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

Abstract

To provide a control method of a work vehicle, a control program for the work vehicle, a control system for the work vehicle, and a work system capable of improving work efficiency for a work site.SOLUTION: A control method of a work vehicle 10 makes it possible for the work vehicle 10 to execute work for a plurality of work rows Vr1-Vr8 aligned in a direction intersecting with a travelling direction while travelling in a work site F1. This control method includes acquiring contour line information based on a contour line of the work site F1, and setting a row stopping position for executing row-stopping control to make part of the plurality of work rows Vr1-Vr8 a non-working area in the work site F1 on the basis of the contour line information.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a control method for a work vehicle which travels through a work site and performs work within the work site, a control program for a work vehicle, a control system for a work vehicle, and a work system. [Background technology]

[0002] As a related art, a work vehicle (traveling work machine) is known that includes a traveling machine body that travels on a work site (field) and a work machine (working device) that performs work, and travels for work along a target travel path (see, for example, Patent Document 1). In the work vehicle according to the related art, a route setting unit sets a teaching path based on teaching travel along which the traveling machine body travels by manual operation at one end of the work site, and then sets a target travel path parallel to the teaching path at the other end of the work site, and based on an already traveled position acquired while the traveling machine body is traveling along the target travel path, sets a target travel path for a post-process for work travel after the traveling machine body travels the target travel path on the side where the teaching path is located.

[0003] According to this work vehicle, for example, after work travel is performed along the target travel path for the subsequent process that overlaps with the teaching path, the traveling machine body travels along the ridge of the work land and performs work of circling the work land (rice planting work). At this time, since it is necessary to secure a work width along the ridge of the work land, for the part of the work width when work travel is performed along the target travel path for the subsequent process that overlaps with the work width that should be secured along the ridge, row stop control is performed by disengaging the row clutch of the work machine. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-000066 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the configuration of the related art described above, since an appropriate position for performing strip stop control is not specified, it is desired to further improve work efficiency over the entire work site.

[0006] An object of the present invention is to provide a control method for a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system that are capable of improving work efficiency on a work site. [Means for solving the problem]

[0007] A control method for a work vehicle according to one aspect of the present invention is a control method for a work vehicle capable of working on multiple work rows lined up in a direction intersecting the direction of travel while traveling on a work site, the control method comprising the steps of: acquiring outline line information based on the outline line of the work site; and setting strip stop positions within the work site based on the outline line information for implementing strip stop control that renders some of the multiple work rows non-working.

[0008] A work vehicle control method according to another aspect of the present invention is a control method for a work vehicle capable of working on multiple work rows lined up in a direction intersecting the direction of travel while traveling through a work site, the control method comprising the steps of: acquiring outline information based on the outline of the work site; and determining, based on the outline information, an overlapping area between an inner area in which the work vehicle travels back and forth along the work direction and an outer peripheral area in which the work vehicle travels in a circle along the periphery of the inner area.

[0009] A work vehicle control program according to one aspect of the present invention is a program for causing one or more processors to execute the work vehicle control method.

[0010] A work vehicle control system according to one aspect of the present invention is used in a work vehicle capable of working on multiple work rows lined up in a direction intersecting the direction of travel while traveling on a work site. The work vehicle control system includes an acquisition processing unit and a work support processing unit. The acquisition processing unit acquires outline information based on the outline of the work site. The work support processing unit sets a row stop position within the work site based on the outline information for performing row stop control that makes some of the multiple work rows non-work.

[0011] A work system according to one aspect of the present invention includes the work vehicle control system and a body of the work vehicle. Effect of the Invention

[0012] According to the present invention, it is possible to provide a work vehicle control method, a work vehicle control program, a work vehicle control system, and a work system that are capable of improving work efficiency on a work site. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic side view showing the appearance of a work vehicle according to a first embodiment. [Diagram 2] FIG. 2 is a schematic block diagram of the working system according to the first embodiment. [Diagram 3] FIG. 3 is a schematic diagram showing an example of a target route in the work system according to the first embodiment. [Figure 4] FIG. 4 is a schematic plan view showing an operation example of the work vehicle according to the first embodiment. [Diagram 5] FIG. 5 is a schematic plan view showing an operation example of the work vehicle according to the first embodiment. [Figure 6] FIG. 6 is a schematic plan view showing an example of the operation of strip stopping control of the work vehicle according to the first embodiment. [Figure 7] FIG. 7 is a schematic plan view showing an example of the operation of strip stop control of the work vehicle according to the first embodiment. [Figure 8]FIG. 8 is a schematic plan view and a schematic right side view showing a reference point in the work vehicle according to the first embodiment. [Figure 9] FIG. 9 is a schematic plan view showing an example of the operation of strip stop control of the work vehicle according to the first embodiment. [Figure 10] FIG. 10 is a schematic plan view showing an example of the operation of strip stopping control of the work vehicle according to the first embodiment. [Figure 11] FIG. 11 is a schematic plan view showing an example of the operation of strip stopping control of the work vehicle according to the first embodiment. [Figure 12] FIG. 12 is a flowchart showing an example of the operation of the work vehicle control system according to the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. The following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention.

[0015] (Embodiment 1) [1] Overall structure First, the overall configuration of a work system 100 according to this embodiment will be described with reference to Figures 1 and 2. A work vehicle control system 1 according to this embodiment (hereinafter also simply referred to as "control system 1") constitutes the work system 100 together with a body 11 of a work vehicle 10. A work implement 12 is attached to 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.

[0016] In this embodiment, the control system 1 includes a control device 13 (see FIG. 2) mounted on the body 11 of the work vehicle 10, and a terminal device 20. The work vehicle 10 and the terminal device 20 are capable of communicating with each other. In the present disclosure, "capable of communication" means that information can be exchanged directly or indirectly via a communication network (network) N1 or a repeater, etc., by an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). The work vehicle 10 and the terminal device 20 can communicate with each other via a communication network N1 such as the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), a public telephone line, a mobile phone line network, a packet line network, or a wireless LAN. The communication means between the work vehicle 10 and the terminal device 20 is not limited to the above example, and is realized by an appropriate communication means. In addition, it is not an essential configuration of the control system 1 that the work vehicle 10 and the terminal device 20 can communicate with each other.

[0017] The work vehicle 10 travels through a work land F1 (see FIG. 3 ) and performs some work within the work land F1 using the work implement 12. In this disclosure, "work" refers to a job performed by the work implement 12 on the work land F1, and includes various types of work, such as various agricultural work such as planting (rice planting), sowing, fertilizing, spraying pesticides, leveling or harvesting, and construction work. In this embodiment, as an example, the work performed by the work vehicle 10 is planting (rice planting) work of planting seedlings in a rice paddy serving as the work land F1.

[0018] The working implement 12 performs work in the work site F1 when the machine body 11 of the work vehicle 10 moves through the work site F1. In this embodiment, as an example, the working implement 12 includes a seedling placement platform on which a seedling mat is placed, and a planting arm that takes the seedlings from the seedling mat and plants them, so as to perform seedling planting work. Here, the working implement 12 is attached to the rear side of the machine body 11 (the side opposite to the forward direction of the machine body 11). In other words, the working implement 12 is connected to the rear side of the machine body 11, and performs work while moving forward together with the machine body 11 when the machine body 11 moves forward. In this embodiment, the working implement 12 is included as a component of the work vehicle 10, but the working implement 12 does not have to be included as a component of the work vehicle 10.

[0019] In the present disclosure, the term "work vehicle" refers to a machine that performs various tasks in a work area F1, such as a farm field, and examples of such tasks include agricultural machines (farm machinery) such as rice transplanters, tractors, seeding machines, spreaders, sprayers, transplanters, and harvesters. The work vehicle 10 may also be, for example, a construction machine (construction machinery). In this embodiment, unless otherwise specified, the work vehicle 10 will be described as a rice transplanter. With this work vehicle 10, the machine body 11 travels through the work area F1, such as a farm field, enabling planting work to be performed by receiving seedlings in the work area F1.

[0020] Also, in this embodiment, as an example, the work vehicle 10 is an automated machine that can operate by automatic driving (autonomous traveling and autonomous work) while allowing a person (operator) to ride in. However, the work vehicle 10 is not limited to this, and may be an unmanned machine that operates by automatic driving, or may be operated by operation (including remote operation) of a person (operator).

