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 causing the work vehicle to travel a more appropriate route.SOLUTION: A control method of a work vehicle makes it possible for the work vehicle to perform work while travelling in a work site F1. This control method includes setting the position of an allowable limit line La1 which is stipulated by a margin value L2, which is a distance to the inside of the work site F1, and serves as a limit position for allowing protrusion of the work vehicle, with a contour line of the work site F1 as a reference, and generating a route (a target route R1) for causing the work vehicle to travel on the basis of the allowable limit line La1.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a control method for a work vehicle capable of performing work while traveling on a work site, a control program for a work vehicle, a control system for a work vehicle, and a work system. [Background technology]

[0002] A related technique is known in which, when generating and setting a work route along which a work vehicle (autonomous work vehicle) works while traveling, an operator or user can appropriately re-set, change, and register a desired headland area, etc. (see, for example, Patent Document 1). In the related technique, the headland area is made up of a first headland area that includes a turn, and a second headland area that does not include a turn.

[0003] In the related art, when an operator selects the first mode in which the first headland area and the second headland area are set to minimum values, the values ​​of the respective headland areas are automatically input. In this case, the width of the first headland area including turning is determined by the turning width in which the work vehicle can turn and a safety margin (about 1 m). Also, the width of the second headland area not including turning is determined by the width required for the travel of the work vehicle and a safety margin (about 1 m). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-129554 Summary of the Invention [Problem to be solved by the invention]

[0005] In the configuration of the above-mentioned related technology, the safety margin is a constant value, so even if it is possible to move the work vehicle closer to the outline of the work site (field) due to the conditions of the work site (field) or the work method, etc., it is difficult to drive the work vehicle along such a route.

[0006] An object of the present invention is 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 causing a work vehicle to travel along a more appropriate route. [Means for solving the problem]

[0007] A work vehicle control method according to one aspect of the present invention is a control method for a work vehicle capable of working while traveling on a work site, comprising: setting the position of an allowable limit line which is determined by a margin value which is the distance inward from the outline of the work site based on the outline of the work site and which is the limit position at which the work vehicle is allowed to extend beyond the outline; and generating a route for traveling the work vehicle based on the allowable limit line.

[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 while traveling on a work site, comprising: setting an allowable limit line which is determined by a margin value which is the distance inward from the outline of the work site based on the outline of the work site and which is the limit position at which the work vehicle is allowed to extend beyond the outline; and automatically driving the work vehicle based on the allowable limit line.

[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 performing work while traveling on a work site. The work vehicle control system includes a setting processing unit and a generation processing unit. The setting processing unit sets the position of an allowable limit line, which is defined by a margin value that is a distance to the inside of the work site based on the outline of the work site and which serves as a limit position at which the work vehicle is allowed to protrude beyond the outline. The generation processing unit generates a route for traveling the work vehicle based on the allowable limit line.

[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 driving a work vehicle along a more appropriate route. [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 diagram showing an example of a target route generated by the work vehicle control system according to the first embodiment. [Figure 6] FIG. 6 is a schematic diagram showing an example of a target route generated by the work vehicle control system according to the first embodiment. [Figure 7] FIG. 7 is a schematic diagram showing an example of a target route generated by the work vehicle control system according to the first embodiment. [Figure 8] FIG. 8 is a schematic diagram showing an example of a margin setting screen in the work vehicle control system according to the first embodiment. [Figure 9] FIG. 9 is a schematic diagram showing an example of a visible line selection screen in the work vehicle control system according to the first embodiment. [Figure 10] FIG. 10 is a flowchart showing an example of the operation of the work vehicle control system according to the first embodiment. [Figure 11]FIG. 11 is a schematic rear view illustrating the operation of the work vehicle control system according to the fourth embodiment. [Figure 12] FIG. 12 is a schematic plan view illustrating the operation of the work vehicle control system according to the fourth embodiment. [Figure 13] FIG. 13 is a schematic plan view illustrating the operation of the work vehicle control system according to the fifth embodiment. [Figure 14] FIG. 14 is a schematic plan view illustrating the operation of the work vehicle control system according to the fifth 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] 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.

[0049] 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.

[0050] 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.

[0051] [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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.).

[0059] 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.

[0060] In addition, the operation display unit 23 displays the progress of the 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 monitor the work vehicle 10 in a short distance and remotely during automatic operation. Short distance monitoring means, for example, monitoring within a range that the operator can see, and remote monitoring means, for example, monitoring using an image of the periphery of the work vehicle 10 displayed on the terminal device 20. According to remote monitoring, it is also possible to monitor multiple work vehicles 10 using one terminal device 20. However, these definitions are merely examples, and other definitions may be used. Here, the operating status of the work vehicle 10 also includes the detection results of the detection target object by the detection device 15. Furthermore, the operation display unit 23 can receive a travel start instruction or a travel stop instruction of 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 control the work vehicle 10.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] For example, when starting work, the operator selects a field (work area F1), selects a task, confirms the target route R1, and issues an instruction to start work. When the operator issues an instruction 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.

[0069] 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.

[0070] The setting processing unit 214 executes setting processing 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. As will be described in detail later, in this embodiment, the position of the allowable limit line La1 is set by the setting processing unit 214 in response to an operation of the operator on the operation display unit 23.

[0071] 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.

[0072] [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 10.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] [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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] [4.2] Target path generation Next, the process for generating the target route R1 will be described with reference to FIGS.

[0090] In the control system 1 according to this embodiment, the generation processing unit 211 of the terminal device 20 generates a route (target route R1) for driving (automatic driving) the work vehicle 10 in the work site F1, as illustrated in Fig. 5. Here, the generation processing unit 211 generates the target route R1 based on at least the allowable limit line La1 so that the body 11 of the work vehicle 10 does not go outside the allowable limit line La1.

