Work vehicle

Abstract

To make it possible to prevent cross-boarding during automatic operation and to permit cross-boarding while securing safety in a cross-boarding state of the work vehicle during remote operation.SOLUTION: A work vehicle 1 capable of automatic operation including operation in a field H with a work device 2 includes: a cross-boarding prevention control part 61a which prohibits traveling of the work vehicle 1 crossing a border line BD of the field H; a determination part 61b determining whether or not a cross-boarding state that the work vehicle 1 remote operated by a remote control device 90 crosses the border line BD is permitted; a cross-boarding permission part 61c permitting the cross-boarding state when the permission is determined by the determination part 61b; and a restriction part 61d restricting operation content of the work vehicle 1 in the cross-boarding state.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a work vehicle for performing agricultural work on a farm field.

Background Art

[0002] Patent Document 1 discloses a technique for assisting in performing agricultural work with a work device connected to an agricultural machine (work vehicle) while automatically driving the agricultural machine (work vehicle) in a farm field. The agricultural machine disclosed in Patent Document 1 includes a travel control unit that enables automatic travel (autopilot) of the agricultural machine, and a border crossing prevention control unit that prohibits travel beyond the boundary line of the farm field. Therefore, it is possible to prevent the agricultural machine from traveling beyond the boundary line of the farm field during automatic driving.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In agricultural machinery, during or after work on a field, it may sometimes drive from within the field across the boundary line towards a ridge or the like for replenishment of agricultural materials, discharge of harvested products, fuel replenishment, etc. Also, after the work is completed, the vehicle may be brought close to the vicinity of the field boundary line and an operator may board the agricultural machinery. Therefore, the agricultural machinery disclosed in Patent Document 1 includes a remote control device (remote controller) that enables remote operation of the agricultural machinery by wireless communication, and a border crossing permission unit that permits a border crossing state in which the agricultural machinery crosses the boundary line when it is being remotely operated by the remote control device. In this agricultural machinery, since the border crossing state of the agricultural machinery is permitted when it is being remotely operated by the remote control device, it is possible to drive across the boundary line towards a ridge or the like. However, in a border crossing state, if there is an incorrect or inappropriate operation in the remote operation by the user, the agricultural machinery and the working device in the border crossing state will behave unintentionally.

[0005] Therefore, in view of the above problems, an object of the present invention is to provide a work vehicle that can prevent border crossing during automatic driving and ensure the safety of the work vehicle in a border crossing state while permitting border crossing during remote driving.

Means for Solving the Problems

[0006] The technical means of the present invention for solving the above technical problems is characterized by the following points. A work vehicle according to an aspect of the present invention is a work vehicle capable of automatic driving including performing work on a field with a working device, and includes a border crossing prevention control unit that prohibits the work vehicle from driving across the boundary line of the field, a determination unit that determines whether or not to permit a border crossing state in which the work vehicle remotely operated by a remote control device crosses the boundary line, a border crossing permission unit that permits the border crossing state when it is determined by the determination unit that permission is granted, and a restriction unit that restricts the operation content of the work vehicle in the border crossing state.

Effects of the Invention

[0007] According to the present invention, it is possible to prevent border crossing during automatic driving and ensure the safety of the work vehicle in a border crossing state while permitting border crossing during remote driving.

Brief Description of the Drawings

[0008]

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Mode for Carrying Out the Invention

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] [First Embodiment] First, the work vehicle (agricultural machine) 1 of this embodiment will be described. FIG. 17 is a side view of the work vehicle. In this example, the work vehicle 1 is, for example, a tractor. Note that the work vehicle 1 is not limited to a tractor, and may be, for example, other agricultural machines such as a rice transplanter or a combine, or agricultural machines other than tractors that perform farming operations.

[0011] The work vehicle 1 includes a traveling vehicle body 3, a prime mover 4, a transmission 5, and a traveling device 7. The front wheels 7F of the traveling device 7 may be of a tire type or a crawler type. Also, the rear wheels 7R of the traveling device 7 may be of a tire type or a crawler type. The prime mover 4 is composed of, for example, a diesel engine or an electric motor. In this embodiment, the prime mover 4 is composed of a diesel engine. The transmission 5 can switch the driving force of the traveling device 7 by shifting gears and can also switch between forward and reverse of the traveling device 7. The driving force of the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, and the traveling device 7 is driven, so that the traveling vehicle body 3 travels back and forth. In FIG. 17, the left side is the front of the traveling vehicle body 3, and the right side is the rear of the traveling vehicle body 3. Also, facing FIG. 17, the back side is the right side of the traveling vehicle body 3, and the front side is the left side of the traveling vehicle body 3.

[0012] A cabin 9 is provided on the traveling vehicle body 3. A driver's seat 10 is provided inside the cabin 9. A connecting device 8 composed of a three-point link mechanism or the like is provided at the rear of the traveling vehicle body 3. The connecting device 8 connects a working device 2 for performing farming operations to the traveling vehicle body 3. Specifically, by connecting the working device 2 to the connecting portions 8g, 8h provided on the connecting device 8, the working device 2 and the traveling vehicle body 3 are connected, and the working vehicle 1 can tow the working device 2. That is, the working device 2 can be mounted on the working vehicle 1.

[0013] The working device 2 performs ground operations on the farm field. In this example, the working device 2 includes, for example, a tilling device (rotary tiller) that tills the farm field, a stubble cultivation device that performs rough tillage, a subsoiling device that performs subsoiling, a spraying device that sprays fertilizers or agricultural chemicals, a seeding device that sows seeds, a transplanting device that transplants seedlings, and a harvesting device that performs harvesting.

[0014] Next, the work vehicle 1 and the agricultural work support system 100 of the present embodiment will be described. FIG. 1 is a configuration diagram of the agricultural work support system of the first embodiment. The agricultural work support system 100 includes a work vehicle 1, a mobile terminal 50 (portable terminal device), and a remote operation device 90. The agricultural work support system 100 and the mobile terminal 50 support performing agricultural work by the working device 2 while running the work vehicle 1 in the farm field.

[0015] The work vehicle 1 includes a control device 60, an operation device 62, a prime mover 4, a transmission 5, a brake device 6, a steering device 29, a coupling device 8, a positioning device 40, an alarm device 63, a detection device 64, a storage device 65, and a communication device 66. Also, an in-vehicle network N1 such as LAN or CAN is constructed in the work vehicle 1. The control device 60, the operation device 62, the positioning device 40, the alarm device 63, the detection device 64, the storage device 65, and the communication device 66 are connected to the in-vehicle network N1. These components provided in the work vehicle 1 are included in the agricultural work support system 100. The communication device 66 is composed of a communication circuit that communicates wirelessly with the mobile terminal 50.

[0016] The control device 60 is composed of an electric / electronic circuit, a processor, a memory, etc. The processor is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit), etc. The memory of the control device 60 includes a volatile memory and a non-volatile memory. The control device 60 controls the operations of each part of the work vehicle 1. The operation device 62 is composed of switches, levers, pedals, and other keys that can be operated by a user (operator) such as a driver sitting in the driver's seat 10 or a worker near the work vehicle 1.

[0017] The storage device 65 is a storage device such as a non-volatile memory and stores various control programs (prevention program, determination program, permission program, restriction program, setting program, etc.), various data, etc. The storage device 65 is, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), etc.

[0018] The operation device 62 includes a mode switch 62a and a lift operation lever 62b. The mode switch 62a is an operation member for switching the mode of the work vehicle 1. The lift operation lever 62b is an operation member that is operated by the user to change the lift height as the posture of the work device 2 and holds the operation position corresponding to the operation.

[0019] The modes of the work vehicle 1 selectable by the mode switch 62a include an automatic driving work mode and an automatic steering work mode. The automatic driving work mode is a mode in which while the work vehicle 1 (traveling vehicle body 3) is traveling by automatic driving, the working device 2 performs agricultural work (ground work). The automatic driving of the work vehicle 1 means automatically changing the traveling speed of the traveling vehicle body 3 and automatically steering the traveling vehicle body 3. The automatic steering work mode is a mode in which while automatically steering the traveling vehicle body 3, the working device 2 performs agricultural work (ground work). When the work vehicle 1 is in the automatic steering work mode, by the driver of the work vehicle 1 operating the accelerator member or the brake member included in the operating device 62, the traveling speed of the traveling vehicle body 3 is changed according to the operation. That is, in the automatic steering work mode, the traveling speed of the traveling vehicle body 3 is changed based on manual operation.

[0020] Also, the work vehicle 1 can travel by manual driving, and it is possible to perform ground work with the working device 2 during such traveling. The manual driving of the work vehicle 1 means that the driver changes the traveling speed of the traveling vehicle body 3 by operating the accelerator member or the brake member of the operating device 62, and steers the traveling vehicle body 3 by operating the steering wheel 30. In this case, the work vehicle 1 is in the manual mode. The work vehicle 1 is in the manual mode unless it is in the automatic driving work mode, the automatic steering work mode, or the remote driving mode described later.

[0021] The prime mover 4 (engine) is controlled in terms of driving, stopping, and rotational speed by the control device 60. The transmission 5 is connected to the control valve 37. The control valve 37 is an electromagnetic valve that operates based on a control signal transmitted from the control device 60. The control valve 37 is supplied with the hydraulic oil discharged from the hydraulic pump 33. Although the control valve 37 is shown as one block in FIG. 1, it is provided in an appropriate number according to the number of hydraulic devices such as the hydraulic clutch or the hydraulic cylinder provided in the transmission 5.

[0022] The braking device 6 is connected to the control valve 38. The control valve 38 is a solenoid valve that operates based on a control signal transmitted from the control device 60. The control valve 38 is supplied with the hydraulic oil discharged from the hydraulic pump 33. The control device 60 operates the braking device 6 by electrically controlling the switching position and opening degree of the control valve 38 to apply brakes to the traveling vehicle body 3.

[0023] The control device 60 electrically controls the switching position (opening degree) of the control valve 37 to control the drive of the transmission 5. When the transmission 5 transmits the driving force of the prime mover 4 to the traveling device 7, the traveling device 7 operates to make the traveling vehicle body 3 travel back and forth. Also, for example, when the working device 2 performs ground operation, the transmission 5 transmits the driving force of the prime mover 4 to the working device 2. Thereby, the operating force of the working device 2 increases.

[0024] Also, the control device 60 communicates with the working device 2 via the in-vehicle network N1. Specifically, the working device 2 includes a control unit 21 and a communication unit 22. The control device 60 transmits a work command to the working device 2 via the in-vehicle network N1. When the control unit 21 of the working device 2 receives the work command by the communication unit 22, it controls the operations of each part of the working device 2 based on the work command to perform agricultural work (ground operation). Also, the control unit 21 of the working device 2 transmits information or data indicating the working state, etc. to the control device 60 via the in-vehicle network N1 by the communication unit 22. The control device 60 detects the working state, etc. of the working device 2 based on the information or data received from the working device 2 via the in-vehicle network N1.