[0021] In the present disclosure, the "working area" refers to an area in which the work vehicle 10 moves and performs various tasks such as planting (rice planting), sowing, fertilizing, spraying pesticides, leveling, or harvesting, and includes paddy fields, fields, orchards, and pastures. For example, if a paddy field or field that grows crops (agricultural products) such as rice, wheat, soybeans, or buckwheat is the working area F1, the crops grown in the working area F1 are agricultural products. Furthermore, if plants are grown in a planting field, the planting field becomes the working area F1, and if trees that become lumber are grown in a forest as in forestry, the forest becomes the working area F1. In this case, the crops grown in the working area F1 are plants or trees. In this embodiment, unless otherwise specified, the working vehicle 10 is used for planting seedlings in a farm field (working area F1), and the working area F1 is a paddy field for growing rice will be described as an example. Furthermore, the work site F1 is not limited to a farm field. For example, if the work vehicle 10 is a construction machine, the work site F1 is the site where the construction machine carries out work.

[0022] Furthermore, the work vehicle 10 can move by automatic driving not only in the work site F1 (here, a field) but also on roads such as an outside-field route outside the work site F1. The work vehicle 10 is configured to be able to automatically drive (move) along a target route (including an outside-field route) set in advance within and outside the work site F1 based on position information of the current position of the work vehicle 10 measured by a positioning device 16 (see FIG. 2). The outside-field route is, for example, an inter-field connection road that connects a plurality of work sites F1 (fields). The inter-field connection road may be a farm road, forest road, public road, private road, or motorway, etc., and may be a road dedicated to the work vehicle 10, or may be a road on which general vehicles (passenger cars, etc.) can pass.

[0023] [2] Configuration of work vehicles Next, the configuration of the work vehicle 10 according to this embodiment will be described in detail with reference to FIGS.

[0024] In this embodiment, for ease of explanation, the vertical direction when the work vehicle 10 is in a usable state is defined as the up-down direction D1. The front-rear direction D2 and the left-right direction D3 (see FIG. 3) are defined based on the direction as seen by a person (operator) riding on the body 11 (driver's section 111) of the work vehicle 10. The left side of the left-right direction D3 refers to the left side when the body 11 is traveling forward (advancing), and the right side of the left-right direction D3 refers to the right side when the body 11 is traveling forward (advancing). However, these directions are not intended to limit the direction of use of the work vehicle 10 (direction during use).

[0025] 2, in addition to the machine body 11 and the work implement 12, the work vehicle 10 is equipped with a control device 13, a traveling device 14, a detection device 15, a positioning device 16, a communication device 17, and a display device 18. The control device 13, the traveling device 14, the detection device 15, the positioning device 16, the communication device 17, and the display device 18 are all mounted on the machine body 11.

[0026] The machine body 11 has a driving section 111 (see FIG. 1) in which a person (operator) can ride. A steering device, a transmission, an operating device, etc. are arranged in the driving section 111. The steering device, the transmission, the operating device, etc. are operating sections that are operated by the operator or the control device 13. Therefore, the work vehicle 10 can perform both manual driving by manual operation by the operator and automatic driving by the control device 13. Also, as described above, the work machine 12 is connected to the rear side of the machine body 11.

[0027] In this embodiment, the working implement 12 is connected to the rear side of the machine body 11, and when the machine body 11 moves forward, planting work can be performed in a field as the work site F1. Here, the working implement 12 is capable of planting multiple rows (for example, 6, 7, or 8 rows, etc.), and has a working width W1 (see FIG. 4) in the width direction (left-right direction D3) corresponding to the number of rows that it supports. In other words, for example, if the working implement 12 is capable of planting 7 rows, it is possible to simultaneously accept seedlings for 7 rows in the width direction (left-right direction D3). In this embodiment, as an example, it is assumed that the work vehicle 10 is an 8-row rice transplanter equipped with a working implement 12 that supports 8 rows.

[0028] In this way, the work vehicle 10 according to this embodiment can work on multiple work rows lined up in a direction (left-right direction D3) intersecting the traveling direction (front-rear direction D2) while traveling on the work land F1. As an example in this embodiment, the work vehicle 10 is an eight-row rice transplanter, so the multiple work rows Vr1 to Vr8 (see FIG. 4) are eight seedling rows, each of which is composed of multiple seedlings V1 (see FIG. 4) lined up in the traveling direction (front-rear direction D2), and the seedling rows are lined up at a predetermined interval in the left-right direction D3. In other words, the work vehicle 10 can perform planting work on the eight work rows Vr1 to Vr8 in parallel (simultaneously). Therefore, the work vehicle 10 can plant up to eight work rows Vr1 to Vr8 at the same time while moving forward.

[0029] As shown in Fig. 1, the traveling device 14 has front wheels 141, rear wheels 142, and a power source (engine and / or motor, etc.). The front wheels 141 and the rear wheels 142 are provided, for example, in pairs on the left and right. The traveling device 14 is capable of traveling (moving) the machine body 11 by driving the rear wheels 142 with power generated by the power source. Here, the front wheels 141 function as steering wheels, enabling turning in the left-right direction D3. This enables the machine body 11 to travel so as to move in the front-rear direction D2 and the left-right direction D3 within the work site F1.

[0030] At least during autonomous driving, the traveling device 14 operates according to the operation of the steering device, the transmission device, the operation device, etc. by the control device 13 as described above. For example, in the traveling device 14, the angle of the front wheels 141 is changed by a hydraulic power steering mechanism or the like in response to the operation of the steering device by the control device 13, and the traveling direction of the vehicle 11 is changed. In addition, in response to the operation of the transmission device by the control device 13, the gear of the transmission is switched to a forward gear, a reverse gear, etc., and the traveling mode of the vehicle 11 is switched to forward, reverse, etc. In addition, the control device 13 operates the accelerator or brake of the operation device to control the rotation speed of the power source, or brakes the front wheels 141 and the rear wheels 142 using an electromagnetic brake.

[0031] The detection device 15 detects a detection target (obstacle) in the detection area As1 (see FIG. 4). In the present embodiment, as an example, the detection target includes humans and other animals, moving objects such as vehicles (including other work vehicles), structures such as walls and pillars, plants, steps, or other obstacles. The detection device 15 may include various sensors such as a radar, a sonar sensor, a LiDAR (Light Detection and Ranging), a human sensor, or a camera (image sensor). Here, the detection device 15 is preferably a three-dimensional sensor capable of measuring the distance and direction to the detection target by a TOF (Time Of Flight) method that measures the distance to a ranging point based on the round-trip time it takes for light or sound to reach the ranging point and return, or a stereo camera method. This allows the detection device 15 to output measurement information including the position of the detection target in a planar view to the control device 13. In the present embodiment, as an example, it is assumed that the detection device 15 is a radar using millimeter waves (millimeter wave radar) or a sonar sensor using ultrasonic waves (or sound waves).

[0032] The positioning device 16 determines the current position (latitude, longitude, altitude, etc.) of the aircraft 11. Specifically, the positioning device 16 calculates the current position (latitude and longitude) of the aircraft 11 using a satellite positioning system such as the Global Navigation Satellite System (GNSS). 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, and can also detect the attitude, such as the current heading, of the aircraft 11.

[0033] Furthermore, the positioning device 16 may detect the current position with relatively high accuracy, such as RTK (Real Time Kinematic) positioning, which calculates the current position of the work vehicle 10 by using correction information corresponding to a base station (reference station) close to the work vehicle 10. The current position of the machine body 11 may be the same position as the positioning position (position of the positioning antenna), or may be a position displaced from the positioning position, such as the center position of the machine body 11 in a planar view. For example, a mobile phone terminal, a smartphone, a tablet terminal, or the like may be used as the positioning device 16.

[0034] The communication device 17 is a communication interface for connecting the work vehicle 10 (control device 13, positioning device 16, etc.) to an external device via a wired or wireless connection, and for executing data communication with the external device in accordance with a predetermined communication protocol. In this embodiment, the communication device 17 is capable of communicating with at least the external device, a terminal device 20, via the communication network N1. Furthermore, the communication device 17 is capable of connecting to the communication network N1 at least wirelessly, and is capable of communicating with the terminal device 20 at any time even while the work vehicle 10 is moving (traveling) in the work site F1. For example, a mobile phone terminal, a smartphone, a tablet terminal, etc. may be used as the communication device 17.

[0035] The display device 18 is a user interface for presenting information to a user (operator), such as a liquid crystal display or an organic EL display that displays various information. The display device 18 is disposed in, for example, the driving unit 111, and presents various information to the operator by displaying a screen including various information. In this disclosure, the term "screen" refers to an image (picture) displayed on the display device 18 or the like, and includes images, figures, photographs, text, videos, and the like. The screen displayed on the display device 18 includes not only still images, but also images (videos) that change from moment to moment. Furthermore, the display device 18 has a function of outputting sounds (including voice) to the user (operator) and a function of accepting operations from the user (operator).

[0036] The control device 13 mainly comprises a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and executes various processes (information processing). In this embodiment, the control device 13 mainly comprises a computer system having one or more processors, and the control device 13 is realized by the one or more processors executing a work vehicle control program. In this embodiment, the control device 13 is an integrated controller that controls the entire work vehicle 10, and is composed of, for example, an electronic control unit (ECU). However, the control device 13 may be provided separately from the integrated controller.