[0091] That is, taking into consideration detection errors in the positioning device 16, etc., a safety margin is secured on the outer periphery of the work land F1 to avoid the work vehicle 10 coming into contact with the banks or the like on the outer side of the work land F1, and the target route R1 is generated so that the work vehicle 10 travels further inside that. In other words, the target route R1 is generated so that when the work vehicle 10 travels through the work land F1, the work vehicle 10 is not brought as close as possible to the outline of the work land F1 (first to fourth outlines f11 to f14), but rather the work vehicle 10 can travel without going beyond the allowable limit line La1, which is set inside the outline by the margin value L2.

[0092] As shown in Fig. 5, when the allowable limit line La1 is located inside the outline, the area between the allowable limit line La1 and the outline (the shaded area in Fig. 5) becomes the safety margin zone Am1. The target route R1 is generated based on the allowable limit line La1 so that the work vehicle 10 does not go outside (towards the outline) the allowable limit line La1, which is the inner periphery of the safety margin zone Am1. Therefore, even if a detection error or the like occurs in the positioning device 16, the work vehicle 10 will only go outside the safety margin zone Am1 and will be less likely to go outside the outline (first to fourth outlines f11 to f14).

[0093] However, when the margin value L2, which is the width of the above-mentioned safety margin zone Am1, is a constant value, even if it is possible to move the work vehicle 10 closer to the outline of the work site F1 due to the conditions of the work site F1 or the work method, it is difficult to drive the work vehicle 10 along such a route.

[0094] Therefore, the control method according to this embodiment makes it possible to make the work vehicle 10 travel along a more appropriate route by using the configuration described below.

[0095] That is, the control method for the work vehicle 10 according to this embodiment is a control method for the work vehicle 10 capable of performing work while traveling in the work land F1. This control method includes setting the position of an allowable limit line La1, which is defined by a margin value L2 that is the distance to the inside of the work land F1 based on the outline of the work land F1 (first to fourth outlines f11 to f14) and which is the limit position at which the work vehicle 10 is allowed to protrude, and generating a route (target route R1) for traveling the work vehicle 10 based on the allowable limit line La1.

[0096] In short, in this embodiment, as shown in Fig. 6, it is possible to set (change) the position of the allowable limit line La1 defined by the margin value L2, which is the width of the safety margin zone Am1. Therefore, for example, if it is possible to move the work vehicle 10 closer to the outline of the work site F1 due to the conditions of the work site F1 or the work method, it is possible to generate a route (target route R1) that is closer to the outline of the work site F1 by reducing the margin value L2 and setting (changing) the allowable limit line La1 further outward. As a result, it is possible to make the work vehicle 10 travel along a more appropriate route.

[0097] Here, the margin value L2 includes negative values. In other words, the margin value L2, which is the distance from the outline of the work site F1 (first to fourth outlines f11 to f14) to the inside of the work site F1, can take not only positive (+) values, but also negative (-) values. When the margin value L2 is a negative value, as illustrated in FIG. 7, the allowable limit line La1 is positioned outside the work site F1 relative to the outline of the work site F1 (first to fourth outlines f11 to f14). In this case, it is sufficient that the route (target route R1) is generated so that the work vehicle 10 does not go outside the allowable limit line La1, and it is permitted for the work vehicle 10 to go outside the outline of the work site F1 (first to fourth outlines f11 to f14).

[0098] For example, depending on the height of the banks around the work site F1, the type of banks (soil / concrete, etc.), the presence or absence of obstacles around the work site F1, the presence or absence of the work implement 12, the working width W1, the elevation state of the work implement 12, and the presence or absence of turning while the work vehicle 10 is traveling, there are cases where it is no problem if at least a part of the machine body 11 (including the work implement 12) extends outside the work site F1. If it is confirmed that there is no problem if the machine extends outside the work site F1 when the work site F1 is registered (during teaching travel), etc., a more flexible route can be generated by setting the margin value L2 to a negative value as described above.

[0099] 7 shows an imaginary circle X1 indicating the range that a part of the body 11 of the work vehicle 10 can occupy when the body 11 of the work vehicle 10 turns. When generating a route (target route R1), it is preferable to generate the route (target route R1) so that the imaginary circle X1 does not extend beyond the allowable limit line La1. As a result, even if the work vehicle 10 traveling on the target route R1 turns to avoid an obstacle, the work vehicle 10 will basically stay inside the allowable limit line La1, making it difficult for the work vehicle 10 to extend beyond the allowable limit line La1.

[0100] The allowable limit line La1 also determines the position of the inner region F11 in which the work vehicle 10 travels back and forth along the work direction. That is, as described above, the inner region F11 and the outer circumferential region F12 are set in the work area F1, but the inner region F11 is set further inward from the allowable limit line La1 by the width of the outer circumferential region F12. Therefore, when the allowable limit line La1 is set, the inner region F11 in which the work vehicle 10 travels back and forth along the work direction is automatically set based on its position.

[0101] Fig. 8 shows an example of a margin setting screen G1 for setting the position of the tolerance limit line La1. That is, in this embodiment, the position of the tolerance limit line La1 is set by the setting processing unit 214 in response to an operation of the operator on the operation display unit 23, and the margin setting screen G1 for setting the position of the tolerance limit line La1 is displayed on the operation display unit 23. In the drawings showing the screen displayed on the operation display unit 23 such as Fig. 8, the dashed lines, leader lines and reference symbols representing areas are all added merely for the purpose of explanation and are not actually displayed on the operation display unit 23.

