 of the departure-prohibited area A2 is specified in order, it is possible to determine whether the vertex p2 is a convex vertex p2a or a concave vertex p2b by the value of the cross product, i.e., whether the value of the cross product is positive or negative. This makes it possible to set the necessary information for the departure-prohibited area A2 with a simple operation, and to improve the efficiency of movement to the work start point while bypassing the entry-prohibited area A3.

[0115] (8) In any one of (1) to (7) above, the control unit 200 sets a departure-prohibited area A2 in an outer area of ​​the entry-prohibited area A3 to prohibit the traveling vehicle body 2 from departing, and sets a movement route R2 based on the azimuth angle vector V1 acquired by the azimuth angle acquisition means 170 and the circle C1 of a turning radius tangent at the self-position P0 acquired by the positioning device 150, the vector V2 of the work route R1 and the circle C2 of a turning radius tangent at the work start point P1, and the tangent L2 to the two turning radius circles C1, C2 and the detour circle C4 of the entry-prohibited area A3 and / or the detour circle C5 of the departure-prohibited area A2.

[0116] According to such a work vehicle control system 100, in addition to any one of the effects (1) to (7) above, it becomes possible to change direction through natural turning, which makes it possible to efficiently move to the work starting point P1 while bypassing the no-entry area A3, thereby enabling work to be started smoothly.

[0117] (9) In any one of (1) to (8) above, the control unit 200 of the work vehicle control system 100 generates a route that detours around the no-entry area A3 in a clockwise direction and a route that detours around the no-entry area A3 in a counterclockwise direction, and sets the shorter of the two generated routes as the travel route R2.

[0118] According to such a work vehicle control system 100, in addition to any one of the effects (1) to (8) described above, it is possible to improve the efficiency of movement to the work start point P1 while bypassing the no-entry area A3, allowing work to be started smoothly.

[0119] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0120] 1. Work vehicle (tractor) 2 Running vehicle 3 Front wheel 4 Rear Wheel 5. Bonnet 6 Work equipment 7 PTO device 8. Cockpit 9. Steering Wheel 10 Handle post 11 Operation pedal 12 Power transmission device (transmission case) 13 Lifting device 61 Cultivating Claw 71 PTO shaft 131 Lifting cylinder 132 Lift arm 133 Lift Rod 134 Lower Link 135 Top Link 100 Work vehicle control system 110 Engine revolution sensor 111 Vehicle speed sensor 112 Gear shift sensor 113 Turn angle sensor 121 Gearbox 122 Steering device 150 Positioning device (GNSS) 160 Mobile terminal device (tablet terminal) 170 Azimuth angle acquisition means (azimuth angle sensor) 200 Control section 201 Engine ECU 202 Driving system ECU 203 Work equipment lifting system ECU AX axis A1 work area A2 No deviation area A3 No entry area C1 Turning radius circle C2 Turning radius circle C3 Connecting Circle C4 Detouring Circle C5 Detouring Circle E-Engine F1 field F2 ridge H worker L1 tangent L2 tangent P0 Self-position P1 Work starting point P2 Work end point p1 vertex p1a Convex vertex p1b concave vertex p2 vertex p2a Convex vertex p2b concave vertex R1 Work Path R2 Movement Path R2a pathway R2b pathway S Navigation Satellite V1 Vector V2 Vector Vs1 Vector Vs2 Vector

Claims

1. A traveling vehicle capable of traveling within a farm field; A positioning device for acquiring a self-position of the traveling vehicle body; An azimuth angle acquisition means for acquiring an azimuth angle of the traveling vehicle body; a control unit that generates a work path including a work start point in the farm field and controls the traveling vehicle body to perform work while autonomously traveling along the generated work path, The control unit is a turning radius of the traveling vehicle body when moving within the field and a no-entry area, which is an inner area of ​​a closed polygon within the field and into which the traveling vehicle body is prohibited from entering, are set in advance; A departure-prohibited area is set in an outer area of ​​the no-entry area, determining whether each vertex of the forbidden area is a convex vertex or a concave vertex; determining whether each vertex of the deviation-prohibited region is a convex vertex or a concave vertex; A movement route from the self-position of the traveling vehicle body to the work start point is set, When the movement path enters the forbidden area, the movement path entering the forbidden area is corrected so as to pass through a detour circle set at a convex vertex of the forbidden area; When the movement path deviates from the deviation-prohibited area, the movement path is corrected so as to pass through a detour circle set at a concave vertex of the deviation-prohibited area; Detour circles shall not be set at concave vertices of the no-entry areas or convex vertices of the no-departure areas. A work vehicle control system comprising:

2. The vertices of the no-entry area are assigned an order, and the movement path is corrected based on the designated order, so that the movement path passes through the detour circle in ascending or descending order from the convex vertex adjacent to the work starting point.

2. The work vehicle control system according to claim 1 .

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