[0037] The control device 13 is configured to be able to communicate with devices provided in each part of the machine body 11. In other words, the work implement 12, the traveling device 14, the detection device 15, the positioning device 16, the communication device 17, the display device 18, and the like are electrically connected to the control device 13. This allows the control device 13 to control the work implement 12 and the traveling device 14, and to obtain the detection results of the detection device 15 and the positioning device 16. Here, the control device 13 may exchange various types of information (data) with each device directly, or indirectly via a repeater or the like.

[0038] In this embodiment, the control device 13 includes an acquisition processing unit 131, a driving processing unit 132, a work support processing unit 133, and a storage unit 134, as shown in FIG.

[0039] The acquisition processing unit 131 executes an acquisition process to acquire work site information related to the work site F1. Here, the work site information includes outline information based on the outline (outline) of the work site F1. That is, the acquisition processing unit 131 acquires outline information based on the outline of the work site F1.

[0040] The driving processing unit 132 executes driving processing to control the driving device 14. As an example, the driving processing unit 132 performs automatic driving of the work vehicle 10 by controlling the driving device 14 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a preset target route. Furthermore, the driving processing unit 132 controls the work implement 12 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a preset target route, thereby performing work (planting work in this embodiment) by the work vehicle 10 at an appropriate position on the target route.

[0041] Specifically, the driving processing unit 132 starts the automatic driving of the work vehicle 10 when it receives a driving start instruction from the terminal device 20. For example, when an operator operates a start button on the operation screen of the terminal device 20, the terminal device 20 outputs a driving start instruction to the work vehicle 10. As a result, for example, the work vehicle 10 starts automatic driving according to the target route R1 (see FIG. 3) within the work site F1, and performs work (planting work in this embodiment) using the work implement 12.

[0042] A target route R1 for automatically driving the work vehicle 10 is generated, for example, in the terminal device 20. That is, the work vehicle 10 acquires route data corresponding to the target route R1 from the terminal device 20, and performs automatic driving according to the target route R1.

[0043] Furthermore, 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 operates 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.

[0044] In addition, "automatic driving" in this disclosure includes "autonomous driving" in which the work vehicle 10 drives autonomously without the operation of an operator, and "semi-automatic driving" in which only steering is automated, such as straight-line assist.

[0045] "Autonomous driving" is a driving mode in which, for example, in addition to automatic steering of the steering wheels (front wheels 141), control of the vehicle speed and the like is also performed automatically so that the work vehicle 10 travels along the target route R1. "Straight-line assist" is a driving mode in which, for example, only the steering wheels (front wheels 141) are automatically steered so that the work vehicle 10 travels along a straight route parallel to a reference straight line (reference line), and the vehicle speed and the like are controlled by the operation of the operator.

[0046] As another example, the work vehicle 10 may travel by manual steering by an operator. For example, the operator gets on the work vehicle 10 and travels the work vehicle 10 by manual steering while checking the target route R1.

[0047] The work support processing unit 133 executes work support processing that supports work (planting work in this embodiment) by the work machine 12. The work support processing includes, for example, processing that supports the operation of the work machine 12 by the operator by presenting (display or sound output, etc.) information related to the operation of the work machine 12 on a user interface such as the display device 18, and processing that directly controls the work machine 12. In this embodiment, the work support processing unit 133 basically executes the former processing (i.e., processing that supports the operation of the work machine 12 by the operator) as the work support processing.

[0048] Here, the work support processing in the work support processing unit 133 includes processing for setting a stripe stop position for performing stripe stop control of the work machine 12. In this embodiment, the work support processing unit 133 sets the stripe stop position within the work area F1 based on at least the outline information (acquired by the acquisition processing unit 131).

[0049] In the present disclosure, the term "row stop control" refers to control in which some of the work rows Vr1 to Vr8 (8 rows in this embodiment) are not in operation and only the remaining work rows Vr1 to Vr8 are in operation. As an example, the work machine 12 has a worker (such as a planting claw) that performs work for each of the work rows Vr1 to Vr8 and a row clutch provided on a power supply path to the worker, and when the row clutch of any of the work rows Vr1 to Vr8 is disconnected, the work of that work row Vr1 to Vr8 is stopped. Therefore, for example, the operator can operate the row stop lever to control the row clutch of any of the work rows Vr1 to Vr8 to perform row stop control in which any of the work rows Vr1 to Vr8 is not in operation.

[0050] The "strip stop position" in this disclosure is a position for implementing such strip stop control within the work site F1. In other words, when the work vehicle 10 traveling in the work site F1 is located at the strip stop position, strip stop control is implemented.

[0051] The storage unit 134 is a non-volatile memory or the like that stores various data such as a work vehicle control program and target route information related to the target route R1. In other words, the driving processing unit 132 is capable of causing the traveling device 14 to automatically travel along the target route R1 based on the target route information stored in the storage unit 134.

[0052] Furthermore, when the detection device 15 detects an obstacle as a detection target during at least the automatic traveling of the work vehicle 10, the control device 13 outputs an alarm (including an alarm by sound and / or light) and executes obstacle avoidance processing (including detouring, decelerating, stopping, etc.) by controlling the traveling device 14. Furthermore, the control device 13 may output obstacle position information and the execution history of the avoidance processing to the terminal device 20 and cause the terminal device 20 to display, etc.

[0053] In addition to the above-mentioned configuration, the work vehicle 10 further includes a battery, a fuel tank, various sensors, etc. The battery supplies power for operation to each part of the work vehicle 10, such as the control device 13. In particular, electronic devices such as the control device 13, the detection device 15, the positioning device 16, the communication device 17, and the display device 18 operate using power supplied from the battery, and can therefore operate even when the power source (engine) of the traveling device 14 is stopped.

[0054] [3] Terminal device configuration Next, the configuration of the terminal device 20 according to this embodiment will be described in detail with reference to FIG. 1 and FIG.

[0055] In this embodiment, the terminal device 20 is capable of communicating with the work vehicle 10 as described above, and constitutes the control system 1 together with the control device 13 of the work vehicle 10. In other words, the components of the control system 1 are distributed at least between the work vehicle 10 and the terminal device 20. However, this configuration is not limiting, and for example, the functions of the control device 13 may be provided in the terminal device 20, in which case the components of the control system 1 are realized only by the terminal device 20. Conversely, for example, the functions of the terminal device 20 may be provided in the control device 13, in which case the components of the control system 1 are realized only by the control device 13.

[0056] In this embodiment, as an example, the terminal device 20 is configured as a general-purpose terminal such as a tablet terminal, a smartphone, or a laptop computer. As shown in Fig. 2, 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 further includes a sound output unit that outputs sound (including voice) to a user (operator), a battery, etc.

[0057] The information processing unit 21 mainly comprises a computer system having one or more processors such as a CPU and one or more memories such as a ROM and a RAM, and executes various processes (information processing). In this embodiment, since the information processing unit 21 mainly comprises a computer system having one or more processors, the information processing unit 21 is realized by the one or more processors executing a work vehicle control program. In other words, the control system 1 is realized by the control unit 13 and the terminal device 20 working together as a result of the one or more processors of the control unit 13 included in the control system 1 and the one or more processors of the information processing unit 21 each executing a work vehicle control program.

[0058] The information processing unit 21 is configured to be able to communicate with each unit (the storage unit 22, the operation display unit 23, and the communication unit 24) of the terminal device 20. That is, the information processing unit 21 is electrically connected to the storage unit 22, the operation display unit 23, the communication unit 24, and the like. This enables the information processing unit 21 to read and write information from and to the storage unit 22, to control the display of the operation display unit 23, and to obtain operation input to the operation display unit 23. Here, the information processing unit 21 may exchange various types of information (data) with each unit directly, or indirectly via a repeater or the like.

[0059] Such a terminal device 20 is a user interface for accepting operation input by a user (operator) and outputting various information to the user. For example, the terminal device 20 accepts various operations by the user by outputting an electrical signal corresponding to the user's operation 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.

[0060] The storage unit 22 is a non-volatile memory or the like that stores various data such as a work vehicle control program and target route information related to the target route R1. Furthermore, the storage unit 22 can store various data such as work machine information, work vehicle information, field information, and work information. The work machine information is information about the work machine 12 attached to the machine body 11, and includes, for example, information such as the type, identification information, model name, type, and size (dimensions) of the work machine 12. The work vehicle information is information about the machine body 11 (vehicle body) of the work vehicle 10, and includes, for example, information such as the type of the machine body 11 (for example, half crawler type / wheel type, etc.), identification information, model name, type, and size (dimensions). The field information is information about the field to be the work area F1, and includes information such as the field identification information, field name, position, shape, size, work start position (travel start position) where work is started, work end position (travel end position) where work is ended, and work direction. The work information is information related to the work performed by the work vehicle 10, and includes, for example, the type of work and information on how the work is specifically performed. Furthermore, the work information may also include information on whether or not cooperative work is being performed by the work vehicles 10, the width of the headland and the width of the non-cultivated land, and the like.