[0102] In the example of FIG. 8, the margin setting screen G1 has a setting section G11 for setting the margin value L2, a back button G12, and a next button G13. The setting section G11 includes a minus button G111, a plus button G112, and a cell G113. The cell G113 displays the current margin value L2 ("100 cm" in the example of FIG. 8). The minus button G111 is an operation button (object) that decreases the margin value L2 by a predetermined increment ("1 cm" in the example of FIG. 8) each time it is operated. The plus button G112 is an operation button (object) that increases the margin value L2 by a predetermined increment ("1 cm" in the example of FIG. 8) each time it is operated.

[0103] Therefore, for example, when the minus button G111 is pressed ten times from the state of FIG. 8, the margin value L2 changes to "90 cm." Similarly, when the plus button G112 is pressed five times from the state of FIG. 8, the margin value L2 changes to "105 cm." Here, when the margin setting screen G1 is started, the margin value L2 is set to a default value (for example, "100 cm"). When the next button G13 is operated, the setting processing unit 214 sets the position of the allowable limit line La1 according to the margin value L2 at that time.

[0104] Therefore, the operator can adjust the margin value L2 to an arbitrary value on the margin setting screen G1 displayed on the operation display unit 23, and set the allowable limit line La1 to an arbitrary position.

[0105] Furthermore, when setting the allowable limit line La1 outside the outline of the work area F1, for example, a question (or option) may be presented to the operator on the margin setting screen G1, such as "Do you allow it to go beyond the outside?", inquiring about setting a negative value as the margin value L2. In response to this, if the operator selects "allow", the margin value L2 is set to a negative value, and the allowable limit line La1 is set outside the outline of the work area F1. In this way, for example, the operation display unit 23 may interactively accept input from the operator, and the setting processing unit 214 may set the margin value L2 to a negative value.

[0106] In this embodiment, the work site F1 includes a plurality of outlines (first to fourth outlines f11 to f14). Here, the position of the allowable limit line La1 can be set individually for each of the plurality of outlines (first to fourth outlines f11 to f14). That is, the margin value L2 can be set individually for each of the first outline f11, the second outline f12, the third outline f13, and the fourth outline f14. According to the margin value L2 set for the first outline f11, the allowable limit line La1 is set at the position of the margin value L2 inward from the first outline f11. On the other hand, according to the margin value L2 set for the second outline f12, the allowable limit line La1 is set at the position of the margin value L2 inward from the second outline f12. Therefore, it is possible to set an appropriate safety margin band Am1 for each of the plurality of outlines.

[0107] Here, for the outlines (sides) among the multiple outlines (first to fourth outlines f11 to f14) that satisfy a specific condition, such as facing a farm road (public road), it is preferable that the setting processing unit 214 does not allow the margin value L2 to be set to a negative value. Whether each of the multiple outlines satisfies a specific condition, such as facing a farm road, can be specified in advance, for example, from map information. This makes it easier to suppress the machine body 11 (including the work machine 12) from protruding outside the work land F1, for example, for outlines for which it is undesirable to set the allowable limit line La1 outside the outline of the work land F1. Furthermore, the setting processing unit 214 may allow the margin value L2 to be set to a negative value for the outlines (sides) that satisfy a specific condition, but may limit the negative value (i.e., the allowable amount of protrusion outside the work land F1). Here, the degree of restriction can be determined based on, for example, the height of the banks around the work site F1 (input by the operator), the type of banks (earth / concrete, etc.), the presence or absence or location of obstacles around the work site F1, etc. Also, the degree of "restriction" may be determined based on, for example, images captured by a camera during teaching driving in which the robot drives around the perimeter of the work site F1.

[0108] Fig. 9 shows an example of the outline selection screen G2 for selecting an outline for setting the allowable limit line La1. In the example of Fig. 9, the outline selection screen G2 has a map section G21 including the work area F1, a back button G22, and a next button G23. The map section G21 includes a plurality of outlines (first to fourth outlines f11 to f14) of the work area F1, and each of these plurality of outlines can be selected on the map section G21.

[0109] The outline selected in the map section G21 is highlighted, for example by blinking. Fig. 9 shows the first outline f11 selected. When the Next button G23 is operated, the setting processing section 214 switches the display screen to the margin setting screen G1 (see Fig. 8) and starts setting the position of the allowable limit line La1 for the outline selected at that time (the first outline f11 in the example of Fig. 9).

[0110] Also, a map section G21 as shown in Fig. 9 may be included in the margin setting screen G1, in which case it is possible to select the outline and adjust the margin value L2 on the margin setting screen G1. Alternatively, a setting section G11 as shown in Fig. 8 may be included in the outline selection screen G2, in which case it is possible to select the outline and adjust the margin value L2 on the outline selection screen G2.

[0111] The position of the allowable limit line La1 can also be set for these multiple outlines (first to fourth outlines f11 to f14) all at once. That is, a single margin value L2 is set for all of the first outline f11, second outline f12, third outline f13, and fourth outline f14. Then, the allowable limit line La1 is set at the position of the margin value L2 inward from each of the first outline f11, second outline f12, third outline f13, and fourth outline f14. Therefore, the allowable limit line La1 can be set relatively easily regardless of the number of outlines (field sides).

[0112] Furthermore, when multiple outlines (first to fourth outlines f11 to f14) are divided into multiple groups according to the working direction, the position of the allowable limit line La1 can be set individually for each of the multiple groups. That is, for example, consider a case where the outlines (first outline f11 and second outline f12) along the extension direction (working direction) of the working path r11 are classified into a first group, and the outlines (third outline f13 and fourth outline f14) intersecting the extension direction (working direction) of the working path r11 are classified into a second group. In this case, the positions of the allowable limit line La1 are set collectively for the first outline f11 and second outline f12 belonging to the first group, and the positions of the allowable limit line La1 are set collectively for the third outline f13 and fourth outline f14 belonging to the second group. Therefore, the allowable limit line La1 can be set relatively easily.