[0025] Note that there is also a working device 2 that does not include the control unit 21 and the communication unit 22. When using this type of working device 2, the control device 60 does not communicate with the working device 2 via the in-vehicle network N1, but as will be described later, the control device 60 controls the operation of the working device 2 and detects the working state, etc. of the working device 2 by raising and lowering the working device 2 by the connecting device 8 to change the position of the working device 2.

[0026] The steering device 29 has a steering wheel 30, a steering shaft (rotating shaft) 31, and an auxiliary mechanism (power steering mechanism) 32. The steering wheel 30 is provided inside the cabin 9 (Fig. 17). The steering shaft 31 rotates as the steering wheel 30 rotates. The auxiliary mechanism 32 assists the steering by the steering wheel 30.

[0027] The auxiliary mechanism 32 includes a control valve 34 and a steering cylinder 35. The control valve 34 is a solenoid valve that operates based on a control signal transmitted from the control device 60. Specifically, the control valve 34 is composed of a three-position switching valve that can be switched by the movement of a spool or the like. The control valve 34 is supplied with the hydraulic oil discharged from the hydraulic pump 33. The control device 60 adjusts the hydraulic pressure supplied to the steering cylinder 35 by electrically controlling the switching position and opening degree of the control valve 34, and expands and contracts the steering cylinder 35. The steering cylinder 35 is connected to a knuckle arm 39 that changes the direction of the front wheels 7F.

[0028] The control valve 34 can also be switched by the steering of the steering shaft 31. Specifically, by operating the steering wheel 30, the steering shaft 31 rotates according to the operation state, and the switching position and opening degree of the control valve 34 are switched. The steering cylinder 35 expands and contracts to the left or right of the traveling vehicle body 3 according to the switching position and opening degree of the control valve 34. By this expansion and contraction operation of the steering cylinder 35, the steering direction of the front wheels 7F is changed. Note that the above-described steering device 29 is an example and is not limited to the above-described configuration.

[0029] The work vehicle 1 can be manually steered by manually operating the steering wheel 30 and can also be automatically steered by the control device 60. Further, in response to a manual operation of an accelerator member or a brake pedal (both not shown) provided in the operation device 62, the transmission 5 or the brake device 6 operates, so that the traveling vehicle body 3 can travel and stop. Furthermore, in response to the control of the transmission 5 and the brake device 6 by the control device 60, the traveling vehicle body 3 can automatically travel and stop. The control device 60 controls the control valve 34 to expand and contract the steering cylinder 35, and the steering direction of the front wheels 7F is changed by the knuckle arm 39. That is, in the work vehicle 1, a manual operation in which the user (driver) performs a traveling operation and a steering operation, an automatic operation in which the control device 60 automatically performs traveling and steering, and an auto-steer control in which the control device 60 automatically performs steering and the user performs a traveling operation (also referred to as automatic steering control or semi-automatic operation) are each possible.

[0030] FIG. 2 is a perspective view of the connecting device 8. The connecting device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end portion of the lift arm 8a is swingably supported above or below the upper rear portion of a case (transmission case) that houses the transmission 5. The lift arm 8a swings (moves up and down) by the drive of the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a control valve 36 (FIG. 1). The control valve 36 is a solenoid valve that operates based on a control signal transmitted from the control device 60. The control valve 36 is supplied with hydraulic oil discharged from the hydraulic pump 33.

[0031] The front end portion of the lower link 8b shown in FIG. 2 is swingably supported above or below the lower rear portion of the transmission 5 (FIGS. 1 and 17). The front end portion of the top link 8c is swingably supported above or below the rear portion of the transmission 5 above the lower link 8b. The lift rod 8d connects the lift arm 8a and the lower link 8b. Connecting portions 8g and 8h to which the work device 2 can be connected are provided at the rear end portions of the lower link 8b and the top link 8c.

[0032] The control valve 36 shown in FIG. 1 includes a control valve 36a and a control valve 36b shown in FIG. 2. The control device 60 (FIG. 1) adjusts the hydraulic pressure supplied to the lift cylinder 8e by electrically controlling the switching position or the opening degree of the control valve 36a, and expands and contracts the lift cylinder 8e. Due to the expansion and contraction operation of the lift cylinder 8e, the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a via the lift rod 8d moves up and down. Thereby, the work implement 2 swings (moves up and down) upward or downward with the front part of the lower link 8b (opposite side to the connecting parts 8g and 8h) as a fulcrum.

[0033] The control device 60 controls the prime mover 4, the transmission 5, the brake device 6, the traveling device 7, the steering device 29, and the connecting device 8 to automatically perform the traveling or steering of the work vehicle 1 while performing farm work on the field by the work implement 2. Specifically, the control device 60 executes an automatic operation of performing farm work by the work implement 2 while automatically running the work vehicle 1. Further, the control device 60 executes an automatic steering (auto-steer) of performing farm work on the field by the work implement 2 while automatically steering the work vehicle 1 and leaving the change of the traveling speed of the work vehicle 1 to manual operation.

[0034] The positioning device 40 shown in FIG. 1 includes a receiving device 40a and an inertial measurement unit 40b (IMU). The receiving device 40a receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or QZSS. The positioning device 40 detects the current position (for example, latitude and longitude) based on the satellite signals received by the receiving device 40a. That is, the positioning device 40 is a position detection unit that detects the position of the work vehicle 1 (traveling vehicle body 3). The inertial measurement unit 40b includes an acceleration sensor, a gyro sensor, and the like. The inertial measurement unit 40b detects the roll angle, pitch angle, yaw angle, etc. of the traveling vehicle body 3. The warning device 63 is composed of a buzzer, a speaker, a warning light, etc. provided on the traveling vehicle body 3. The warning device 63 outputs warnings and alerts to the surroundings of the traveling vehicle body 3 by sound or light.

[0035] Further, the detection device 64 includes sensors, cameras, and electric circuits that process output signals from the sensors or cameras, etc., installed in each part of the work vehicle 1 and the work device 2. Based on the output signals from those sensors, etc., the detection device 64 detects the operating states (such as driving and stopping states and operating positions) of each part such as the transmission 5, brake device 6, traveling device 7, coupling device 8, steering device 29, and operating device 62 of the work vehicle 1. Further, the detection device 64 detects the operating state of the work device 2 based on the output signals from the sensors, etc. Further, the detection device 64 includes an object detection unit 64a (object detection sensor) such as a LiDAR or an ultrasonic sensor. The object detection unit 64a is installed at the front, rear, and left and right sides of the traveling vehicle body 3. The object detection unit 64a detects the presence or absence of objects around the work vehicle 1 and the distance to the objects.

[0036] The portable terminal 50 is composed of, for example, a tablet terminal device or a smartphone. The portable terminal 50 is carried by the user and can be moved outside the work vehicle 1 or installed at a predetermined position inside the cabin 9 of the work vehicle 1. That is, the portable terminal 50 can be operated outside the work vehicle 1 and can also be operated inside the work vehicle 1. Note that the outside of the work vehicle 1 is not limited to the outside of the cabin 9 and means a position, device, or equipment other than the work vehicle 1, and the position, device, or equipment other than the work vehicle 1 may be close to or far from the work vehicle 1.

[0037] The portable terminal 50 includes a control unit 51, a display operation unit 52, a storage unit 53, and a communication unit 54. The control unit 51 is composed of a CPU (or a microcomputer), a volatile memory, and a non-volatile memory. The control unit 51 controls each part of the portable terminal 50. The control unit 51 includes an area setting unit 51b and a route creation unit 51c. The area setting unit 51b and the route creation unit 51c are composed of software programs in this example, but may be composed of hardware such as semiconductor elements or electric circuits such as ASICs in other examples.

[0038] The display operation unit 52 is composed of a touch panel and displays various kinds of information on the screen. Also, by performing a predetermined operation on the display screen of the display operation unit 52, various kinds of inputs can be made. The display operation unit 52 is a display unit, an operation unit, and an input unit. The mobile terminal 50 may be provided with an independent display unit and an operation unit (input unit) instead of the display operation unit 52. Information indicating a predetermined warning is output by being displayed on the display operation unit 52. Or, a sound, voice, or illumination indicating a predetermined warning may be output from the alarm device 63.

[0039] The storage unit 53 is composed of a non-volatile memory or the like. In the storage unit 53, information or data for assisting the traveling of the work vehicle 1 and the agricultural work by the work device 2 is stored in a readable and writable manner. The communication unit 54 is composed of an electric circuit or a semiconductor element for communicating with the communication device 66 or the control device 60. Specifically, when the mobile terminal 50 is outside the work vehicle 1, the communication unit 54 and the communication device 66 communicate with each other wirelessly. Also, when the mobile terminal 50 is installed inside the cabin 9 (inside the work vehicle 1) of the work vehicle 1 and is electrically connected to the in-vehicle network N1 by a cable or the like, the communication unit 54 and the control device 60 can communicate with each other by wire.

[0040] After the mobile terminal 50 is activated, on the screen displayed on the display operation unit 52, when the user performs a predetermined operation, information on the field H, the work vehicle 1, or the work device 2, work conditions for performing agricultural work by the work vehicle 1 and the work device 2 in the field H, or information for performing automatic driving of the work vehicle 1, etc. is input to the mobile terminal 50. Then, when the user performs a predetermined operation by the display operation unit 52 and the input content is determined, the area setting unit 51b sets a predetermined area on the map indicating the field H. Also, the route creation unit 51c creates a traveling route on which the work vehicle 1 travels on the map.

[0041] FIG. 3 is a diagram showing an example of the travel route L1 created by the route creation unit 51c. The area setting unit 51b (FIG. 1) sets a central area C1 and a headland area E1 in the field map MP2 as shown in FIG. 3 based on, for example, the position information of the field H (for example, latitude and longitude information), the dimension information of the working device 2, and the working conditions. More specifically, for example, the area setting unit 51b calculates the contours Hc, Hb, and Ha formed by offsetting the contour H1 of the field H inward the same number of times as the number of headlands (in FIG. 3, the number of headlands is set to, for example, "3") with a width obtained by subtracting the overlap margin of the headlands from the working width of the working device 2. Here, the area setting unit 51b sets the area (central part) surrounded by the innermost contour Ha among them as the central area C1. In addition, the area setting unit 51b sets the frame-shaped area (outer frame part) outside the central area C1 and inside the contour H1 of the field H as the headland area E1. Further, in the headland area E1, the area setting unit 51b sets the areas between adjacent contours among the contour H1 of the field H and the contours Hc, Hb, and Ha obtained by offsetting the contour H1 as headlands E2a, E2b, and E2c. That is, the area between the contour H1 and the contour Hc is the headland E2c, the area between the contour Hb and the contour Hc is the headland E2b, and the area between the contour Ha and the contour Hb is the headland E2a. When the number of headlands is set to, for example, "1", the headland area E1 is only the headland E2c, and the area (central part) surrounded by the contour Hc is set as the central area C1.