[0061] The information stored in the memory unit 22 (target route information, work machine information, work vehicle information, field information, work information, etc.) is set (registered) by operation input by a user (operator) to the operation display unit 23, or by acquisition from the work vehicle 10. For example, the type of work machine 12 in the work machine information may be specified by the user operating the operation display unit 23, or the work vehicle 10 may automatically determine the work machine 12 attached to the body 11 and transmit it to the terminal device 20. The terminal device 20 may acquire this information from an external device other than the work vehicle 10 (for example, a server, an external storage medium, or another terminal device, etc.).

[0062] 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 that displays various information, and an operation unit such as a touch panel, a mouse, a keyboard, a mechanical switch, or an encoder that accepts operations. As an example, an operator can operate the operation unit of the operation display unit 23 to set (register) various information on an operation screen displayed on the display unit of the operation display unit 23. For example, the operator can set automatic driving information (including target route information) related to the automatic driving of the work vehicle 10.

[0063] Furthermore, the operation display unit 23 displays the progress of work in the work site F1, as well as the operating status of the work vehicle 10, including the target route R1, (actual) movement trajectory, current position, and movement speed of the work vehicle 10, thereby enabling the operator to remotely monitor the work vehicle 10 during automatic operation. Here, the operating status of the work vehicle 10 also includes the detection results of the detection object by the detection device 15. Furthermore, the operation display unit 23 can receive a travel start instruction or travel stop instruction for the work vehicle 10 from the operator. The terminal device 20 can remotely control the work vehicle 10 by transmitting these travel start instructions or travel stop instructions to the work vehicle 10. Therefore, the operator can remotely operate the work vehicle 10.

[0064] The communication unit 24 is a communication interface for connecting the terminal device 20 to the work vehicle 10 by wire or wirelessly and executing data communication with the work vehicle 10 in accordance with a predetermined communication protocol. In this embodiment, the communication unit 24 is capable of mutual communication with at least the work vehicle 10 (the communication device 17) via the communication network N1. Furthermore, since the communication unit 24 is connectable to the communication network N1 at least wirelessly, it is possible to communicate with the work vehicle 10 at any time even at a location sufficiently distant from the work vehicle 10.

[0065] In this embodiment, the information processing unit 21 has a generation processing unit 211, a registration processing unit 212, an output processing unit 213, and a setting processing unit 214, as shown in Fig. 2. In this embodiment, as an example, the information processing unit 21 is mainly configured as a computer system having one or more processors, and these multiple functional units (the generation processing unit 211, etc.) are realized by the one or more processors executing a work vehicle control program. These multiple functional units included in the information processing unit 21 may be provided in a distributed manner across multiple housings, or may be provided in a single housing.

[0066] The generation processing unit 211 executes route generation processing to generate a route (target route R1) for driving (automatically driving) the work vehicle 10 in the work site F1. Here, the generation processing unit 211 generates the target route R1 based on generation data including work machine information, work vehicle information, field information, work information, etc. stored in the storage unit 22. In other words, the generation processing unit 211 generates the target route R1 based on the work machine information, work vehicle information, field information, work information, etc. that are set (registered) by operation input by a user (operator) to the operation display unit 23, for example.

[0067] Specifically, the generation processing unit 211 generates a target route R1 within the work site F1 based on a travel start position P1 (see FIG. 3) and a travel end position P2 (see FIG. 3) included in the field information. For example, the generation processing unit 211 generates a target route R1 for moving the body 11 of the work vehicle 10 within the work site F1 from the travel start position P1 to the travel end position P2 based on the generation data.

[0068] In this embodiment, the field information included in the generation data includes outline information based on the outline of the work area F1. Furthermore, the outline information includes information regarding the allowable limit line La1 (see FIG. 4). The "allowable limit line" in this disclosure is a virtual line that is determined by a margin value L2 (see FIG. 4), which is the distance to the inside of the work area F1, based on the outline of the work area F1, and is the limit position at which the work vehicle 10 is allowed to protrude. Therefore, the generation processing unit 211 is able to generate a route (target route R1) for traveling the work vehicle 10 based on at least the allowable limit line La1.

[0069] The registration processing unit 212 executes a registration process for registering work machine information, work vehicle information, field information, work information, etc. That is, the work machine information, work vehicle information, field information, work information, etc. used for generating the target route R1 are each registered (set) by the registration processing unit 212, for example, by operation input by a user (operator) to the operation display unit 23.

[0070] The output processing unit 213 executes, for example, an output process for outputting route data of the target route R1 to the work vehicle 10. That is, the route data regarding the target route R1 generated by the generation processing unit 211 is output from the output processing unit 213 to, for example, the communication unit 24, and transmitted from the communication unit 24 to the work vehicle 10.

[0071] For example, when starting work, the operator selects a field (work area F1), selects a task, confirms the target route R1, and issues a command to start work. When the operator issues a command to start work, the output processing unit 213 transmits (outputs) route data of the target route R1 generated by the generation processing unit 211 to the work vehicle 10. When the work vehicle 10 receives the route data generated in the terminal device 20, it stores the route data in the memory unit 134. Then, the work vehicle 10 performs automatic driving (autonomous driving and autonomous work) based on the current position of the work vehicle 10 calculated by the positioning device 16 and the target route R1 specified by the route data.

[0072] Furthermore, the output processing unit 213 can output the generated target route R1 to the operation display unit 23, thereby displaying it on the operation display unit 23. The manner of output from the output processing unit 213 is not limited to transmission to or display on the work vehicle 10 as described above, but may be, for example, transmission to another device (such as a user terminal), printing (printout), writing to a non-temporary recording medium, or audio output.

[0073] The setting processing unit 214 executes a setting process to set the position of the allowable limit line La1. That is, in this embodiment, the generation processing unit 211 is capable of generating a route (target route R1) for traveling the work vehicle 10 based on the allowable limit line La1, the position of which is set by the setting processing unit 214. In this embodiment, the position of the allowable limit line La1 is set by the setting processing unit 214 in response to an operation by the operator on the operation display unit 23.

[0074] The terminal device 20 may be able to access a website (agricultural support site) of an agricultural support service provided by the server via the communication network N1. In this case, the terminal device 20 can function as an operating terminal of the server by executing a browser program by the information processing unit 21. The server includes the above-mentioned respective processing units and executes each process.

[0075] [4] Method for controlling a work vehicle An example of a control method for the work vehicle 10 (hereinafter simply referred to as a "control method") executed mainly by the control system 1 (the control device 13 and the terminal device 20) will be described below with reference to Figs. 3 to 12.

[0076] The control method according to this embodiment is executed by a control system 1 having a computer system as its main component, and in other words is embodied in a work vehicle control program (hereinafter simply referred to as a "control program"). In other words, the control program according to this embodiment is a computer program for causing one or more processors to execute each process related to the control method.

[0077] Here, the control system 1 executes the various processes described below related to the control method when a specific, preset start operation is performed to execute the control program. The start operation is, for example, an operation to launch an application program (control program for a work vehicle) on the terminal device 20. On the other hand, the control system 1 ends the various processes described below related to the control method when a specific, preset end operation is performed. The end operation is, for example, an operation to end an application program (control program for a work vehicle) on the terminal device 20.

[0078] In the following, it is assumed that the work land F1 is a quadrangular field in plan view as shown in Fig. 3, and that among the outlines (outer periphery) of the work land F1, one short side is the "first outline f11", the other short side is the "second outline f12", one long side is the "third outline f13", and the other long side is the "fourth outline f14". In the work land F1, the travel start position P1 is located near the corner between the first outline f11 and the third outline f13, and the travel end position P2 is located near the corner between the second outline f12 and the third outline f13.

[0079] [4.1] Basic operation First, the basic operation of the control system 1 according to this embodiment when the work vehicle 10 is automatically driven along a target route R1 in a work site F1 consisting of a farm field will be described with reference to Figures 3 and 4. Figure 4 is a schematic enlarged view of the vicinity of the corner between the first outline f11 and the fourth outline f14 in Figure 3.

[0080] 3 and 4, the target route R1 includes a work route r11, a non-work route r12, and an outer periphery work route r13. The work route r11 and the outer periphery work route r13 are routes along which the work vehicle 10 travels (moves) while performing work with the work equipment 12. The non-work route r12 is a route that connects multiple work routes r11 and allows the work vehicle 10 to perform turning travel to change its direction of travel, and is a route along which the work vehicle 10 travels (moves) without performing work with the work equipment 12.