[0113] Here, the operator may be able to select whether to set the position of the tolerance limit line La1 for each of the multiple outlines individually, collectively, or individually for each of the multiple groups.

[0114] Furthermore, the control method according to this embodiment further includes designating the driving mode of the work vehicle 10 according to a setting mode relating to the setting of the position of the allowable limit line La1. That is, once the allowable limit line La1 is set, the driving mode of the work vehicle 10 is automatically designated according to the setting mode. This makes it possible to automatically designate an appropriate driving mode according to the width of the safety margin zone Am1.

[0115] Here, the driving mode includes whether manned driving, which requires an operator to board the work vehicle 10, or unmanned driving, which does not require an operator to board the work vehicle 10. It is preferable that unmanned driving is specified as the default.

[0116] As an example, if the margin value L2 that defines the position of the allowable limit line La1 is greater than the judgment threshold, unmanned driving is specified as the driving mode. On the other hand, if the margin value L2 that defines the position of the allowable limit line La1 is equal to or less than the judgment threshold, manned driving is specified as the driving mode. In this way, manned / unmanned driving is automatically specified according to the setting mode related to the setting of the position of the allowable limit line La1, making it possible to automatically specify an appropriate driving mode according to the width of the set safety margin zone Am1.

[0117] The traveling manner also includes a turning manner. The "turning manner" here refers to the traveling manner when the work vehicle 10 turns, and includes, for example, a "gentle turn" or a "fishtail turn".

[0118] As an example, if the margin value L2 that defines the position of the allowable limit line La1 is greater than the judgment threshold, a turning mode in which the body 11 bulges relatively large in the left-right direction D3, such as a "gentle turn," is specified as the turning mode. On the other hand, if the margin value L2 that defines the position of the allowable limit line La1 is equal to or less than the judgment threshold, a turning mode in which the body 11 bulges relatively small in the left-right direction D3, such as a "fishtail turn," is specified. In this way, the turning mode is automatically specified according to the setting mode related to the setting of the position of the allowable limit line La1, so that an appropriate driving mode can be automatically specified according to the width of the set safety margin zone Am1.

[0119] Here, the relative relationship between the driving mode and the setting mode may be applied to the same work. That is, for example, in a certain work site F1, if automatic driving is performed once with the allowable limit line La1 set to specify manned driving as the driving mode, unmanned driving may be specified as the driving mode for the next or subsequent work in the work site F1. As a result, the driving mode is specified according to the allowable limit line La1 only once, making it possible to specify a more appropriate driving mode.

[0120] However, if any problem occurs during manned driving, it is preferable to prohibit or warn unmanned driving from the next time onwards. Specifically, the location and details of the problem are recorded and the details are presented from the next time onwards. In this case, the operator may be able to select manned / unmanned driving after checking the presented details.

[0121] The control method according to this embodiment further includes invalidating the tolerance limit line La1 or moving (expanding) it toward the outside of the work site F1 when a specific condition is satisfied. The "specific condition" here refers to a condition that requires the work vehicle 10 to be moved to the outside of the work site F1, such as the remaining amount of materials (in this embodiment, seedlings or fuel) consumed by the work (in this embodiment, planting work) in the work vehicle 10 falling below a judgment threshold. In the case where the work vehicle 10 is a harvester such as a combine harvester, the specific condition includes the amount of harvested material stored falling above a judgment threshold.

[0122] In this way, when a specific condition is satisfied, the allowable limit line La1 is temporarily disabled or expanded, so that the work vehicle 10 can move beyond the allowable limit line La1 and outside the work site F1. Furthermore, the judgment threshold value to be compared with the remaining amount of materials during round-trip travel and the judgment threshold value to be compared with the remaining amount of materials after the end of round-trip travel may have different values. Specifically, the judgment threshold value after the end of round-trip travel is set higher than the judgment threshold value during round-trip travel. This allows materials to be replenished before starting the subsequent circular travel, even if the amount of materials has not decreased significantly at the end of the round-trip travel.

[0123] Furthermore, the setting of the allowable limit line La1 is not limited to being performed by the operator's operation of the terminal device 20, and may be performed automatically. As an example, the position of the allowable limit line La1 may be set depending on whether or not the work vehicle 10 is permitted to protrude outward from the outline of the work site F1. Here, whether or not the work vehicle 10 is permitted to protrude outward from the outline of the work site F1 is determined based on, for example, the height of the banks around the work site F1, the type of banks (earth / concrete, etc.), the presence or absence of obstacles around the work site F1, the presence or absence of the work implement 12, the working width W1, the lifting and lowering state of the work implement 12, and the presence or absence of turning while the work vehicle 10 is traveling.

[0124] For example, when it is confirmed that protrusion outside the work area F1 is permitted during registration (teaching run), the position of the allowable limit line La1 is automatically set so as to reduce the margin value L2. This makes it possible to set an appropriate safety margin zone Am1.

[0125] Incidentally, when the work vehicle 10 automatically travels through the work site F1, it is not essential that the target route R1 is generated in advance (before the start of automatic travel) as described above. In other words, the work vehicle 10 can automatically travel while judging the situation in real time based on, for example, position information on the current position of the work vehicle 10 measured by the positioning device 16, information on the work site F1, and the detection results of the detection device 15. Even in such a case, it is useful to set the allowable limit line La1.