[0042] The route creation unit 51c (Fig. 1) creates a travel route L1 on the field map MP2 based on the position information of the field H, the central area C1, the headland area E1, the dimensional information of the work vehicle 1 and the work device 2, the working conditions, or the automatic driving information, etc. Specifically, the route creation unit 51c divides the central area C1 by separating one end (the right end in Fig. 3) of the central area C1 parallel to the working direction (the vertical direction in Fig. 3) with a width obtained by subtracting the overlap margin of the central part included in the working conditions from the working width of the work device 2, thereby creating a plurality of unit working sections in the central area C1. Then, a straight travel route L1a along which the traveling vehicle body 3 travels straight is created on the center line in the width direction (the left - right direction in Fig. 3) of each unit working section. Next, the route creation unit 51c creates a turning route L1b that connects adjacent straight travel routes L1a in the headland area E1. The turning route L1b is a route from one of the two adjacent straight travel routes L1a to the other. When creating the turning route L1b, the route creation unit 51c secures a turning space for turning the work vehicle 1 and the work device 2 in the headland area E1.

[0043] In Fig. 3, a simple semi - circular turning route L1b is illustrated. This shape is for the convenience of easy display on the display screen of the display operation unit 52 or easy visual recognition of the travel route L1 on the display screen. When the traveling vehicle body 3 and the work device 2 of the work vehicle 1 actually travel based on one straight travel route L1a and then turn toward the other straight travel route L1a, the traveling vehicle body 3 etc. may not only move forward but also move backward or turn around, drawing a trajectory with a shape more complex than a semi - circle. That is, the turning route L1b is a route for display on the display operation unit 52, and the work vehicle 1 may not turn based on the turning route L1b.

[0044] When the control device 60 (FIG. 1) of the work vehicle 1 is running the traveling body 3 based on the straight travel route L1a, the connecting device 8 (FIG. 2) lowers the work device 2 to the work position P1, and the work device 2 performs ground work. Further, when the control device 60 turns the traveling body 3 at a location corresponding to the turning route L1b, that is, when turning the traveling body 3 from one straight travel route L1a to the other straight travel route L1a, the connecting device 8 raises the work device 2 to the non-work position P2 to stop the ground work by the work device 2. That is, the straight travel route L1a is a work route for performing ground work by the work device 2 while automatically driving the traveling body 3 of the work vehicle 1. Further, the central area C1 where a plurality of straight travel routes L1a are created is a work area for performing ground work by the work device 2 while reciprocating the traveling body 3 in a straight line by automatic driving.

[0045] Also, for example, when it is input as a work condition to work in the central area C1 and the innermost pillow area E2a, the route creation unit 51c creates a circular route L1c that circulates outside the central area C1 in the pillow area E1 in addition to the straight travel route L1a and the turning route L1b. The circular route L1c is a work route for performing ground work by the work device 2 while automatically driving the traveling body 3 of the work vehicle 1. The circular route L1c includes a plurality of substantially straight straight travel routes L1s and turning routes L1r curved with a predetermined radius of curvature or more. The straight travel routes L1s are created in plurality on the center line in the width direction of the pillow area E2a so as to correspond to each straight line portion of the contour H2a of the central area C1.

[0046] The turning route L1r is a route from one straight travel route L1s to the other straight travel route L1s adjacent to the extending direction of the one straight travel route L1s. The one straight travel route L1s and the other straight travel route L1s have different extending directions, but the end of the one straight travel route L1s and the start of the other straight travel route L1s are connected by the turning route L1r. When creating the turning route L1r, the route creation unit 51c also secures a turning space for turning the traveling body 3 and the work device 2 of the work vehicle 1 in the pillow area E1.

[0047] Figure 3 exemplifies a simple arc-shaped turning route L1b for convenience. However, when the work vehicle 1 or the like actually turns from one straight route L1s to the other straight route L1s, not only forward movement but also backward movement or turning back may be performed, and a trajectory with a shape more complex than an arc may be drawn. That is, the turning route L1r is a route for display on the display operation unit 52, and the work vehicle 1 may not turn based on the turning route L1r.

[0048] After creating the circumferential route L1c, the route creation unit 51c sets the start position Ps at the end of one straight route L1a that is not connected to the turning route L1b among the both ends of the straight routes L1a at both ends of the central area C1 (the left and right ends in FIG. 3), and connects the circumferential route L1c to the end of the other straight route L1a (the lower end of the left straight route L1a in FIG. 8B). Further, the route creation unit 51c sets the goal position Pg at the end of the circumferential route L1c that is not connected to the straight route L1a. Then, the route creation unit 51c stores the information indicating the central area C1, the headland area E1, the traveling route L1, the start position Ps, the goal position Pg, and the turning space in the internal memory as route information.

[0049] When the creation of the traveling route L1 by the route creation unit 51c is completed, the control unit 51 causes the display operation unit 52 to display route information such as the field map MP2, the central area C1, the headland area E1, the traveling route L1, the start position Ps, and the goal position Pg. After that, when the user performs a predetermined operation using the display operation unit 52, the control unit 51 causes the display operation unit 52 to display the traveling control screen D8 shown in FIG. 4. Further, the control unit 51 generates automatic traveling data based on the setting information stored in the internal memory, and transmits (outputs) the automatic traveling data to the control device 60 of the work vehicle 1 by the communication unit 54.

[0050] The automatic driving data includes route information, setting information of the work vehicle 1, setting information of the work device 2, and automatic driving information, etc. Among them, the information of the driving route L1 included in the route information includes information indicating the positions of the work routes L1a and L1s, and may not include information indicating the positions of the turning routes L1b and L1r. Further, the setting information of the work vehicle 1 and the work device 2 includes the dimensional information of the work vehicle 1 and the work device 2, the type of agricultural work to be performed, and the like.

[0051] The driving control screen D8 shown in FIG. 4 is a screen for displaying the driving state of the work vehicle 1 and the working state by the work device 2 in the automatic driving work mode. In FIG. 4, the driving state and the working state of the work vehicle 1 after a while from the start of the automatic driving work mode are displayed on the driving control screen D8. The driving control screen D8 displays a field map MP2, a driving route L1, a start position Ps, a goal position Pg, an agricultural machine mark X2, the driving state of the work vehicle 1, a setting change key B20, a status display key B21, a working trajectory key B22, and a trajectory clear key B23. The control unit 51 acquires, at a predetermined cycle, the position of the actual traveling vehicle body 3 detected by the positioning device 40 through the communication unit 54, and causes the agricultural machine mark X2 to be displayed at any time at the corresponding location on the field map MP2 according to the position of the traveling vehicle body 3. That is, the agricultural machine mark X2 in the driving control screen D8 indicates the actual position of the traveling vehicle body 3 of the work vehicle 1.

[0052] For example, while the user is looking at the driving control screen D8, after moving the work vehicle 1 to the start position Ps by manual driving, a predetermined operation for shifting to the automatic driving work mode is performed with the mode switch 62a (FIG. 1). Thereby, the control device 60 shifts to the automatic driving work mode, and based on the automatic driving data received from the mobile terminal 50 and the position of the traveling vehicle body 3 detected by the positioning device 40, starts the automatic driving of the work vehicle 1 and performs the ground work by the work device 2 while driving the traveling vehicle body 3 by automatic driving.

[0053] Specifically, the control device 60 first reads the route information included in the automatic driving data to grasp the central area C1, the shoulder area E1, the driving route L1 (working route L1a, L1s), the start position Ps, and the goal position Pg. Then, based on the straight driving route L1a of the driving route L1 from the start position Ps, the control device 60 causes the working device 2 to perform ground operation while automatically driving the traveling vehicle body 3. When the traveling vehicle body 3 (working vehicle 1) reaches the end of one straight driving route L1a, the control device 60 temporarily stops the ground operation by the working device 2, raises the working device 2, and turns the traveling vehicle body 3 toward the start end of the adjacent other straight driving route L1a. That is, the control device 60 turns the working vehicle 1 and the working device 2 at a location corresponding to the turning route L1b. At this time, the control device 60 turns the working vehicle 1 and the working device 2 based on the position information of the central area C1, the shoulder area E1, the position information of the straight driving route L1a, the dimension information of the working vehicle 1 and the working device 2, the position of the traveling vehicle body 3 detected by the positioning device 40, and the detection result of the detection device 64.

[0054] Then, when the traveling vehicle body 3 reaches the start end of the other straight driving route L1a, the control device 60 lowers the working device 2 and resumes the ground operation by the working device 2 when starting to automatically drive the traveling vehicle body 3 based on the other straight driving route L1a. As a result, the traveling vehicle body 3 reciprocally travels straight through the central area C1 in automatic driving, and the ground operation is performed on the central area C1 by the working device 2.

[0055] After that, based on the circumferential route L1c and the position of the traveling vehicle body 3, the control device 60 causes the working device 2 to perform ground work while automatically driving the traveling vehicle body 3. At this time, the control device 60 performs ground work by the working device 2 while automatically driving the traveling vehicle body 3 based on the straight-ahead route L1s, and when turning the traveling vehicle body 3 at a location corresponding to the turning route L1r, the working device 2 is raised to stop the ground work by the working device 2. At the time of this turning, the control device 60 turns the work vehicle 1 and the working device 2 based on the position information of the central area C1 and the shoulder area E1, the position information of the straight-ahead route L1s, the dimensional information of the work vehicle 1 and the working device 2, the position of the traveling vehicle body 3 detected by the positioning device 40, and the detection result of the detection device 64. Thereby, the traveling vehicle body 3 automatically circulates outside the central area C1, and the working device 2 performs ground work on the shoulder E2a (FIG. 3) surrounding the central area C1.

[0056] Figs. 5A to 5D are diagrams for explaining the automatic steering of the work vehicle 1. In the automatic driving work mode, the control device 60 calculates the deviation between the position of the traveling vehicle body 3 detected by the positioning device 40 and the traveling route L1 (work route L1a, L1s) while automatically driving the traveling vehicle body 3. When the deviation is less than the threshold value (for example, FIG. 5A), the control device 60 maintains the rotation angle of the steering shaft 31 (FIG. 1). When the deviation between the position of the traveling vehicle body 3 and the traveling route L1 is equal to or greater than the threshold value and the traveling vehicle body 3 is located on the left side with respect to the traveling route L1 (for example, FIG. 5B), the control device 60 rotates the steering shaft 31 so that the steering direction of the traveling vehicle body 3 becomes the right direction. When the deviation between the position of the traveling vehicle body 3 and the traveling route L1 is equal to or greater than the threshold value and the traveling vehicle body 3 is located on the right side with respect to the traveling route L1 (for example, FIG. 5C), the control device 60 rotates the steering shaft 31 so that the steering direction of the traveling vehicle body 3 becomes the left direction. The above is an example of the automatic steering method of the work vehicle 1, and the automatic steering method of the work vehicle 1 is not limited to the above method.