[0081] In the drawings showing the target route R1 such as Fig. 3, the routes on which the work vehicle 10 performs work (work route r11 and outer periphery work route r13) are shown by solid lines, and the routes on which the work vehicle 10 does not perform work (non-work route r12) are shown by dotted lines. In the drawings showing the target route R1 such as Fig. 3, the target route R1 (and the work vehicle 10) generated for the work site F1 in a planar view is shown typically. In Figs. 3 and 4, the forward / backward direction D2 and the left / right direction D3 are directions based on the orientation of the body 11 of the work vehicle 10 shown in Figs. 3 and 4.

[0082] More specifically, the target route R1 includes a plurality of work routes r11 extending between a pair of long sides (third external shape line f13 and fourth external shape line f14) of the work area F1, as shown in Fig. 3. That is, in the target route R1 illustrated in Fig. 3, a work route r11 is arranged extending upward from a travel start position P1 set in the lower left corner of the figure, and a plurality of work routes r11 along (parallel to) the work route r11 are arranged at regular intervals on the right side of the figure. The plurality of work routes r11 are arranged so that the work route r11 extending from one long side (third external shape line f13) side to the other long side (fourth external shape line f14) side of the work area F1 and the work route r11 in the opposite direction are arranged alternately.

[0083] Here, each of the multiple work paths r11 is a straight path along which the work vehicle 10 moves forward while performing work with the work implement 12. The interval between adjacent work paths r11 is set based on the width dimension (working width W1) in the left-right direction D3 of the work implement 12, and the work vehicle 10 travels along the multiple work paths r11, thereby performing planting work in substantially the entire area of ​​the work land F1 (excluding the headland area which is the outer periphery). A pair of adjacent work paths r11 are connected by a non-work path r12 which connects the end of one work path r11 on the first external form f11 side to the start of the other work path r11 on the second external form f12 side.

[0084] The outer periphery work path r13 is a path that continues to the end of the final (second outer outline f12) work path r11 of the multiple work paths r11 and goes around the outer periphery of the work ground F1 along the outer outlines (first to fourth outer outlines f11 to f14) of the work ground F1. In the example of Fig. 3, the outer periphery work path r13 extends from the lower right corner 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 travel end position P2 at the lower right corner, thereby making one circuit of the headland area that is the outer periphery of the work ground F1.

[0085] According to such a target route R1, the work vehicle 10 performs planting work while traveling back and forth in parallel along the work route r11 from the travel start position P1 in the inner area F11 (inside the dashed line in FIG. 3) excluding the outer periphery area F12, which is the outer periphery of the work land F1. After that, the work vehicle 10 performs planting work while traveling in a circle around the outer periphery work route r13 clockwise toward the travel end position P2 in the outer periphery area F12. However, when the work vehicle 10 travels along the outer periphery work route r13, it is preferable that the work vehicle 10 automatically travels in a "manned state" with an operator aboard the machine body 11. This allows the work vehicle 10 to perform planting work in almost the entire work land F1, including the outer periphery area F12.

[0086] In short, when the work vehicle 10 travels along the work route r11, it performs work (planting work) with the work implement 12, so that a plurality of seedlings V1 are planted in the passing area A1 of the inner area F11 through which the work vehicle 10 (its work implement 12) has passed, as shown in Fig. 4. Here, in the passing area A1, a plurality of work rows Vr1-Vr8 (seedling rows) are formed that are aligned in the left-right direction D3 perpendicular to the traveling direction of the work vehicle 10.

[0087] Similarly, when the work vehicle 10 travels along the outer circumferential work path r13, the work vehicle 10 also performs work (planting work) with the work implement 12, so that a plurality of seedlings V1 are planted in the passing area A2 of the outer circumferential area F12 through which the work vehicle 10 (shown by an imaginary line (two-dot chain line) in FIG. 4) has passed. Here, although not shown in FIG. 4, in the passing area A2, a plurality of work rows (eight rows) Vr1-Vr8 (seedling rows) are formed that are aligned in the left-right direction D3 perpendicular to the traveling direction of the work vehicle 10.

[0088] The target route R1 is not limited to the route exemplified in Fig. 3, but is set as appropriate. In Fig. 3, the work vehicle 10 first travels in the inner area F11 and then travels in the outer periphery area F12, but the travel order of the work vehicle 10 is not limited to this. For example, the work vehicle 10 may first travel in the outer periphery area F12 and then travel in the inner area F11.

[0089] Also, in the example of Fig. 3, the non-work route r12 set in the outer periphery region F12 includes a turning route for making a gentle right turn, but the turning manner for changing the orientation of the work vehicle 10 is not limited to a "gentle turn". The non-work route r12 may include a turning manner in which the vehicle 11 turns while switching between forward and reverse, such as a so-called "fishtail turn", to enable the vehicle 11 to turn within a limited space. Similarly, an appropriate turning manner such as a "gentle turn" or a "fishtail turn" can be applied to the turning manner of the work vehicle 10 when traveling along the outer periphery work route r13.

[0090] In order to realize the automatic travel of the work vehicle 10 as described above, it is necessary to recognize and register the shape of the work site F1 in advance. As an example, the operator gets on the work vehicle 10 and drives it around the periphery of the work site F1 to be registered (teaching travel), and the terminal device 20 acquires position information during travel from the work vehicle 10, recognizes the position and shape of the work site F1 based on the position information, and registers it as the work site F1. In such teaching travel, an outer periphery work route r13 is generated on the route traveled by the work vehicle 10. By registering the work site F1 based on such teaching travel or performance information of past travel routes, it is possible to generate a target route R1 in a state in which obstacles that are difficult to detect only by the detection device 15, such as culverts, are avoided from the beginning.

[0091] Furthermore, multiple work routes r11 may be generated, leaving a width for multiple steps in the outer periphery region F12 of the work site F1, and multiple outer periphery work routes r13 may be generated along the outer periphery of the work site F1. In this case, the work vehicle 10 travels along the multiple work routes r11, and then travels along multiple laps of the outer periphery work routes r13 from the inside to the outside. At that time, it is preferable that the work vehicle 10 automatically travels along the inner outer periphery work route r13 in an unmanned state, and automatically travels along the outermost outer periphery work route r13 in a manned state.

[0092] [4.2] Stripe stop control Next, the process relating to the stripe stopping control will be described with reference to FIGS.

[0093] That is, the control system 1 of this embodiment has a function of "strip stopping control" that puts some of the multiple work rows Vr1 to Vr8 (8 rows in this embodiment) into non-operational state, and performs strip stopping control when necessary, for example, as shown in FIG. 6.

[0094] In the example shown in Figure 5, the passing area A1 through which the work implement 12 passes when the work vehicle 10 travels along the work path r11 does not overlap with the passing area A2 through which the work implement 12 passes when the work vehicle 10 travels along the outer circumferential work path r13. Therefore, in the example shown in Figure 5, the work vehicle 10 performs "all row work" in which work is performed on all of the multiple work rows Vr1 to Vr8 both when traveling along the work path r11 and when traveling along the outer circumferential work path r13.

[0095] On the other hand, in the example shown in Fig. 6, the passing area A1 through which the work machine 12 passes when the work vehicle 10 travels along the work path r11 partially overlaps with the passing area A2 through which the work machine 12 passes when the work vehicle 10 travels along the outer circumferential work path r13. Specifically, the passing area A1 when traveling along the work path r11 located closest to the first external form f11 (left side in Fig. 6) among the multiple work paths r11 partially overlaps with the passing area A2 when traveling along the outer circumferential work path r13. Therefore, in the example shown in Fig. 6, the work vehicle 10 performs "strip stop control" when traveling along the work path r11 located closest to the first external form f11 so that full strip work can be performed when traveling along the outer circumferential work path r13.

[0096] That is, in the example of Fig. 6, when traveling along the work path r11 closest to the first outer shape line f11, among the multiple work rows Vr1 to Vr8, the work rows Vr1 and Vr2 that overlap with the passing area A2 are not in operation, and only the remaining work rows Vr3 to Vr8 are in operation, so that row stopping control is implemented. As a result, in the overlapping area between the passing area A1 and the passing area A2, no work (planting work) is performed when traveling along the work path r11, so it is possible to perform all row work while traveling along the outer peripheral work path r13, while avoiding overlapping work.

[0097] Incidentally, when performing such stripe stopping control, the operator can visually determine at which position in the work area F1 the stripe stopping control should be performed, but it is not easy to determine this, and depending on the operator's level of skill, appropriate stripe stopping control may not be performed. That is, in the example of FIG. 6, even if stripe stopping control is performed to make the work rows Vr1 and Vr2 of the multiple work rows Vr1 to Vr8 non-working when traveling along the work route r11 closest to the first outline f11, it is not easy for the operator to visually determine the necessity of stripe stopping control while traveling along the work route r11. As a result, an appropriate position for performing stripe stopping control may not be identified, and the work efficiency for the entire work area F1 may decrease.