[0126] That is, in this case, the control method according to this embodiment includes setting an allowable limit line La1 that is defined by a margin value L2, which is the distance to the inside of the work site F1 based on the outline of the work site F1 and that is the limit position at which the work vehicle 10 is allowed to protrude, and automatically driving the work vehicle 10 based on the allowable limit line La1. In short, instead of the generation processing unit 211 of the control system 1 generating a route (target route R1) for driving the work vehicle 10 based on the allowable limit line La1, the driving processing unit 132 of the control system 1 automatically drives the work vehicle 10 based on the allowable limit line La1.

[0127] Even in this configuration, even if the route (target route R1) is not generated in advance, it is possible to make the work vehicle 10 travel along a more appropriate route, as in the above embodiment.

[0128] [4.3] Overall processing Next, the overall flow of the process relating to the generation of the target route R1 in the control method will be described with reference to FIG.

[0129] 10, the setting processing unit 214 of the control system 1 sets the position of the allowable limit line La1 to a default position by setting the margin value L2 to a default (S1). Then, the setting processing unit 214 accepts an operation to change the margin value L2 on the margin setting screen G1 of the terminal device 20 (S2).

[0130] When an operation to change the margin value L2 is performed on the margin setting screen G1 (S2: Yes), the setting processing unit 214 changes the position of the allowable limit line La1 according to the changed margin value L2 (S3). On the other hand, when an operation to change the margin value L2 is not performed (S2: No), the control system 1 skips step S3 and moves the process to step S4.

[0131] In step S4, the generation processing unit 211 of the control system 1 generates a route (target route R1) for traveling the work vehicle 10 based on the allowable limit line La1.

[0132] However, the flowchart shown in FIG. 10 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, when the work vehicle 10 is a harvester such as a combine harvester, the position of the allowable limit line La1 may be set according to the working width W1 of the work vehicle 10, that is, the mowing width.

[0139] (Embodiment 2) The control method for the work vehicle 10 according to this embodiment differs from the first embodiment in that a setting manner for setting the position of the allowable limit line La1 is specified according to the traveling manner of the work vehicle 10. Hereinafter, the same components as those in the first embodiment will be denoted by the same reference numerals and the description thereof will be omitted as appropriate.

[0140] That is, in the first embodiment, the traveling mode of the work vehicle 10 is specified according to the setting mode relating to the setting of the position of the allowable limit line La1, whereas in the present embodiment, conversely, the setting mode of the allowable limit line La1 is specified according to the traveling mode of the work vehicle 10. The "setting mode" specified here includes, for example, the range (upper limit and / or lower limit) of the selectable margin value L2, or a default value of the margin value L2, etc.

[0141] As an example, when unmanned driving is selected as the driving mode, the lower limit value of the margin value L2 that defines the position of the allowable limit line La1 is set to a larger value than when manned driving is selected as the driving mode. In other words, when manned driving is selected, the position of the allowable limit line La1 can be set further outside the work area F1 compared to when unmanned driving is selected.

[0142] This makes it possible to automatically specify an appropriate width of the safety margin zone Am1 depending on the driving mode. The determination of whether the operator is on board the work vehicle 10 can be automated, for example, by a human sensor or camera provided in the driver's unit 111, a seating sensor or switch provided in the seat (driver's seat) of the driver's unit 111, or position information from a mobile terminal (smartphone, etc.) carried by the operator. This also makes it possible to automate the determination of the driving mode (manned driving / unmanned driving).

[0143] The configuration of the second embodiment can be adopted in appropriate combination with the various configurations (including modified examples) described in the first embodiment.

[0144] (Embodiment 3) The control method for the work vehicle 10 according to this embodiment differs from embodiment 2 in that the driving mode of the work vehicle 10 includes whether the driving mode is monitoring-required driving, in which the operator needs to monitor the work vehicle 10, or monitoring-unnecessary driving, in which the operator does not need to monitor the work vehicle 10. Hereinafter, common reference numerals will be used to designate configurations similar to those in embodiment 2, and descriptions thereof will be omitted as appropriate.

[0145] That is, in the second embodiment, the setting mode of the allowable limit line La1 is specified depending on whether the driving mode of the work vehicle 10 is, for example, manned or unmanned, whereas in the present embodiment, the setting mode of the allowable limit line La1 is specified depending on, for example, whether the driving mode of the work vehicle 10 is monitoring-required driving or monitoring-unnecessary driving. The "setting mode" specified here includes, for example, a selectable range of the margin value L2 (upper limit value and / or lower limit value), or a default value of the margin value L2. It is preferable that monitoring-unnecessary driving is specified as the default.

[0146] In other words, driving requiring monitoring is a driving mode that requires, for example, either an operator being on board the work vehicle 10, or an operator monitoring the status of the work vehicle 10 at a location close to the work vehicle 10 (near the work site F1) even if not on board, or an operator monitoring the status of the work vehicle 10 from a remote location via the terminal device 20. On the other hand, driving that does not require monitoring of the work vehicle 10 by an operator, is a driving mode that does not require any of the above conditions, such as autonomous driving.

[0147] As an example, when monitoring-unnecessary driving is selected as the driving mode, the lower limit value of the margin value L2 that defines the position of the allowable limit line La1 is set to a larger value than when monitoring-required driving is selected as the driving mode. In other words, when monitoring-required driving is selected, the position of the allowable limit line La1 can be set further outside the work area F1 than when monitoring-unnecessary driving is selected.