[0057] In addition, when the control device 60 automatically drives the traveling vehicle body 3 based on the traveling route L1, it calculates the actual vehicle speed of the traveling vehicle body 3 based on the change in the position of the traveling vehicle body 3. Then, it controls the driving of the transmission 5, the braking device 6, and the prime mover 4 so that the actual vehicle speed matches (or substantially matches) the vehicle speed associated with the straight traveling route L1a, the turning route L1b, or the circular route L1c.

[0058] As described above, in the automatic driving work mode of the work vehicle 1, the control device 60 automatically performs the steering of the traveling vehicle body 3 while automatically changing the traveling speed of the traveling vehicle body 3 based on the traveling route L1 and the position of the traveling vehicle body 3 (work vehicle 1). In addition, the control device 60 automatically executes or stops the agricultural work (ground work) by the work device 2.

[0059] Now, the work vehicle 1 can be remotely operated based on the operation of the remote operation device 90 by the user (remote operator). That is, the work vehicle 1 enters the remote operation mode. The control device 60 controls the transmission 5 and the braking device 6 based on the control signal from the remote operation device 90, remotely drives and remotely stops the traveling vehicle body 3, and controls the control valve 34 to expand and contract the steering cylinder 35, thereby changing the steering direction of the front wheels 7F by the knuckle arm 39. That is, in the work vehicle 1, remote driving that performs a remote traveling operation and a remote steering operation can be performed based on the control signal from the remote operation device 90 according to the operation of the user (driver).

[0060] As shown in FIG. 6, the remote operation device 90 is a small-sized operation device that can communicate with the communication device 66 of the work vehicle 1 and can be held by the user. For example, the remote operation device 90 is a remote control (remote controller), and has a communication unit 91. The communication unit 91 is a communication device that performs short-range communication with the communication device 66 of the work vehicle 1. The remote operation device 90 includes, for example, six buttons (the first button 90a to the sixth button 90f) and three indicators (the first indicator 90g to the third indicator 90i). The number of the buttons and indicators may be other numbers.

[0061] The sixth button 90f is a function button. When the sixth button 90f is long-pressed, the power supply of the remote control device 90 is turned on. When the sixth button 90f is single-pressed twice, the remote control device 90 outputs a start signal for remote operation, and the work vehicle 1 enters the remote operation mode. When the power supply of the remote control device 90 is on and the sixth button 90f is single-pressed twice, the remote control device 90 outputs an end signal for remote operation. If the work vehicle 1 is in the remote operation mode, the remote operation mode ends. Also, when the power supply of the remote control device 90 is on and the sixth button 90f is long-pressed, the power supply of the remote control device 90 is turned off.

[0062] The first button 90a is a button for moving the work vehicle 1 forward by a simultaneous pressing operation with the sixth button 90f. When this operation is performed, the remote control device 90 sends a forward signal to the work vehicle 1, and the work vehicle 1 in the remote operation mode moves forward by remote operation.

[0063] The second button 90b is a button for moving the work vehicle 1 backward by a simultaneous pressing operation with the sixth button 90f. When this operation is performed, the remote control device 90 sends a backward signal to the work vehicle 1, and the work vehicle 1 in the remote operation mode moves backward by remote operation.

[0064] The third button 90c is a button for turning the work vehicle 1 to the left by a simultaneous pressing operation with the sixth button 90f. When this operation is performed, the remote control device 90 sends a left-turn signal to the work vehicle 1, and the work vehicle 1 in the remote operation mode turns to the left by remote operation. Also, when the pressing operation of the third button 90c is stopped, the remote control device 90 sends a left-turn end signal to the work vehicle 1, and the left-turn of the work vehicle 1 in the remote operation mode stops.

[0065] The fourth button 90d is a button for turning the work vehicle 1 to the right in a simultaneous pressing operation with the sixth button 90f. When there is such an operation, the remote control device 90 transmits a right-turn signal to the work vehicle 1, and the work vehicle 1 in the remote operation mode turns to the right in remote operation. Also, when the pressing operation of the fourth button 90d is stopped, the remote control device 90 transmits a right-turn end signal to the work vehicle 1, and the right turn of the work vehicle 1 in the remote operation mode stops.

[0066] The fifth button 90e is a button for stopping the work vehicle 1 in a simultaneous pressing operation with the sixth button 90f. When there is such an operation, the remote control device 90 transmits a stop signal to the work vehicle 1, and the work vehicle 1 in the remote operation mode stops. For example, the forward and backward movements of the work vehicle 1 in the remote operation mode stop.

[0067] Also, when there is a simultaneous pressing operation of the first button 90a and the third button 90c and the sixth button 90f, the remote control device 90 transmits a work start signal to the work vehicle 1, and the operation of the work device 2 starts in remote operation for the work vehicle 1 in the remote operation mode. On the other hand, when there is a simultaneous pressing operation of the second button 90b and the fourth button 90d and the sixth button 90f, the remote control device 90 transmits a work end signal to the work vehicle 1, and the operation of the work device 2 ends in remote operation for the work vehicle 1 in the remote operation mode.

[0068] The first indicator 90g indicates the remaining battery level when the power of the remote control device 90 is ON, and if the remaining battery level decreases, the display color changes from green to red. The second indicator 90h indicates the communication state with the work vehicle 1, and if it is good, the display color is green, and if communication is impossible, the display color is red. The third indicator 90i has a green display color if the work vehicle 1 is in the remote operation mode, is turned off if it is not in the remote operation mode, and has a red display color if there is an abnormality in the work vehicle 1.

[0069] Note that the operation contents of the above-described first button 90a to sixth button 90f are merely examples and are not limited to this content. Other contents may also be used. The number of buttons may also be other than six. Further, the display contents of the first indicator 90g to third indicator 90i are merely examples and are not limited to this content. Other contents may also be used. The number of indicators may also be other than three.

[0070] The control device 60 includes a border crossing prevention control unit 61a that prohibits the work vehicle 1 from traveling beyond the boundary line BD of the farm field H, a determination unit 61b that determines whether to permit a border crossing state in which the work vehicle 1 remotely operated by the remote operation device crosses the boundary line BD, a border crossing permission unit 61c that permits the border crossing state when it is determined by the determination unit 61b that permission is granted, and a restriction unit 61d that restricts the operation content of the work vehicle 1 in the border crossing state. Note that the determination unit 61b may determine whether to permit a border crossing state in which the work vehicle 1 switched from automatic driving to remote driving by the remote operation device 90 crosses the boundary line BD.

[0071] For example, the aforementioned processor of the control device 60 functions as the border crossing prevention control unit 61a, the determination unit 61b, the border crossing permission unit 61c, and the restriction unit 61d by executing the prevention program, determination program, permission program, and restriction program stored in the storage device 65, respectively.

[0072] The storage device 65 stores in advance a farm field map MP2 including the position information (for example, latitude and longitude information) of the farm field H, the boundary line BD of the farm field H, and the position FP in front of the boundary line BD. That is, the farm field map MP2 includes the position information of the farm field H, the boundary line BD, and the position FP. For example, in the farm field H of the farm field map MP2 shown in FIG. 3, as shown in FIG. 7A, the boundary line BD of the farm field H and the position FP in front of the boundary line BD are preset.

[0073] For example, the control unit 51 of the mobile terminal 50 sets the inside of a predetermined distance (a first set value indicating a predetermined distance) from the contour H1 of the farm field H as the boundary line BD, and sets the inside of a predetermined distance (a second set value indicating a predetermined distance) from the boundary line BD as the front position FP. Further, the control unit 51 may set the boundary line BD and the front position FP based on an operation instruction by the user. For example, although the boundary line BD is set in the headland E2c of the headland area E1, it may be set at other locations.

[0074] Also, the front position FP of the boundary line BD is a position that is a predetermined distance closer to the central area C1 from the boundary line BD, and is set at a position where the work vehicle 1 can be stopped without crossing the boundary line BD when it is determined that the cross-border permission conditions described later are not satisfied. Note that the front position FP may vary according to the speed of the work vehicle 1 when advancing to the boundary line BD in the headland area E1. That is, the front position FP has a larger value as the speed of the work vehicle 1 increases. For example, if the speed of the work vehicle 1 is the first set speed, it is the front position FP, and as the speed becomes faster than the first set speed, the front position FP approaches the central area C1.

[0075] The determination unit 61b determines whether to permit the cross-border state when the position of the work vehicle 1 detected by the positioning device 40 (the front position PF of the work vehicle 1 when advancing as shown in FIG. 7A, and the rear position PB of the work vehicle 1 when reversing) is at the front position FP of the boundary line BD stored in the storage device 65. For example, the determination unit 61b determines to permit the cross-border state if the vehicle speed of the work vehicle 1 is less than the specified value, and determines not to permit the cross-border state if it is greater than or equal to the specified value. Note that the front position PF shown in FIG. 7A can be calculated as a position offset by the dimension from the arrangement position of the positioning device 40 to the front end of the work vehicle 1 with respect to the arrangement position of the positioning device 40. The rear position PB shown in FIG. 7A can be calculated as a position offset by the dimension from the arrangement position of the positioning device 40 to the rear end of the work vehicle 1 with respect to the arrangement position of the positioning device 40.

[0076] Further, the determination unit 61b may determine that cross-border operation is permitted if the reception intensity of the control signal from the remote operation device 90 is equal to or greater than a predetermined value, and determine that cross-border operation is not permitted if it is less than the predetermined value. The reception intensity of the control signal from the remote operation device 90 decreases as the remote operation device 90 moves away from the work vehicle 1. Therefore, if the remote operation device 90 is located within a certain range of the work vehicle 1, the reception intensity of the control signal from the remote operation device 90 is equal to or greater than the predetermined value and is received by the communication device 66 of the work vehicle 1.

[0077] Further, the determination unit 61b may determine that cross-border operation is permitted if the position indicated by the position information of the remote operation device 90 is within a predetermined range (for example, the first range r1) of the work vehicle 1, and determine that cross-border operation is not permitted if it is outside the predetermined range (for example, the second range r2 outside the first range r1) of the work vehicle 1. In this case, the remote operation device 90 has a positioning device capable of measuring its own position, and the communication unit 91 transmits the position information of the remote operation device 90 to the work vehicle 1, so that the determination unit 61b makes the determination.