[0098] Therefore, in the control method according to this embodiment, the following configuration makes it possible to improve work efficiency over the entire work area F1.

[0099] That is, the control method according to this embodiment is a control method for a work vehicle 10 capable of working on a plurality of work rows Vr1-Vr8 lined up in a direction intersecting the traveling direction while traveling through a work site F1. This control method includes acquiring outline information based on the outline of the work site F1, and setting stripe stopping positions for performing stripe stopping control within the work site F1 based on the outline information. The stripe stopping control here refers to control in which some of the plurality of work rows Vr1-Vr8 are not in operation.

[0100] The "outline information" in this disclosure is information based on the outline of the work land F1, and includes, for example, the outline of the work land F1 itself (first to fourth outlines f11 to f14), as well as the allowable limit line La1, or a peripheral work route r13 that avoids obstacles located on the periphery of the work land F1. The outline information may be included in the field information, for example, or may be generated during teaching travel. In this embodiment, as an example, the row stop position is set based on the outline of the work land F1 (first to fourth outlines f11 to f14).

[0101] In the example of Fig. 6, the position on the work path r11 that is closest to the first external form f11 (left side in Fig. 6) among the multiple work paths r11 is set as the strip stop position where strip stop control should be performed. This allows the work vehicle 10 to perform strip stop control that sets the work rows Vr1 and Vr2 out of the multiple work rows Vr1 to Vr8 as non-work rows when traveling along the work path r11 closest to the first external form f11.

[0102] In short, according to the control method of this embodiment, the stripe stopping positions for performing stripe stopping control are set within the work area F1 based on the outline information, so that an appropriate position for performing stripe stopping control is identified. Therefore, for example, appropriate stripe stopping control is performed regardless of the operator's skill level, and it is possible to improve the work efficiency over the entire work area F1.

[0103] When the work support processing unit 133 sets the strip stop position, it presents the strip stop position to the operator, for example, by displaying the position on the display device 18. Specifically, while the work vehicle 10 is traveling, a map screen of the work site F1 including the target route R1 is displayed on the display device 18, and the set strip stop position is displayed on the map screen. This enables the operator to operate the strip stop lever when the work vehicle 10 travels along the target route R1 and reaches the strip stop position on the target route R1, thereby performing strip stop control.

[0104] Furthermore, in addition to or instead of displaying the map screen described above, the work support processing unit 133 may cause the reference point 18 or the like to issue a notification to prompt the strip stop control when the work vehicle 10 traveling along the target route R1 reaches a predetermined distance before the strip stop position. In any case, since the strip stop control can be performed at an appropriate timing, it is possible to improve the work efficiency over the entire work area F1.

[0105] Also, as illustrated in Fig. 7, when at least one of the first to fourth external lines f11 to f14 as the external lines of the work site F1 is inclined with respect to the work path r11, only a portion on the same work path r11 is set as the stripe stopping position. That is, in the example of Fig. 7, the passing area A1 when traveling on the work path r11 located closest to the first external line f11 (left side in Fig. 7) among the multiple work paths r11, and the passing area A2 when traveling on the outer circumferential work path r13 overlap only in a triangular overlapping area A10. Therefore, in the example of Fig. 7, the work vehicle 10 performs "strip stopping control" when traveling on a part of the terminal side of the work path r11 located closest to the first external line f11.

[0106] Specifically, in this embodiment, as an example, a reference point Ps1 is set in the center of the rear end of the work implement 12 in the left-right direction D3, as shown in Fig. 8. As shown in Fig. 9, the position of the work vehicle 10 when the overlapping area A10 exists on a straight line of the work width W1 that passes through the reference point Ps1 and is perpendicular to the target route R1 is set as the row-stopping position. In other words, when the work vehicle 10 is in such a row-stopping position, the work implement 12 will perform work (planting work) in the overlapping area A10, and in this case, row-stopping control is performed.

[0107] 7, at the end of the work path r11 closest to the first outer shape line f11, among the multiple work rows Vr1-Vr8, the work row Vr1-Vr5 that overlaps with the passing area A2 is not worked, and only the remaining work rows Vr6-Vr8 are worked, so that row stopping control is implemented. As a result, in the overlapping area A10 between the passing area A1 and the passing area A2, no work (planting work) is performed when traveling on the work path r11, so it is possible to perform all row work when traveling on the outer circumferential work path r13 while avoiding overlapping work.

[0108] In other words, if the overlapping area A10 between the inner area F11 and the outer peripheral area F12 can be identified, stripe stopping control can be implemented to make the overlapping area A10 a non-work area. That is, the control method according to this embodiment includes acquiring outline information based on the outline of the work area F1, and determining, based on the outline information, an overlapping area A10 between a pass area of ​​the work vehicle 10 traveling back and forth in the inner area F11 and a pass area A2 of the work vehicle traveling in a circle around the outer peripheral area F12.

[0109] According to this configuration, similarly to the above, the overlapping area A10 where the stripe stopping control should be performed is specified based on the outline information, and therefore the appropriate position for performing the stripe stopping control is specified. Therefore, for example, appropriate stripe stopping control is performed regardless of the operator's skill level, and it is possible to improve the work efficiency over the entire work area F1.

[0110] In addition, the control method according to the present embodiment further includes, when setting the stripe-stopping position, specifying a stripe-stopping width W2 corresponding to the number of the work rows Vr1 to Vr8 that should be set as non-work rows at the stripe-stopping position. That is, the work support processing unit 133 specifies the stripe-stopping width W2 at each stripe-stopping position in conjunction with the setting of the stripe-stopping position. Specifically, the overlapping width with the overlapping area A10 in the straight line of the work width W1 that passes through the reference point Ps1 and is perpendicular to the target route R1 is specified as the stripe-stopping width W2. As a result, in the stripe-stopping control, it is possible to present to the operator which of the work rows Vr1 to Vr8 should be set as non-work rows together with the stripe-stopping position.

[0111] In particular, as in the examples shown in Figures 7 and 9, when at least one of the first to fourth outlines f11 to f14 as the outline of the work site F1 is inclined with respect to the work path r11, the stripe stopping width W2 changes continuously even when the work vehicle 10 is traveling along the same work path r11. By presenting the stripe stopping width W2, which changes continuously, to the operator in real time, the operator can carry out stripe stopping control at an appropriate stripe stopping width W2 at each stripe stopping position.

[0112] More specifically, in this embodiment, the work support processing unit 133 sets the stripe stop position based on the distance L1 (see FIG. 9) from the specific line included in the outline information to the reference point Ps1 set for the work vehicle 10. The "specific line" here refers to the outline of the work area F1 (first to fourth outlines f11 to f14), the allowable limit line La1, or the outer periphery work route r13 that avoids obstacles located on the outer periphery of the work area F1. In this embodiment, the specific line is the outline of the work area F1 (first to fourth outlines f11 to f14). Therefore, the work support processing unit 133 sets the stripe stop position based on the distance L1 from the outline of the work area F1 (first to fourth outlines f11 to f14) to the reference point Ps1. The distance L1 here refers to the shortest distance from the outline (first to fourth outlines f11 to f14) to the reference point Ps1 (the distance on the perpendicular to the outline).

[0113] Specifically, in the example of FIG. 9, the position of the work vehicle 10 when the distance L1 from the outline to the reference point Ps1 is less than a predetermined threshold is set as the stripe-stopping position. The "threshold" here is a value obtained by adding a margin value L2 to 1.5 times the working width W1 (W1×1.5+L2). In this embodiment, the stripe-stopping width W2 is also calculated based on the distance L1. Here, the distance L1 can be calculated at any time from the current position of the work vehicle 10 calculated by the positioning device 16. Therefore, according to this embodiment, the stripe-stopping position can be set at any time even while the work vehicle 10 is traveling.

[0114] In this manner, in this embodiment, the work support processing unit 133 sets the strip stop position based on the working width W1 of the work vehicle in addition to the outline information. Therefore, it becomes possible to perform strip stop control at a more appropriate position compared to a case where the working width W1 is not used.

[0115] Also, as in the example shown in Fig. 10, even if the fourth external shape f14 located on the extension of the work path r11 is inclined with respect to the work path r11, the position of the work vehicle 10 when the distance from the external shape f14 to the reference point Ps1 is less than a predetermined threshold is set to the strip stop position, as in the case of Fig. 9. That is, in this case, the passing area A1 through which the work machine 12 passes when the work vehicle 10 travels along the work path r11 partially overlaps with the passing area A3 when traveling along the outer circumferential work path r13 along the fourth external shape f14. Therefore, even in the example of Fig. 10, the strip stop position is set on the work path r11.