[0148] Furthermore, by replacing manned driving with monitoring-required driving and unmanned driving with monitoring-unnecessary driving, it is possible to adopt a configuration similar to that in the case where the driving mode includes manned driving / unmanned driving. That is, as in the first embodiment, when the driving mode of the work vehicle 10 is specified according to the setting mode related to the setting of the position of the allowable limit line La1, as an example, if the margin value L2 that defines the position of the allowable limit line La1 is greater than the judgment threshold, monitoring-unnecessary driving is specified as the driving mode. On the other hand, if the margin value L2 that defines the position of the allowable limit line La1 is equal to or less than the judgment threshold, monitoring-required driving is specified as the driving mode. In this way, monitoring-required driving / monitoring-unnecessary driving is automatically specified according to the setting mode related to the setting of the position of the allowable limit line La1, so that an appropriate driving mode can be automatically specified according to the width of the set safety margin band Am1.

[0149] The configuration of the third embodiment (including the modified examples) can be adopted in appropriate combination with the various configurations (including the modified examples) described in the first and second embodiments.

[0150] (Embodiment 4) The control method for the work vehicle 10 according to this embodiment differs from the first embodiment in that the allowable limit line La1 is set taking into account the height of the work implement 12. Hereinafter, configurations similar to those in the first embodiment will be given the same reference numerals and descriptions thereof will be omitted as appropriate.

[0151] In this embodiment, as shown in Figures 11 and 12, a work vehicle 10 is assumed in which a work implement 12 can ascend and descend with respect to a body 11. As one example, the work vehicle 10 is a towing type work vehicle in which the work implement 12 is coupled to the rear of a vehicle body (body 11) made of a tractor, and the body 11 tows the work implement 12.

[0152] In this work vehicle 10, a working width W1, which is the width dimension in the left-right direction D3 of the work implement 12, is larger than a vehicle width W2, which is the width dimension in the left-right direction D3 of the body 11, which is the vehicle main body (W1>W2). The vehicle width W2 is defined here by the distance between the outer surfaces of a pair of rear wheels 142, which are the outermost sides of the body 11 in the left-right direction D3.

[0153] In a working state in which work is being performed, this type of work vehicle 10 lowers the work implement 12 to the "lowered position" shown in the upper part of Figures 11 and 12, and travels across the work land F1. On the other hand, in a non-working state in which no work is being performed, the work implement 12 is raised to the "raised position" shown in the lower part of Figures 11 and 12, and travels across the work land F1. As a result, the height (minimum ground clearance) of the work implement 12 from the travel surface (surface of the work land F1) changes between the working state and the non-working state.

[0154] According to the control method for the work vehicle 10 according to this embodiment, the allowable limit line La1 is automatically set based on at least the height of the work implement 12. Specifically, even if there is an obstacle such as a bank around the work site F1, if the height of the obstacle is lower than the height (minimum ground clearance) of the work implement 12, the work implement 12 is allowed to protrude into the space above the obstacle.

[0155] As an example, assume that a bank B1 exists on a first outline f11, which is the outline (outer periphery) of work site F1, and a bank B2 exists further outside of the bank B1 (on the opposite side of the work site F1), as shown in Figures 11 and 12. Here, bank B1 is lower than the height of the work machine 12 in the non-working state (raised position) and higher than the height of the work machine 12 in the working state (lowered position). Bank B2 is higher than bank B1 and higher than the height of the work machine 12 in the non-working state (raised position).

[0156] In this case, if the allowable limit line La1 is set based on the working state (lowered position), the extension of the working implement 12 from the bank B1 (first external line f11) is not permitted, so the allowable limit line La1 is set at a position inside the external line (first to fourth external lines f11 to f14) of the work site F1. In other words, the margin value L2, which is the distance from the external line (first to fourth external lines f11 to f14) of the work site F1 to the inside of the work site F1, will be a plus (+) value.

[0157] On the other hand, if the allowable limit line La1 is set based on the non-working state (raised position), the working implement 12 is allowed to protrude from the ridge B1 (first outer line f11), so the allowable limit line La1 is set at a position outside the outer line (first to fourth outer lines f11 to f14) of the work site F1. In other words, the allowable limit line La1 can be set based on the position of the ridge B2 outside the ridge B1 (first outer line f11). In other words, the margin value L2, which is the distance from the outer line (first to fourth outer lines f11 to f14) of the work site F1 to the inside of the work site F1 at this time, will be a negative (-) value.

[0158] As explained above, by setting the allowable limit line La1 taking into consideration the height of the work implement 12, the area in which the work vehicle 10 can travel can be secured as wide as possible, and for example, it is possible to work up to the edge of the outline of the work site F1 (first to fourth outlines f11 to f14).

[0159] Here, the height of obstacles such as ridges B1 and B2 existing around the work site F1 can be detected, for example, by an environment recognition sensor such as various sensors included in the detection device 15. Also, the height of the work implement 12 can be specified from pre-registered information according to the type of work implement 12 attached to the machine body 11, etc.

[0160] Furthermore, what is set taking into consideration the height of the work implement 12 is not limited to the position of the allowable limit line La1 (margin value L2) itself, but may be, for example, the range of selectable margin values ​​L2 (upper limit value and / or lower limit value), or a default value of the margin value L2, etc.

[0161] Incidentally, being able to set the margin value L2 to a negative value (i.e., allowing the work implement 12 to extend outside the work area F1) is synonymous with changing the object that is restricted from extending beyond the allowable limit line La1 from the work implement 12 to the machine body 11. That is, as shown in the lower part of Fig. 12, even when the margin value L2 is set to a negative value, the machine body 11 (vehicle body) does not extend outside the work area F1. Therefore, restricting the machine body 11 from extending beyond the allowable limit line La10 that is set inside the work area F1 is synonymous with setting the margin value L2 to a negative value.