[0078] Further, the determination unit 61b may determine that cross-border operation is permitted if the work device 2 is not in operation, and determine that cross-border operation is not permitted if the work device 2 is in operation. For example, the determination unit 61b can determine whether the work device 2 is in operation based on the operation state of the work device 2 detected by the detection device 64.

[0079] The determination unit 61b determines permission and non-permission of cross-border operation based on the type of the work device 2. The determination unit 61b determines that cross-border operation is permitted if the type of the work device 2 is a non-contact type that performs work without contacting the ground, and determines that cross-border operation is not permitted if it is a contact type that performs work in contact with the ground. The determination unit 61b determines permission and non-permission of cross-border operation based on the height of the work device 2.

[0080] In addition, when the determination unit 61b detects a switch to remote operation, it may determine whether to permit the border crossing state. For example, as described above, when the single-press operation of the sixth button 90f is performed twice, the remote operation device 90 outputs a start signal for remote operation, and the work vehicle 1 enters the remote operation mode. Therefore, when the work vehicle 1 enters the remote operation mode or when a start signal for remote operation is received from the remote operation device 90, the determination unit 61b may determine whether to permit the border crossing state on the assumption that it has detected a switch to remote operation. According to this, there is no special determination other than the detection of the switch to remote operation, the processing load of the determination can be reduced, and the determination can be performed more smoothly.

[0081] The restriction unit 61d restricts at least one of the vehicle speed, acceleration, shifting of the work vehicle 1 in the border crossing state, the border crossing range of the work vehicle 1, and the operation content of the work device 2.

[0082] The control device 60 includes a setting unit 61e that sets permission or non-permission of the border crossing state according to a selection operation by the user. For example, the above-described processor of the control device 60 functions as the setting unit 61e by executing a setting program stored in the storage device 65. The determination unit 61b determines that the border crossing state is permitted when permission is set in the setting unit 61e, and determines that the border crossing state is not permitted when non-permission is set in the setting unit 61e.

[0083] FIGS. 8A and 8B are flowcharts showing an example of the operation of the work vehicle.

[0084] In the work vehicle 1, when the control device 60 receives the automatic driving data transmitted from the communication unit 54 of the mobile terminal 50 (S1), it confirms (reads) the type of agricultural work included in the automatic driving data (S2). At this time, the control device 60 may detect the type of agricultural work performed by the work device 2 from the type of the work device 2 included in the automatic driving data. Then, the control device 60 positions the work device 2 at predetermined work positions P1, P3, and P5 for performing agricultural work by the connecting device 8 (lifting device) according to the confirmed type of agricultural work (S3).

[0085] When the working device 2 connected to the work vehicle 1 is the tilling device 2A as shown in FIGS. 14A and 14B, the control device 60 lowers the tilling device 2A by the connecting device 8 and positions it at the working position P1 where tilling work can be performed by bringing the tilling claws 2g of the tilling device 2A into contact with the soil K2 of the field H as shown in FIG. 14B. Further, the control device 60 deepens the tilling depth with respect to the field H by further lowering the tilling device 2A by the connecting device 8 or by causing the tilling claws 2g to penetrate deeper into the soil K2 by the tilling device 2A. Further, the control device 60 shallows the tilling depth with respect to the field H by raising the tilling device 2A or the tilling claws 2g by the connecting device 8 or the tilling device 2A. Further, during the transportation of the tilling device 2A or the like, the control device 60 raises the tilling device 2A by the connecting device 8 as shown in FIG. 14A to position it at the non-working position P2 where tilling work cannot be performed by separating the tilling claws 2g from the soil K2 of the field H. That is, the control device 60 changes the lifting height of the working device 2 by the connecting device 8 or the working device 2.

[0086] On the other hand, for example, when the farming work is spraying work such as fertilizer or agricultural chemicals, and the working device 2 connected to the work vehicle 1 is the spraying device 2B as shown in FIG. 15, the control device 60 positions the spraying device 2B at the working position P3 separated from the soil K2 of the field H by the connecting device 8 (lifting device) both when performing the spraying work and when not performing the spraying work. That is, in the example of FIG. 15, the working position P3 where the spraying device 2B performs the spraying work and the non-working position P31 where the spraying device 2B does not perform the spraying work are at the same position at the same height from the soil K2. As another example, the working position P3 and the non-working position P31 of the spraying device 2B may be different.

[0087] In addition, when the agricultural operation is a rough tillage operation and the working device 2 connected to the work vehicle 1 is a rough tillage device 2C as shown in Fig. 16A, the control device 60 lowers the rough tillage device 2C by the connecting device 8 (lifting device) as shown in Fig. 16B, and positions the working claws 2n of the rough tillage device 2C in contact with the soil K2 at the working position P5 where the rough tillage operation can be performed. Also, during the transportation of the rough tillage device 2C, etc., the control device 60 raises the rough tillage device 2C by the connecting device 8 (lifting device) as shown in Fig. 16A, and positions it at the non-working position P4 where the working claws 2n are separated from the soil K2 and the rough tillage operation cannot be performed.

[0088] Also, when performing agricultural operations such as seeding operations and watering operations, etc., the control device 60 positions the working device 2 (such as a seeding device and a watering device) for performing the agricultural operation at a predetermined position (working position and non-working position) separated from the soil K2 of the field H by the connecting device 8 (lifting device).

[0089] As described above, the types of the working device 2 can be classified into a non-contact type that performs operations without contacting the soil K2 (ground) of the field H and a contact type that performs operations in contact with the soil K2 (ground) of the field H. The tilling device 2A, the rough tillage device 2C, the seeding device, etc. are of the contact type, and the spraying device 2B and the watering device, etc. are of the non-contact type.

[0090] After positioning the working device 2 at the working position P1 as described above (S3), the control device 60 starts the running of the work vehicle 1 (running vehicle body 3) and the agricultural operation by the working device 2 based on the running route L1 (working route L1a, L1s) included in the automatic running data and the position of the work vehicle 1 (running vehicle body 3) detected by the positioning device 40 from the start position Ps (Fig. 3, etc.) (S4). That is, the control device 60 starts the automatic driving of the work vehicle 1. Thereby, in the example shown in Fig. 3, the control device 60 performs the agricultural operation by the working device 2 while running along the working route L1a created in the central area C1 from the start position Ps, and then performs the agricultural operation by the working device 2 while running along the working route L1s formed in the inner peripheral pillow land E2a surrounding the central area C1 (S5).

[0091] During the automatic driving or remote driving of the work vehicle 1, the control device 60 determines whether the position of the work vehicle 1 detected by the positioning device 40 is in front of the position FP of the boundary line BD stored in the storage device 65 (S6). When the work vehicle 1 is not at the position FP in front of the boundary line BD (S6: NO), the control device 60 checks whether the work vehicle 1 and the work device 2 have reached the goal position Pg (such as in FIG. 3) (S7). Here, if the work vehicle 1 and the work device 2 have not reached the goal position Pg (S7: NO), the control device 60 returns to the process of S6.

[0092] On the other hand, when the work vehicle 1 and the work device 2 reach the goal position Pg (S7: YES), the control device 60 stops the running of the work vehicle 1 and the farming work by the work device 2 (S8). At this time, since there is no remaining unworked area within the planned automatic driving in the field H, the control device 60 positions the work device 2 at the non-working positions P2, P31, P4 by the connecting device 8 (lifting device), and the automatic driving of the work vehicle 1 is in a completed (fully completed) state.

[0093] In S6, when the work vehicle 1 is located at the position FP in front of the boundary line BD (S6: YES), the determination unit 61b of the control device 60 determines whether the cross-border permission conditions are satisfied as shown in FIG. 8B (S9).

[0094] FIG. 9 is a diagram showing an example of the cross-border permission conditions. The storage device 65 stores data indicating the cross-border permission conditions shown in FIG. 9. As shown in FIG. 9, the cross-border permission conditions include the first permission condition to the seventh permission condition. The determination unit 61b determines whether any one of the first permission condition to the seventh permission condition is satisfied.

[0095] The first permission condition is the condition that it is during remote operation and the vehicle speed is less than the specified value.

[0096] The second permission condition is the condition that remote operation is in progress and the reception intensity is less than a predetermined value. FIG. 7B is a diagram showing that the remote operation device is located within a predetermined range of the work vehicle. When the remote operation device 90 is located in a range (second range r2 in FIG. 7B) outside the predetermined range (first range r1 in FIG. 7B) of the work vehicle 1, the reception intensity of the signal (control signal) from the remote operation device 90 becomes less than the predetermined value.

[0097] The third permission condition is the condition that remote operation is in progress and the remote operation device 90 is within the predetermined range (first range r1 in FIG. 7B) of the work vehicle 1.

[0098] The fourth permission condition is the condition that remote operation is in progress and the work device 2 is not in operation. The fifth permission condition is the condition that remote operation is in progress and the work device 2 is of a specific type. The sixth permission condition is the condition that remote operation is in progress and the height of the work device 2 is equal to or greater than a predetermined height. The seventh permission condition is the condition that remote operation is in progress and there is a user permission setting.

[0099] That is, the determination unit 61b determines whether or not to permit the crossing state in which the work vehicle 1 switched from automatic driving to remote driving by the remote operation device 90 crosses the boundary line BD by determining whether or not the cross-border permission condition is satisfied.

[0100] When the determination unit 61b determines that any one of the first to seventh permission conditions is satisfied (S9: YES), the cross-border permission unit 61c of the control device 60 permits the crossing state of the work vehicle 1 (S10). As shown in FIG. 7A, the cross-border permission unit 61c permits the crossing state in which the work vehicle 1 crosses the boundary line BD. For example, the cross-border permission unit 61c permits the work vehicle 1 to be located within a crossing range that crosses the boundary line BD and does not reach the maximum excess line ML. On the other hand, when the work vehicle 1 reaches the maximum excess line ML, the control device 60 stops the work vehicle 1.

[0101] Note that the maximum overrun line ML has the first maximum overrun line ML1 slightly in front of the contour H1 of the field H. However, if there are no problems with collisions with the ridge, overrunning, etc., it may be set as the second maximum overrun line ML2. Further, if the working device 2 is a non-contact type that performs work without contacting the ground or a separation type that is non-contact with the ground (such as the spraying device 2B and the watering device), the working device 2 of the work vehicle 1 may be allowed until it exceeds the first maximum overrun line ML1 and reaches the second maximum overrun line ML2.