[0116] Furthermore, in the work area F1 having a shape as exemplified in Fig. 10, as shown in Fig. 11, the passing area A1 through which the work implement 12 passes when traveling along the work path r11 is partially overlapped by both the passing area A2 and the passing area A3. In this case, as the stripe stop width W2, multiple (two) values ​​are specified, namely, the width of the overlapping area of ​​the passing area A1 and the passing area A2, and the width of the overlapping area of ​​the passing area A1 and the passing area A3. Therefore, when multiple values ​​are specified as the stripe stop width W2 in this way, the work support processing unit 133 specifies the maximum value of the multiple values ​​as the stripe stop width W2.

[0117] In short, if the reference point Ps1 is located in front of the position shown in FIG. 11 (rear in the direction of travel) during the travel of the work vehicle 10, the width of the overlapping area of ​​the passing area A1 and the passing area A2 will be larger than the width of the overlapping area of ​​the passing area A1 and the passing area A3. Therefore, if the reference point Ps1 is located in front of the position shown in FIG. 11, the width of the overlapping area of ​​the passing area A1 and the passing area A2 will be specified as the stripe width W2. On the other hand, when the reference point Ps1 passes the position shown in FIG. 11 during the travel of the work vehicle 10, the width of the overlapping area of ​​the passing area A1 and the passing area A3 will be larger than the width of the overlapping area of ​​the passing area A1 and the passing area A2. Therefore, after the reference point Ps1 passes the position shown in FIG. 11, the width of the overlapping area of ​​the passing area A1 and the passing area A3 will be specified as the stripe width W2.

[0118] This makes it possible to continuously change the stripe stopping width W2, and to perform appropriate stripe stopping control for work areas F1 of various shapes.

[0119] In this embodiment, the reference point Ps1 is set at the center in the left-right direction D3 at the rear end of the work implement 12, but is not limited thereto and can be set at any position relative to the work vehicle 10. For example, the reference point Ps1 may be set at the center (center of gravity) of the work implement 12 or the center of the body 11 in a plan view.

[0120] Furthermore, the position of the reference point Ps1 may change depending on the travel speed (vehicle speed) of the work vehicle 10 or the delay time of the strip stop control (the time lag from the operation of the strip stop lever to the actual strip stop). For example, the reference point Ps1 may move further forward in the machine body 11 as the vehicle speed increases. This makes it difficult for delays in the strip stop control to occur even if the strip stop lever is operated after the work vehicle 10 reaches the strip stop position. Alternatively, if the tendency for the strip stop width W2 to increase or decrease is specified, delays in the strip stop control are difficult to occur by performing the strip stop control so that the strip stop width is larger or smaller than the specified strip stop width W2.

[0121] Furthermore, the work support processing unit 133 controls the moving speed (vehicle speed) of the work vehicle 10 according to the start position and end position of the stripe stopping control. That is, taking into consideration the delay time of the stripe stopping control (the time lag from the operation of the stripe stopping lever to the actual stripe stopping), it is preferable to reduce the vehicle speed at the start position where the stripe stopping control is performed and at the end position where the stripe stopping control is released. In particular, when it is necessary to quickly switch between performing and releasing the stripe stopping control, such as when the distance over which the stripe stopping control is performed is short, it is preferable to reduce the vehicle speed from the start position to the end position of the stripe stopping control to enable more appropriate stripe stopping control.

[0122] Here, the work support processing unit 133 suppresses the moving speed (vehicle speed) of the work vehicle 10 to a predetermined speed or less at least at the start position of the stripe stopping control. This makes it easier to prevent a delay in starting the stripe stopping control, and enables more appropriate stripe stopping control.

[0123] Furthermore, in the control method according to this embodiment, the work area F1 includes an inner area F11 in which the work vehicle 10 travels back and forth along the work direction, and an outer periphery area F12 in which the work vehicle 10 travels in a circle along the periphery of the inner area F11. Here, the work support processing unit 133 sets the strip stop position based on the number of times the work vehicle 10 travels around the outer periphery area F12 in addition to the outline information.

[0124] In short, when multiple work paths r11 are generated leaving a width for multiple steps in the outer peripheral region F12 of the work area F1, and an outer peripheral work path r13 for multiple steps is generated along the outer periphery of the work area F1, the stripe stop position may be set based on the number of steps (number of laps) of the outer peripheral work path r13. Basically, the more the number of laps, the further the outer peripheral work path r13 is generated to the inside, so the threshold value compared with the distance L1 from the outline to the reference point Ps1 is set to a large value. With this configuration, when the number of laps of the work vehicle 10 in the outer peripheral region F12 can be set, an appropriate stripe stop position can be set for each set number of laps.

[0125] Incidentally, the work support processing unit 133 may set the strip fastening position based on the allowable limit line La1. That is, the outline information includes information on the allowable limit line La1, which is determined by the distance to the inside of the work site F1 based on the outline of the work site F1 and is the limit position at which the work vehicle 10 is allowed to protrude. The strip fastening position may be set based on the allowable limit line La1. In this case, the strip fastening position is always set inside the allowable limit line La1. Then, the work support processing unit 133 sets the strip fastening position based on the distance from the specific line (the allowable limit line La1) to the reference point Ps1, using the allowable limit line La1 as the specific line.

[0126] When the tolerance limit line La1 is set separately from the outline line, the outer periphery work path r13 is generated along the tolerance limit line La1 instead of the outline line. Therefore, by setting the stripe stop position based on the tolerance limit line La1, appropriate stripe stop control is possible even when the tolerance limit line La1 is set separately from the outline line in this way.

[0127] Here, the position of the tolerance limit line La1 can be changed (by the setting processing unit 214). The stripe stopping position is changed in accordance with the change in the position of the tolerance limit line La1. In other words, in a case where the stripe stopping position is set based on the tolerance limit line La1, if the tolerance limit line La1 changes, the stripe stopping position will also change accordingly. As a result, even if the tolerance limit line La1 is set separately from the outline line, appropriate stripe stopping control is possible.

[0128] Furthermore, if the stripe-stopping position is set based on the distance L1 from the outline (first to fourth outlines f11 to f14) of the work area F1 to the reference point Ps1, the stripe-stopping position may also be set on the outer periphery work path r13. Therefore, for a specific path (such as the outer periphery work path r13), it is preferable not to set the stripe-stopping position even if the distance L1 is less than the threshold value. The decision as to whether or not a stripe-stopping position is to be set on a path may be made by the operator or automatically by the work support processing unit 133. Alternatively, even if the stripe-stopping position is set, the operator may not operate the stripe-stopping lever, so that the stripe-stopping control is not performed.

[0129] [4.3] Overall processing Next, the overall flow of processing related to stripe stopping control among the control methods will be described with reference to FIG.

[0130] 12, the acquisition processing unit 131 of the control system 1 acquires the outline information of the work site F1 (S1). Then, while the work vehicle 10 is traveling, the work support processing unit 133 of the control system 1 calculates the distance L1 (from the outline to the reference point Ps1) as needed based on the outline information and the current position of the work vehicle 10, and sets the strip stop position based on the distance L1 (S2).

[0131] The work support processing unit 133 determines whether the current position of the work vehicle 10 has reached the strip stop position (S3), and if it has reached the position (S3: Yes), presents (displays) on the display device 18 a "strip stop operation guide" that guides the operator in operating the strip stop lever (S4). When the operator operates the strip stop lever (S5: Yes), strip stop control is performed (S6).

[0132] However, the flowchart shown in FIG. 12 is merely an example, and processes may be added or omitted as appropriate, and the order of processes may be changed as appropriate.

[0133] [5] Variations Below, we will list some modified examples of the embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0134] The control system 1 in the present disclosure includes a computer system. The computer system is mainly composed of one or more processors and one or more memories as hardware. The functions of the control system 1 in the present disclosure are realized by the processor executing a program (a control program for a work vehicle) recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through an electric communication line, or may be provided by recording it on a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. In addition, some or all of the functional units included in the control system 1 may be configured with electronic circuits.

[0135] Furthermore, it is not essential for the control system 1 that at least some of the functions of the control system 1 are concentrated in one housing, and the components of the control system 1 may be distributed across multiple housings. Conversely, in the first embodiment, functions distributed across multiple devices (e.g., the control device 13 and the terminal device 20) may be concentrated in one housing. Furthermore, at least some of the functions of the control system 1 may be realized by the cloud (cloud computing) or the like.

[0136] Furthermore, the terminal device 20 is not limited to a general-purpose terminal such as a tablet terminal, smartphone, or laptop computer, but may be configured as a dedicated terminal. Furthermore, multiple terminal devices 20 may be associated with one work vehicle 10, in which case one work vehicle 10 can be controlled by multiple terminal devices 20. Conversely, one terminal device 20 may be associated with multiple work vehicles 10, in which case multiple work vehicles 10 can be controlled by one terminal device 20.