[0162] In addition, as described above, even for a work vehicle 10 in which the working implement 12 cannot rise and fall relative to the vehicle body 11, the allowable limit line La1 can be set in consideration of the height of the working implement 12. As an example, in the case of a working implement 12 such as a boom sprayer used for spraying agricultural chemicals, the working implement 12 does not rise and fall relative to the vehicle body 11, but is fixed at a height that is spaced apart from the traveling surface (surface of the work land F1) as in the above-mentioned "raised position". Therefore, even if there is an obstacle such as a bank around the work land F1, if the height of the obstacle is lower than the height (minimum ground clearance) of the working implement 12, the working implement 12 is allowed to protrude into the space above the obstacle. Therefore, by setting the allowable limit line La1 according to the height (minimum ground clearance) of the working implement 12, the working implement 12 is allowed to protrude from the bank (the outline of the work land F1).

[0163] The configuration of the fourth embodiment (including the modified examples) can be adopted in appropriate combination with the various configurations (including the modified examples) described in the first to third embodiments.

[0164] (Embodiment 5) The control method for the work vehicle 10 according to this embodiment differs from that of the first embodiment in that the allowable limit line La1 during the first work is set based on information about a second work performed on the work site F1 after the first work on the work site F1. Hereinafter, the same components as those in the first embodiment will be denoted by the same reference numerals and the description thereof will be omitted as appropriate.

[0165] As an example, in this embodiment, as shown in FIG. 13, the planting (rice planting) work performed by the work vehicle 10A consisting of a rice transplanter is defined as the "first work", and the reaping / harvesting work performed by the work vehicle 10B consisting of a combine is defined as the "second work".

[0166] Here, the safety margin zone Am1 secured inside the outline of the work site F1 (first to fourth outlines f11 to f14) is set larger (wider) during the second work in which the work vehicle 10B is traveling than during the first work in which the work vehicle 10A is traveling. That is, as shown in the lower part of Fig. 13, when the work vehicle 10B is traveling, the allowable limit line La2 is set inside the work site F1 further than the allowable limit line La1 that is originally set when the work vehicle 10A is traveling.

[0167] In this case, in the control method according to this embodiment, even when work vehicle 10A performing the first work is traveling, the allowable limit line La2 is set based on information relating to the second work, such as the model and / or dimensions of work vehicle 10B, as shown in the upper part of Fig. 13. This causes the first work (planting work) by work vehicle 10A to be performed only in a range slightly narrower than the range defined by the allowable limit line La1.

[0168] In this case, even if the travel range of work vehicle 10B is limited to the inside of allowable limit line La2 when work vehicle 10B performs the second work (cutting / harvesting work), the second work can be performed in the entire range in which work vehicle 10A performed the first work (planting work). Therefore, even during the second work, when work vehicle 10B is traveling on the outermost periphery along the outline lines (first to fourth outline lines f11 to f14), automatic traveling can be performed instead of manual traveling, and the burden on the operator can be significantly reduced.

[0169] Furthermore, what is set based on the information regarding the second work (subsequent work) is not limited to the position of the allowable limit line La1 (margin value L2) during the first work, but may be, for example, the range of selectable margin values ​​L2 (upper limit value and / or lower limit value), or a default value of the margin value L2, etc.

[0170] Also, as shown in the upper part of Fig. 14, in the first work, for example, it is possible to adjust the margin value L2 to set the allowable limit line La1 outside the allowable limit line La2 in the second work. In this case, the first work (planting work) is also performed by work vehicle 10A in the difference area Ai1 between the allowable limit line La2 and the allowable limit line La1. In the difference area Ai1, the reaping / harvesting work cannot be performed by simply automatically driving work vehicle 10B during the second work (reaping / harvesting work).

[0171] 14, if the allowable limit line La1 is set outside the allowable limit line La2 for the second work in the first work, it is preferable to notify the operator that the differential area Ai1 cannot be mowed by automatic driving by display, audio output, transmission to an external terminal, etc. Furthermore, in this case, it is preferable to prompt the operator to perform the second work by manual driving (manual operation) or manual work.

[0172] In this embodiment as well, it is possible to set the margin value L2 to a negative value.

[0173] The configuration of the fifth embodiment (including the modified examples) can be adopted in appropriate combination with the various configurations (including the modified examples) described in the first to fourth embodiments.

[0174] [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.

[0175] <Appendix 1> A control method for a work vehicle capable of performing work while traveling through a work site, comprising the steps of: Setting the position of an allowable limit line, which is defined by a margin value that is a distance toward the inside of the work site based on the outline of the work site, and which is a limit position at which the work vehicle is allowed to protrude; generating a route for traveling the work vehicle based on the allowable limit line. A method for controlling a work vehicle.

[0176] <Appendix 2> The method further includes specifying a setting mode for setting the position of the allowable limit line according to a traveling mode of the work vehicle. 2. A method for controlling a work vehicle as described in claim 1.

[0177] <Appendix 3> The method further includes specifying a traveling mode of the work vehicle according to a setting mode related to the setting of the position of the allowable limit line. 2. A method for controlling a work vehicle as described in claim 1.

[0178] <Appendix 4> The traveling mode includes either manned traveling, which requires an operator to ride on the work vehicle, or unmanned traveling, which does not require an operator to ride on the work vehicle. 4. A method for controlling a work vehicle according to claim 2 or 3.

[0179] <Appendix 5> The traveling mode includes a turning mode. A method for controlling a work vehicle according to any one of appendixes 2 to 4.

[0180] <Appendix 6> The relative relationship between the travel mode and the setting mode is applied to the same work. A method for controlling a work vehicle according to any one of appendixes 2 to 5.

[0181] <Appendix 7> The position of the allowable limit line is set depending on whether or not the work vehicle is allowed to protrude outward from the outline of the work site. A control method for a work vehicle according to any one of claims 1 to 6.

[0182] <Appendix 8> The work site includes a plurality of outlines, and the position of the tolerance limit line can be set collectively for the plurality of outlines. A method for controlling a work vehicle according to any one of appendices 1 to 7.