[0102] In FIG. 7A, an example where the work vehicle 1 is permitted to move forward and cross the boundary line BD is described. However, even when the work vehicle 1 moves backward and the working device 2 first crosses the boundary line BD, the border permission unit 61c permits the border crossing state where the working device 2 of the work vehicle 1 has crossed the boundary line BD. When the work vehicle 1 moves backward, the border permission unit 61c permits the rear part of the work vehicle 1, that is, the working device 2 to be located within the border crossing range where it crosses the boundary line BD and does not reach the maximum overrun line ML. Further, when the work vehicle 1 travels along the contour H1 of the field H and the right side or the left side of the work vehicle 1 crosses the boundary line BD, the border permission unit 61c permits the right side or the left side of the work vehicle 1 (and the working device 2) to be located within the border crossing range where it crosses the boundary line BD and does not reach the maximum overrun line ML.

[0103] The restriction unit 61d restricts the operation content of the work vehicle 1 in the border crossing state (S11). FIG. 10 is a diagram showing an example of the restriction of the operation content of the work vehicle and the working device. The storage device 65 stores correspondence data in which the restriction data indicating the restriction of the operation content of the work vehicle 1 and the working device 2 shown in FIG. 10 is associated with a flag indicating the presence or absence of the restriction. This flag indicates that there is a restriction if it is on, and no restriction if it is off.

[0104] As shown in FIG. 10, this corresponding data associates five pieces of restriction data (i.e., the vehicle speed of the work vehicle 1, the acceleration of the work vehicle 1, the gear shift of the work vehicle 1, the crossing range of the work vehicle 1, and five indicating the restrictions on the operation content of the working device 2) with a flag for each of these five pieces of data. In FIG. 10, since all five flags are on, all of the vehicle speed, acceleration, gear shift, crossing range of the work vehicle 1 in the crossing state, and the operation content of the working device 2 are restricted. If only the flag corresponding to the restriction of the vehicle speed of the work vehicle 1 is on and the other flags are off, only the restriction of the vehicle speed of the work vehicle 1 is imposed.

[0105] FIG. 11 is a diagram showing an example of the restriction content. The storage device 65 stores data indicating the restriction content shown in FIG. 11. As shown in FIG. 11, the restriction of the vehicle speed of the work vehicle 1 is, for example, to restrict it to a second specified vehicle speed v2 that is lower than the first specified vehicle speed v1. The restriction of the acceleration of the work vehicle 1 is, for example, to restrict it to a second specified acceleration a2 that is lower than the first specified acceleration a1. The restriction of the gear shift of the work vehicle 1 is to maintain the first gear (i.e., it is impossible to shift up from the first gear to the second gear). The restriction of the crossing range of the work vehicle 1 is, for example, to restrict movement to only a predetermined crossing range from the boundary line BD. The restriction of the operation content of the working device 2 is, for example, to make the operation by the working device 2 impossible or to restrict the operation content. Examples of restricting the operation content of the working device 2 include setting the height of the working device 2 from the ground (soil K) by the connecting device 8 to be a certain value or more, and reducing the operation amount. For example, the height of the working device 2 lifted and lowered by the connecting device 8 is set to a height that does not contact the ridge, for example, and is restricted so as not to be lower than that height. Also, if the working device 2 is the spraying device 2B, it may be an operation to reduce the spraying amount compared to the normal spraying amount. Fine spraying at the edge of the field can be performed.

[0106] When the determination unit 61b determines that none of the first to seventh permission conditions are satisfied (S9: NO), the control device 60 makes the crossing state not permitted (S12). The crossing prevention control unit 61a stops the running of the work vehicle 1 (S13) and prohibits the work vehicle 1 from running beyond the boundary line BD of the field H.

[0107] After S11, the control device 60 determines whether to resume the automatic driving (S14). For example, if the work vehicle 1 has returned to a state where it has not crossed the border and there is an instruction to start the automatic driving with the remote control device 90 (S14: YES), the automatic driving is resumed. For example, when an end signal for the remote driving is transmitted to the work vehicle 1 by a predetermined operation of the remote control device 90, the automatic driving is resumed when the work vehicle 1 is not in the manual driving mode and the work vehicle 1 is not in a crossed state. For example, when the automatic driving ends in the middle of the travel route L1, the position where the automatic driving ends in the middle of the travel route L1 of the work vehicle 1 is stored in the storage device 65, and when there is a resume of the automatic driving, the control device 60 resumes the automatic driving from the position where the automatic driving ends in the middle of the travel route L1.

[0108] After S13, or when there is no instruction to start the automatic driving (S14: NO), the control device 60 determines whether there is a manual driving (S15). If there is an instruction for manual driving (S15: YES), the control device 60 ends this process, and if there is no instruction for manual driving (S15: NO), it returns to the process of S14.

[0109] Note that an acquisition unit (object detection unit 64a) for acquiring the ridge information indicating the ridge of the field H may be provided, and the determination unit 61b may determine whether to permit the crossed state based on the ridge information acquired by the object detection unit 64a. For example, the acquisition unit (object detection unit 64a) is a camera, LiDAR, or ultrasonic sensor, etc., and based on the detection data at the object detection unit 64a (for example, the captured image of the camera, or the detection data by LiDAR or ultrasonic sensor), the ridge information indicating the ridge of the field H is acquired. Also, the acquisition unit (object detection unit 64a) may identify the ridge of the field H by using the position of the work vehicle 1 detected by the positioning device 40 in combination with the field map MP2. According to this configuration, even if it is determined to be crossed based on the boundary line BD (boundary) created in the field map MP2, if there is no physical ridge, the crossing can be permitted.

[0110] Further, as shown in FIG. 7C, when permitting a border crossing state, the border crossing permission unit 61c sets another border line BD1 with the position of the border line BD shifted, and determines whether to permit the work vehicle 1 to cross the other border line BD1. That is, when permitting border crossing, a new border line (another border line BD1) is created at a position extended from the current border line BD, and the second border crossing determination can be performed using the other border line BD1 (line). Further, the restriction content (first restriction content) of the restriction unit 61d in the state of having crossed the previous border line BD and the restriction content (second restriction content) of the restriction unit 61d in the state of having crossed the next border line BD1 may be different. For example, the second restriction content may be more restricted than the first restriction content.

[0111] Further, a storage device 65 that stores in advance a field map MP2 including the field H, the travel route L1 for automatic driving in the field H, and the position information of the border line BD is provided, and the determination unit 61b may determine whether to permit the work vehicle 1 to cross the border line BD using the border line BD of the field map MP2 used in the automatic driving when switching from the automatic driving to the remote driving. In this case, it is particularly useful for a configuration in which the field map MP2 is not taken over when switching from the automatic driving mode to the remote driving mode (when the driving mode is switched), and since the field map MP2 is surely taken over, the permission determination of border crossing can be performed surely and safely.

[0112] Also, a storage device 65 is provided that stores in advance a field map MP2 including the position information of the field H, the travel route L1 for autonomous driving in the field H, and the boundary line BD. When the field map MP2 is not selected, the determination unit 61b may permit the crossing state. For example, a configuration may be considered in which only the case of transitioning from autonomous driving to the remote driving mode is set as the radio control mode. In the case of this configuration, it is possible to provide a default setting that the field map MP2 is always selected in the radio control mode. However, it is also assumed that remote operation may be performed in a state where the field map MP2 is not selected. For example, if the above default setting is canceled (turned off), the field map MP2 is not selected, and remote operation may be performed in this state. Since this state can be determined to be the same state as the state permitting the crossing state, the crossing state may be permitted when the field map MP2 is not selected.

[0113] In addition, an obstacle sensor (object detection unit 64a) that detects an obstacle, and a control device 60 that stops the work vehicle 1 when the object detection unit 64a detects an obstacle, even when the determination unit 61b permits the crossing state, are provided. In this case, the safety of the work vehicle 1 in the crossing state can be ensured. For example, when the crossing state is permitted, the safety sensor (at least the obstacle sensor (object detection unit 64a)) may be configured to be forcibly turned on, or the safety sensor may be configured to be always turned on.

[0114] <First Modification Example> The work vehicle 1 of the first modification example will be described. The restriction unit 61d of the first modification example changes the restriction on the operation content of the work vehicle 1 in the crossing state based on the terrain state of the field H and the traveling direction of the work vehicle 1. Specifically, the restriction unit 61d relaxes or strengthens the restriction on the operation content of the work vehicle 1 in the crossing state based on the inclination angle and inclination direction of the field H as the terrain state of the field H and the traveling direction of the work vehicle 1.

[0115] FIG. 12 is a flowchart showing the operation of the work vehicle of the first modification. Since FIGS. 12 is the same as FIGS. 8B up to S1 to S15, S21 to S26 different from FIGS. 8B will be described.

[0116] As shown in FIG. 12, the control device 60 determines whether or not it corresponds to a change condition (that is, a sloping ground) (S21 in FIG. 12). The control device 60 determines whether or not the position of the work vehicle 1 is on a sloping ground based on the roll angle and pitch angle of the work vehicle 1 (traveling vehicle body 3) detected by the inertial measurement device 40b.

[0117] If the roll angle and pitch angle of the work vehicle 1 are equal to or greater than a predetermined angle, the control device 60 determines that it is a sloping ground (S21: YES), and determines whether or not the traveling direction of the work vehicle 1 is an uphill slope (S22). If the pitch angle of the work vehicle 1 is an uphill slope equal to or greater than a predetermined angle (S22: YES), the restricting portion 61d relaxes the restriction on the operation content of the work vehicle 1 when crossing the border and in the border crossing state (S23).

[0118] FIG. 13A is a diagram showing an example of relaxation of restriction. The storage device 65 stores data indicating the relaxation of restriction shown in FIG. 13A. As shown in FIG. 13A, the relaxation of the vehicle speed limit of the work vehicle 1 is, for example, to relax to a third specified vehicle speed v3 (for example, a vehicle speed greater than or equal to the second specified vehicle speed v2 and less than the first specified vehicle speed v1). The relaxation of the acceleration limit of the work vehicle 1 is to relax to a third specified acceleration a3 (for example, an acceleration greater than or equal to the second specified acceleration a2 and less than the first specified acceleration a1). The relaxation of the shift limit of the work vehicle 1 is to increase the upper set value of the first gear (first speed range).

[0119] For example, when the crossing range is an uphill slope and the traveling direction of the work vehicle 1 in the border crossing state is toward the uphill slope, the restricting portion 61d relaxes the restriction on the operation content of the work vehicle 1 (for example, the vehicle speed is increased according to the inclination angle from the restricted speed (for example, 0.5 km / h) to a speed (for example, 0.7 km / h)).