[0137] In addition, the above-mentioned target route R1 is merely an example and can be changed as appropriate. For example, the work direction of the work vehicle 10 (the direction of the work route r11) and / or the travel order of the work route r11 can also be changed as appropriate.

[0138] Furthermore, it is not essential that the setting of the stripe stop position is performed while the work vehicle 10 is traveling. For example, the stripe stop position may be set before the work vehicle 10 starts automatic traveling. In this case, the work vehicle 10 will perform stripe stop control according to the stripe stop position that has been set in advance.

[0139] (Embodiment 2) The control method for the work vehicle 10 according to this embodiment differs from that of the first embodiment in that the work support processing unit 133 performs strip stop control by directly controlling the work implement 12. Hereinafter, the same components as those in the first embodiment will be denoted by the same reference numerals and will not be described as necessary.

[0140] In the control method for the work vehicle 10 according to this embodiment, when the work vehicle 10 reaches the strip stop position, the work support processing unit 133 performs strip stop control to disconnect the strip clutch of any of the work rows Vr1 to Vr8 and stop the work of that work row Vr1 to Vr8. This allows the operator to perform strip stop control at an appropriate position without operating the strip stop lever.

[0141] Furthermore, when performing the strip-stopping control, the work support processing unit 133 may notify the operator via the display device 18 or the like that the strip-stopping control will be performed. In this case, it is preferable that the work support processing unit 133 also notifies which of the multiple work rows Vr1 to Vr8 will be left as a non-work row. If the operator determines that the strip-stopping control is inappropriate, he or she can stop the strip-stopping control.

[0142] The configuration of the second embodiment can be adopted in appropriate combination with the various configurations (including modified examples) described in the first embodiment.

[0143] [Appendix to the invention] The following will provide an overview of the invention extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0144] <Appendix 1> A method for controlling a work vehicle capable of working on a plurality of work rows arranged in a direction intersecting a traveling direction while traveling on a work site, comprising: Obtaining outline information based on the outline of the work site; and setting a strip stop position within the work area for performing strip stop control to make a part of the work rows non-work based on the outline information. A method for controlling a work vehicle.

[0145] <Appendix 2> The work site includes an inner area in which the work vehicle travels back and forth along a work direction, and an outer periphery area in which the work vehicle travels in a circular motion along an outer periphery of the inner area, The stripe fastening position is set based on the number of revolutions of the work vehicle in the outer circumferential region in addition to the outline information. 2. A method for controlling a work vehicle as described in claim 1.

[0146] <Appendix 3> The outline information includes information on an allowable limit line that is defined by a distance inward from the outline of the work site based on the outline of the work site and that is a limit position at which the work vehicle is allowed to protrude, The stripe stop position is set based on the tolerance limit line. 3. A method for controlling a work vehicle according to claim 1 or 2.

[0147] <Appendix 4> The position of the tolerance line is variable, The stripe stop position is changed in accordance with the change in the position of the tolerance limit line. 4. A method for controlling a work vehicle as described in appendix 3.

[0148] <Appendix 5> controlling a moving speed of the work vehicle in accordance with a start position and an end position of the strip stop control; A method for controlling a work vehicle according to any one of claims 1 to 4.

[0149] <Appendix 6> suppressing the moving speed of the work vehicle to a predetermined speed or less at least at a start position of the strip stop control; 6. A method for controlling a work vehicle as described in appendix 5.

[0150] <Appendix 7> The strip fastening position is set based on the working width of the work vehicle in addition to the outline information. A control method for a work vehicle according to any one of claims 1 to 6.

[0151] <Appendix 8> setting the stripe fastening position based on a distance from a specific line included in the outline information to a reference point set for the work vehicle; A method for controlling a work vehicle according to any one of appendices 1 to 7.

[0152] <Appendix 9> When setting the stripe stop position, a stripe stop width corresponding to the number of work rows to be set as non-work rows among the plurality of work rows at the stripe stop position is specified. A method for controlling a work vehicle according to any one of appendices 1 to 8.

[0153] <Appendix 10> When a plurality of values ​​are designated as the stripe stop width, the maximum value among the plurality of values ​​is designated as the stripe stop width. 10. A method for controlling a work vehicle as described in appendix 9.

[0154] <Appendix 11> A method for controlling a work vehicle capable of working on a plurality of work rows arranged in a direction intersecting a traveling direction while traveling on a work site, comprising: The work site includes an inner area in which the work vehicle travels back and forth along a work direction, and an outer periphery area in which the work vehicle travels in a circle along an outer periphery of the inner area, Obtaining outline information based on the outline of the work site; and determining an overlapping area between a passing area of ​​the work vehicle traveling back and forth in the inner area and a passing area of ​​the work vehicle traveling in a circle in the outer circumferential area based on the outline information. A method for controlling a work vehicle.

[0155] <Appendix 12> A method for controlling a work vehicle according to any one of appendices 1 to 11, A control program for a work vehicle to be executed by one or more processors. [Explanation of symbols]

[0156] 1. Control system for work vehicles 10 Work vehicles 11 Aircraft 100 Working Systems 131 Acquisition processing unit 133 Work Support Processing Unit A1,A2,A3 passing area A10 Overlapping area D2 Direction of travel (back and forth) F1 Work Site F11 inner area F12 Outer area f11~f14 1st~4th outline line (outline line) L1 distance L2 Margin Value La1 tolerance limit P1 reference point Vr1~Vr8 Work row W1 Working width W2 Strip width

Claims

1. A method for controlling a work vehicle capable of working on a plurality of work rows arranged in a direction intersecting a traveling direction while traveling on a work site, comprising: Obtaining outline information based on the outline of the work site; and setting a strip stop position within the work area for performing strip stop control to make a part of the work rows non-work based on the outline information. A method for controlling a work vehicle.

2. The work site includes an inner area in which the work vehicle travels back and forth along a work direction, and an outer periphery area in which the work vehicle travels in a circle along an outer periphery of the inner area, The stripe fastening position is set based on the number of revolutions of the work vehicle in the outer circumferential region in addition to the outline information. A method for controlling a work vehicle according to claim 1.

3. The outline information includes information on an allowable limit line that is a limit position at which the work vehicle is allowed to protrude from the outline of the work site and is defined by a margin value that is a distance inward from the outline of the work site based on the outline of the work site, The stripe stop position is set based on the tolerance limit line. A method for controlling a work vehicle according to claim 1 or 2.

4. The position of the tolerance line is variable, The stripe stop position is changed in accordance with the change in the position of the tolerance limit line. A method for controlling a work vehicle according to claim 3.

5. controlling a moving speed of the work vehicle in accordance with a start position and an end position of the strip stop control; A method for controlling a work vehicle according to claim 1 or 2.

6. suppressing the moving speed of the work vehicle to a predetermined speed or less at least at a start position of the strip stop control; A method for controlling a work vehicle according to claim 5.

7. The strip fastening position is set based on the working width of the work vehicle in addition to the outline information. A method for controlling a work vehicle according to claim 1 or 2.

8. setting the stripe fastening position based on a distance from a specific line included in the outline information to a reference point set for the work vehicle; A method for controlling a work vehicle according to claim 1 or 2.

9. When setting the stripe stop position, a stripe stop width corresponding to the number of work rows to be set as non-work rows among the plurality of work rows at the stripe stop position is specified. A method for controlling a work vehicle according to claim 1 or 2.

10. When a plurality of values ​​are designated as the stripe stop width, the maximum value among the plurality of values ​​is designated as the stripe stop width. A method for controlling a work vehicle according to claim 9.

11. A method for controlling a work vehicle capable of working on a plurality of work rows arranged in a direction intersecting a traveling direction while traveling on a work site, comprising: The work site includes an inner area in which the work vehicle travels back and forth along a work direction, and an outer periphery area in which the work vehicle travels in a circle along an outer periphery of the inner area, Obtaining outline information based on the outline of the work site; and determining an overlapping area between a passing area of ​​the work vehicle traveling back and forth in the inner area and a passing area of ​​the work vehicle traveling in a circle in the outer circumferential area based on the outline information. A method for controlling a work vehicle.

12. A method for controlling a work vehicle according to claim 1 or 2, A control program for a work vehicle to be executed by one or more processors.

13. This is used in a work vehicle that can work on multiple work rows lined up in a direction intersecting the direction of travel while traveling on a work site, an acquisition processing unit that acquires outline information based on the outline of the work site; and a work support processing unit that sets a strip stop position within the work area to perform strip stop control to make a part of the work rows non-work based on the outline information. Control system for work vehicles.

14. A work vehicle control system according to claim 13; The work vehicle body includes: Working system.

Images