[0183] <Appendix 9> The work site includes a plurality of outlines, and the position of the tolerance limit line can be set individually for each of the plurality of outlines. A method for controlling a work vehicle according to any one of appendices 1 to 8.

[0184] <Appendix 10> The work site includes a plurality of outlines, and when the plurality of outlines are divided into a plurality of groups according to a work direction, the position of the allowable limit line can be set individually for each of the plurality of groups. A method for controlling a work vehicle according to any one of claims 1 to 9.

[0185] <Appendix 11> The margin value includes a negative value. A method for controlling a work vehicle according to any one of appendixes 1 to 10.

[0186] <Appendix 12> The tolerance line determines the position of an inner region in which the work vehicle travels back and forth along a working direction. A method for controlling a work vehicle according to any one of claims 1 to 11.

[0187] <Appendix 13> Further comprising disabling the tolerance limit line or moving it toward the outside of the work area when a certain condition is met; A method for controlling a work vehicle according to any one of appendices 1 to 12.

[0188] <Appendix 14> The position of the allowable limit line during the first operation is set based on information regarding a second operation performed on the work site after the first operation is performed on the work site by the work vehicle. A method for controlling a work vehicle according to any one of appendices 1 to 13.

[0189] <Appendix 15> A control method for a work vehicle capable of performing work while traveling through a work site, comprising the steps of: setting an allowable limit line that is a limit position at which the work vehicle is allowed to protrude from the work site, the limit line being determined by a margin value that is a distance inward from the work site based on an outline of the work site; and automatically driving the work vehicle based on the allowable limit line. A method for controlling a work vehicle.

[0190] <Appendix 16> A method for controlling a work vehicle according to any one of appendices 1 to 15, A control program for a work vehicle to be executed by one or more processors. [Explanation of symbols]

[0191] 1. Control system for work vehicles 10, 10A, 10B Work vehicle 11 Aircraft 100 Working Systems 211 Generation processing unit 214 Setting processing section F1 Work Site F11 inner area f11~f14 1st~4th outline line (outline line) L2 Margin Value La1, La2, La10 tolerance limits R1 Target route (route)

Claims

1. A control method for a work vehicle capable of performing work while traveling through a work site, comprising the steps of: Setting the position of an allowable limit line, which is defined by a margin value that is a distance toward the inside of the work site based on the outline of the work site, and which is a limit position at which the work vehicle is allowed to protrude; generating a route for traveling the work vehicle based on the allowable limit line. A method for controlling a work vehicle.

2. The method further includes specifying a setting mode for setting the position of the allowable limit line according to a traveling mode of the work vehicle. A method for controlling a work vehicle according to claim 1.

3. The method further includes specifying a traveling mode of the work vehicle according to a setting mode related to the setting of the position of the allowable limit line. A method for controlling a work vehicle according to claim 1.

4. The traveling mode includes either manned traveling, which requires an operator to ride on the work vehicle, or unmanned traveling, which does not require an operator to ride on the work vehicle. A method for controlling a work vehicle according to claim 2 or 3.

5. The traveling mode includes a turning mode. A method for controlling a work vehicle according to claim 2 or 3.

6. The relative relationship between the travel mode and the setting mode is applied to the same work. A method for controlling a work vehicle according to claim 2 or 3.

7. The position of the allowable limit line is set depending on whether or not the work vehicle is allowed to protrude outward from the outline of the work site. A method for controlling a work vehicle according to any one of claims 1 to 3.

8. The work site includes a plurality of outlines, and the position of the tolerance limit line can be set collectively for the plurality of outlines. A method for controlling a work vehicle according to any one of claims 1 to 3.

9. The work site includes a plurality of outlines, and the position of the tolerance limit line can be set individually for each of the plurality of outlines. A method for controlling a work vehicle according to any one of claims 1 to 3.

10. The work site includes a plurality of outlines, and when the plurality of outlines are divided into a plurality of groups according to a work direction, the position of the allowable limit line can be set individually for each of the plurality of groups. A method for controlling a work vehicle according to any one of claims 1 to 3.

11. The margin value includes a negative value. A method for controlling a work vehicle according to any one of claims 1 to 3.

12. The tolerance line determines the position of an inner region in which the work vehicle travels back and forth along a working direction. A method for controlling a work vehicle according to any one of claims 1 to 3.

13. Further comprising disabling the tolerance limit line or moving it toward the outside of the work area when a certain condition is met. A method for controlling a work vehicle according to any one of claims 1 to 3.

14. The position of the allowable limit line during the first operation is set based on information regarding a second operation to be performed on the work site after the first operation is performed on the work site by the work vehicle. A method for controlling a work vehicle according to any one of claims 1 to 3.

15. A control method for a work vehicle capable of performing work while traveling through a work site, comprising the steps of: setting an allowable limit line that is a limit position at which the work vehicle is allowed to protrude from the work site, the limit line being determined by a margin value that is a distance inward from the work site based on an outline of the work site; and automatically driving the work vehicle based on the allowable limit line. A method for controlling a work vehicle.

16. A method for controlling a work vehicle according to any one of claims 1 to 3, A control program for a work vehicle to be executed by one or more processors.

17. It is used in a work vehicle that can perform work while traveling through a work site, a setting processing unit which sets the position of an allowable limit line which is defined by a margin value which is a distance inward from the outline of the work site based on the outline of the work site and which serves as a limit position within which the work vehicle is allowed to protrude; a generation processing unit that generates a route for traveling the work vehicle based on the allowable limit line, Control system for work vehicles.

18. A work vehicle control system according to claim 17; The work vehicle body includes: Working system.

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