[0120] When the pitch angle of the work vehicle 1 is not an uphill slope with a predetermined angle or more (S22: NO), the restriction unit 61d determines whether the traveling direction of the work vehicle 1 is a downhill slope (S24). If the pitch angle of the work vehicle 1 is a downhill slope with a predetermined angle or more (S24: YES), the restriction unit 61d strengthens the restriction on the operation content of the work vehicle 1 when crossing the border and in the border-crossing state (S25).

[0121] FIG. 13B is a diagram showing an example of strengthening the restriction. The storage device 65 stores data indicating the restriction strengthening shown in FIG. 13B. As shown in FIG. 13B, the strengthening of the vehicle speed limit of the work vehicle 1 is, for example, to lower it to a fourth specified vehicle speed v4 (for example, a vehicle speed less than the second specified vehicle speed v2). The strengthening of the acceleration limit of the work vehicle 1 is to lower it to a fourth specified acceleration a4 (for example, an acceleration less than the second specified acceleration a2). The strengthening of the shift restriction of the work vehicle 1 is to lower the upper set value of the first speed (first speed range).

[0122] For example, when the border-crossing range is a downhill slope and the traveling direction of the work vehicle 1 in the border-crossing state is toward the downhill slope, the restriction unit 61d strengthens the restriction on the operation content of the work vehicle 1 (for example, strengthens the vehicle speed to a speed (for example, 0.3 km / h) decelerated according to the inclination angle rather than the restricted speed (for example, 0.5 km / h)).

[0123] When NO in S21 or NO in S24, the restriction unit 61d maintains the restriction on the operation content (S26). After S23, after S25, or after S26, the control device 60 proceeds to the process of S14. Since S14 and S15 in FIG. 12 are the same as those in FIG. 8B, the description here is omitted.

[0124] The main characteristic items and effects of the work vehicle 1 in the first embodiment and the like described above are as follows.

[0125] In a work vehicle 1 capable of automatic driving, which includes performing work on a field H with a work device 2, there is a border crossing prevention control unit 61a that prohibits the work vehicle 1 from traveling beyond the boundary line BD of the field H, a determination unit 61b that determines whether to permit a border crossing state in which the work vehicle 1 remotely operated by a remote operation device 90 crosses the boundary line BD, a border crossing permission unit 61c that permits the border crossing state when the determination unit 61b determines that permission is granted, and a restriction unit 61d that restricts the operation content of the work vehicle 1 in the border crossing state. The work vehicle 1 is provided with these components.

[0126] According to this configuration, since the border crossing state is not permitted, the work vehicle 1 is prohibited from traveling beyond the boundary line BD of the field H, so that the border crossing of the work vehicle 1 can be prevented. That is, a premise configuration for preventing the border crossing of the work vehicle 1 can be ensured. On the other hand, in the remote operation by the remote operation device 90, when the border crossing state is permitted, the operation content of the work vehicle 1 in the border crossing state is restricted, so that the safety of the work vehicle 1 in the border crossing state can be ensured. Therefore, it is possible to prevent border crossing during automatic driving and ensure the safety of the work vehicle 1 in the border crossing state while allowing border crossing during remote operation.

[0127] (Item A2) The work vehicle 1 according to Item A1, wherein the determination unit 61b determines that permission is granted for the border crossing state if the vehicle speed of the work vehicle 1 is less than a specified value, and determines that permission is not granted for the border crossing state if the vehicle speed is greater than or equal to the specified value.

[0128] According to this configuration, if the vehicle speed of the work vehicle 1 is less than the specified value, it can cross the border safely. Therefore, the safety of the work vehicle 1 when crossing the border can be ensured.

[0129] (Item A3) The work vehicle 1 according to Item A1 or A2, wherein the determination unit 61b determines that permission is granted for the border crossing state if the reception intensity of the control signal from the remote operation device 90 is greater than or equal to a predetermined value, and determines that permission is not granted for the border crossing state if the reception intensity is less than the predetermined value.

[0130] According to this configuration, if the reception intensity of the control signal from the remote operation device 90 is equal to or greater than a predetermined value, since the remote operator (user) who operates the remote operation device 90 is near the work vehicle 1 (at a position less than a predetermined distance from the work vehicle 1), even if it is permitted to enter the border crossing state, the remote operator can perform the operation in the border crossing state while performing a safety check. On the other hand, if the reception intensity is less than the predetermined value, since the remote operator is far away (at a position more than a predetermined distance from the work vehicle 1), the remote operator cannot sufficiently perform a safety check, so the border crossing state is not permitted. Therefore, it is possible to ensure that the remote operator is operating near the work vehicle 1, and the safety during the border crossing of the work vehicle 1 can be ensured.

[0131] (Item A4) The determination unit 61b determines that the border crossing state is permitted if the position indicated by the position information of the remote operation device 90 is within a predetermined range of the work vehicle 1, and determines that the border crossing state is not permitted if it is outside the predetermined range of the work vehicle 1. The work vehicle 1 according to any one of Items A1 to A3.

[0132] According to this configuration, if the remote operation device 90 is located within a predetermined range (the first range r1 in FIG. 7B) of the work vehicle 1, since the remote operator who operates the remote operation device 90 is near the work vehicle 1 (within the predetermined range from the work vehicle 1), even if it is permitted to enter the border crossing state, the remote operator can perform the operation in the border crossing state while performing a safety check. On the other hand, if the remote operation device 90 is located outside the predetermined range (the second range r2 in FIG. 7B) of the work vehicle 1, since the remote operator is far away (outside the predetermined range from the work vehicle 1), the remote operator cannot sufficiently perform a safety check, so the border crossing state is not permitted. Therefore, it is possible to ensure that the remote operator is operating near the work vehicle 1, and the safety during the border crossing of the work vehicle 1 can be ensured.

[0133] (Item A5) The determination unit 61b determines that the border crossing state is permitted if the work device 2 is not in operation, and determines that the border crossing state is not permitted if the work device 2 is in operation. The work vehicle 1 according to any one of Items A1 to A4.

[0134] According to this configuration, when the working device 2 is not working on the farm field H, the work vehicle 1 can safely cross the border, and it is possible to prevent the working vehicle 1 from performing an incorrect operation on an area outside the target area of the farm field H (such as a ridge). Therefore, the safety during the border crossing of the work vehicle 1 can be ensured.

[0135] (Item A6) The work vehicle 1 according to any one of Items A1 to A5, wherein the determination unit 61b determines permission and non - permission of the border - crossing state based on the type of the working device 2.

[0136] According to this configuration, the border crossing of the work vehicle 1 can be appropriately performed according to the type of the working device 2.

[0137] (Item A7) The work vehicle 1 according to Item A6, wherein the determination unit 61b determines permission of the border - crossing state if the type of the working device 2 is a non - contact type that performs work without contacting the ground, and determines non - permission of the border - crossing state if the type of the working device 2 is a contact type that performs work in contact with the ground.

[0138] According to this configuration, if the type of the working device 2 is a non - contact type that performs work without contacting the ground, it is possible to prevent the working device 2 from contacting an area outside the target area of the farm field H (such as a ridge), and the work vehicle 1 can safely cross the border. Therefore, the safety during the border crossing of the work vehicle 1 can be ensured.

[0139] (Item A8) The work vehicle 1 according to any one of Items A1 to A7, wherein the determination unit 61b determines permission and non - permission of the border - crossing state based on the height of the working device 2.

[0140] According to this configuration, the border crossing of the work vehicle 1 can be appropriately performed according to the height of the working device 2.

[0141] (Item A9) It includes a setting unit 61e that sets permission or non - permission of the cross - border state according to the user's selection operation. When the permission is set in the setting unit 61e, the determination unit 61b determines that the cross - border state is permitted, and when the non - permission is set in the setting unit 61e, the determination unit 61b determines that the cross - border state is not permitted. The work vehicle 1 according to any one of Items A1 to A8.

[0142] According to this configuration, since the permission or non - permission of the cross - border state is set by the user's selection operation, the allowability of crossing the border can be changed appropriately.

[0143] (Item A10) The determination unit 61b determines whether to permit the cross - border state in which the work vehicle 1 switched from the automatic driving to the remote driving by the remote operation device 90 crosses the boundary line BD. The work vehicle 1 according to Item A1.

[0144] According to this configuration, for the work vehicle 1 switched from the automatic driving to the remote driving by the remote operation device 90, it can prevent crossing the border during automatic driving, and while allowing crossing during remote driving, it can ensure the safety of the work vehicle 1 in the cross - border state.

[0145] (Item A11) When the determination unit 61b detects the switch to the remote operation, it determines whether to permit the cross - border state. The work vehicle 1 according to any one of Items A1 to A10.

[0146] According to this configuration, there is no need to perform special determination other than detecting the switch to the remote operation, the processing burden of the determination can be reduced, and the determination can be performed more smoothly.

[0147] (Item A12) It includes a positioning device 40 that detects the position of the work vehicle 1 and a storage device 65 that stores in advance a field map MP2 including the position information of the field H and the boundary line BD. When the position of the work vehicle 1 detected by the positioning device 40 is at the position FP in front of the boundary line BD stored in the storage device 65, the determination unit 61b determines whether to permit the cross - border state. The work vehicle 1 according to any one of Items A1 to A10.

[0148] According to this configuration, when the work vehicle 1 approaches the boundary line BD, it is possible to determine whether or not to permit the cross-border state. Therefore, the determination of whether or not to permit the cross-border state can be made at an appropriate timing (that is, the timing immediately before crossing the boundary line BD).

[0149] (Item A13) The restricting unit 61d is the work vehicle 1 according to any one of Items A1 to A10 that restricts at least one of the vehicle speed, acceleration, shifting, cross-border range of the work vehicle 1 in the cross-border state, and the operation content of the work device 2.

[0150] According to this configuration, when the work vehicle 1 is in the cross-border state, since at least one of the vehicle speed, acceleration, shifting, cross-border range of the work vehicle 1, and the operation content of the work device 2 is restricted, it is possible to allow crossing while ensuring the safety of the work vehicle 1 in the cross-border state.

[0151] (Item A14) The restricting unit 61d is the work vehicle 1 according to Item A13 that changes the restriction on the operation content of the work vehicle 1 in the cross-border state based on the ground shape state of the field H and the traveling direction of the work vehicle 1.

[0152] According to this configuration, since the restriction on the operation content of the work vehicle 1 in the cross-border state is changed based on the ground shape state of the field H and the traveling direction of the work vehicle 1, the restriction on the operation content of the work vehicle 1 in the cross-border state can be made an appropriate restriction.

[0153] (Item A15) The restricting unit 61d is the work vehicle 1 according to Item A14 that relaxes or strengthens the restriction on the operation content of the work vehicle 1 in the cross-border state based on the inclination angle and inclination direction of the field H as the ground shape state of the field H and the traveling direction of the work vehicle 1.

[0154] According to this configuration, the restricting unit 61d relaxes or strengthens the restriction on the operation content of the work vehicle 1 in the border-crossing state based on the inclination angle and direction of the farm field H as the terrain state of the farm field H and the traveling direction of the work vehicle 1. For example, when the border-crossing range is an uphill slope and the traveling direction of the work vehicle 1 in the border-crossing state is toward the uphill slope, the restricting unit 61d relaxes the restriction on the operation content of the work vehicle 1 (for example, relaxes the vehicle speed to a speed (for example, 0.7 km / h) increased according to the inclination angle from the restricted speed (for example, 0.5 km / h)). On the other hand, when the border-crossing range is a downhill slope and the traveling direction of the work vehicle 1 in the border-crossing state is toward the downhill slope, the restricting unit 61d strengthens the restriction on the operation content of the work vehicle 1 (for example, strengthens the vehicle speed to a speed (for example, 0.3 km / h) decreased according to the inclination angle from the restricted speed (for example, 0.5 km / h)).

[0155] (Item A16) The work vehicle 1 according to any one of claims 1 to 10, further comprising an acquisition unit (object detection unit 64a) that acquires border information indicating the border of the farm field, wherein the determination unit 61b determines whether to permit the border-crossing state based on the border information acquired by the acquisition unit (object detection unit 64a).

[0156] According to this configuration, even if it is determined to be a border-crossing based on the boundary line BD (boundary) created in the farm map MP2, the border-crossing can be permitted when there is no physical border.

[0157] (Item A17) The work vehicle 1 according to any one of claims 1 to 10, wherein when the border-crossing permission unit 61c permits the border-crossing state, it sets another boundary line BD1 obtained by shifting the position of the boundary line BD, and determines whether to permit the work vehicle 1 to enter a border-crossing state where it crosses the other boundary line BD1.

[0158] According to this configuration, when permitting border-crossing, a new boundary line (another boundary line BD1) can be created at a position extended from the current boundary line BD, and a second-stage border-crossing determination can be performed using the other boundary line BD1 (line).

[0159] (Item A18) The work vehicle 1 according to any one of claims 1 to 10, comprising a storage device 65 that stores in advance a field map MP2 including position information of the field H, a travel route L1 for automatic driving in the field H, and a boundary line BD, and the determination unit 61b determines whether to permit a border crossing state in which the work vehicle 1 crosses the boundary line BD using the boundary line BD of the field map MP2 used in the automatic driving when switching from the automatic driving to the remote driving.

[0160] According to this configuration, when switching from the automatic driving mode to the remote driving mode (when the driving mode is switched), it is particularly useful for a configuration in which the field map MP2 is not taken over. Since the field map MP2 is surely taken over, it is possible to surely and safely perform the permission determination for border crossing.

[0161] (Item A19) The work vehicle 1 according to any one of claims 1 to 10, comprising a storage device 65 that stores in advance a field map MP2 including position information of the field H, a travel route L1 for automatic driving in the field H, and a boundary line BD, and the determination unit 61b permits the border crossing state when the field map MP2 is not selected.

[0162] According to this configuration, when remotely operating in a state where the field map MP2 is not selected, it can be determined that the non-selection of the field map MP2 permits the border crossing state. Therefore, the border crossing state can be appropriately permitted.

[0163] (Item A20) The work vehicle 1 according to any one of claims 1 to 10, comprising an obstacle sensor (object detection unit 64a) that detects an obstacle, and a control device 60 that stops the work vehicle 1 when the obstacle is detected by the obstacle sensor (object detection unit 64a) even when the determination unit 61b permits the border crossing state.

[0164] According to this configuration, the safety of the work vehicle 1 in the border crossing state can be ensured.

[0165] [Second Embodiment] For example, in a conventional work vehicle, when performing anti-tipping control in the case of automatic driving or remote driving, even if the work vehicle stopped in an inclined posture during automatic driving is switched to remote driving, since the anti-tipping control is effective, remote driving is not possible, and there is a problem that the operability of remote driving is inferior. In this case, it is necessary for the user to board the work vehicle and move the work vehicle by manual driving.

[0166] However, the inventors have obtained the following findings. For example, when remotely driving near a work vehicle stopped in an inclined posture, since the work vehicle can be visually and safely confirmed, there may be a case where remote driving is enabled by setting the predetermined inclination angle (threshold value) for remote driving to a value with an absolute value smaller than the predetermined inclination angle (threshold value) for automatic driving. Conversely, for a user who is not accustomed to remote operation, there may be a case where the predetermined inclination angle (threshold value) for remote driving is set to a value with an absolute value larger than the predetermined inclination angle (threshold value) for automatic driving to ensure safety during remote driving. Therefore, based on the above findings, the inventors have come to realize the configuration of the work vehicle 1 of the second embodiment.

[0167] FIG. 18 is a configuration diagram of the agricultural work support system of the second embodiment. The setting unit 61e of the work vehicle 1 of the second embodiment is different from the first embodiment in that it is configured to be able to set a first threshold value θ1 during automatic driving and a second threshold value θ2 during remote driving.

[0168] Further, as shown in FIG. 18, the work vehicle 1 of the second embodiment further includes a changing unit 61f and a remote driving permission unit 61g, and the restricting unit 61d is also different from the first embodiment in that it is configured to restrict the operation content of the work vehicle 1 in an inclined state. Note that the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

[0169] The setting unit 61e sets a first threshold value θ1 during automatic driving and a second threshold value θ2 during remote driving by the remote operation device 90. FIG. 19 is a diagram showing an example of the threshold values set for each driving type. As shown in FIG. 19, the first threshold value θ1 is the threshold value of the inclination angle θ during automatic driving. The second threshold value θ2 is the threshold value of the inclination angle θ during remote driving by the remote operation device 90. In FIG. 19, the absolute value of the second threshold value θ2 is larger than that of the first threshold value θ1. Note that the absolute value of the first threshold value θ1 may be larger than that of the second threshold value θ2. The storage device 65 stores the first threshold value θ1 and the second threshold value θ2 set by the setting unit 61e.

[0170] When the inclination angle θ of the work vehicle 1 reaches the first threshold value θ1 during automatic driving or the second threshold value θ2 during remote driving, the control device 60 stops the running of the work vehicle 1.

[0171] The control device 60 includes a changing unit 61f. The changing unit 61f changes the second threshold value θ2 based on a predetermined condition. FIG. 21 is a diagram showing an example of the predetermined condition of the second embodiment. The storage device 65 stores data indicating the predetermined conditions (the first to sixth predetermined conditions shown in FIG. 21). Specifically, when any of the first to sixth predetermined conditions is satisfied, the changing unit 61f changes the second threshold value θ2.

[0172] Here, although the changing unit 61f changes the second threshold value θ2 based on a predetermined condition, the first threshold value θ1 may be changed based on a predetermined condition.

[0173] Specifically, as a predetermined condition (the first predetermined condition in FIG. 21), when the reception intensity of the control signal from the remote operation device 90 is equal to or greater than a predetermined value, the changing unit 61f changes the value of the second threshold value θ2 so that the absolute value becomes larger (for example, the changed second threshold value θ21 shown in FIG. 19) (that is, changes to a larger value), and if it is less than the predetermined value, the second threshold value θ2 is not changed.

[0174] Further, as a predetermined condition (the second predetermined condition in FIG. 21), when the remote operation device 90 is located within a predetermined range (the first range r1 in FIG. 7B) of the work vehicle 1, the changing unit 61f changes the second threshold value θ2 to a value with a larger absolute value (the changed second threshold value θ21), and when the remote operation device 90 is located outside the predetermined range of the work vehicle 1 (the second range r2 outside the first range r1 in FIG. 7B), the changing unit 61f does not change the second threshold value θ2.

[0175] FIG. 24A is a rear view of the work vehicle in a downward right posture. FIG. 24B is a rear view of the work vehicle in a downward left posture. As a predetermined condition (the third predetermined condition in FIG. 21), as shown in FIGS. 24A and 24B, when the remote operation device 90 is located within a predetermined range (the first range r1) of the work vehicle 1 and on the uphill side of the work vehicle 1 (when the remote operation device 90 is at position US1), the changing unit 61f changes the second threshold value θ2 to a value with a larger absolute value (the changed second threshold value θ21). On the other hand, as shown in FIGS. 24A and 24B, when the remote operation device 90 is located within a predetermined range (the first range r1) of the work vehicle 1 and on the downhill side of the work vehicle 1 (when the remote operation device 90 is at position DS1), the changing unit 61f does not change the second threshold value θ2.

[0176] Further, as a predetermined condition (the fourth predetermined condition in FIG. 21), the changing unit 61f changes the second threshold value θ2 based on the type of the working device 2. For example, as a predetermined condition, when the type of the working device 2 is a contact type that performs work in contact with the ground, the changing unit 61f changes the second threshold value θ2 to a value with a larger absolute value (the changed second threshold value θ21), and when the type of the working device 2 is a non-contact type that performs work without contacting the ground, the changing unit 61f does not change the second threshold value θ2. Also, as a predetermined condition, when the type of the working device 2 is a traveling type having wheels or crawlers, the changing unit 61f changes the second threshold value θ2 to a value with a larger absolute value (the changed second threshold value θ21), and when the type of the working device 2 is a separation type in which the center of gravity is higher than a predetermined position and does not contact the ground, the changing unit 61f does not change the second threshold value θ2.

[0177] FIG. 25A is a side view of the work vehicle facing an uphill gradient. FIG. 25B is a side view of the work vehicle facing a downhill gradient. FIG. 26A is a rear view of the work vehicle in a downward right posture. FIG. 26B is a rear view of the work vehicle in a downward left posture.

[0178] When the changing unit 61f is in a predetermined condition (the fifth predetermined condition in FIG. 21), when the working device 2 is in a posture inclined in the front-rear direction (see FIGS. 25A and 25B), the second threshold value θ2 is changed to a value with a large absolute value (the changed second threshold value θ21), and when the working device 2 is in a posture inclined in the left-right direction (see FIGS. 26A and 26B), the second threshold value θ2 is not changed.

[0179] Also, when the changing unit 61f is in a predetermined condition (the sixth predetermined condition in FIG. 21), when there is a change operation by the remote driver, the second threshold value θ2 is changed to a value with a large absolute value (the changed second threshold value θ21), and when there is a return operation by the remote driver, it returns to the original second threshold value θ2.

[0180] The control device 60 includes a remote travel permission unit 61g. If the inclination angle θ of the work vehicle 1 is less than the second threshold value θ2 changed by the changing unit 61f, the remote travel permission unit 61g permits the travel of the inclined work vehicle 1 by remote operation with the remote operation device 90.

[0181] For example, the storage device 65 further stores various control programs (setting programs, changing programs, travel permission programs, etc.), various data, etc. The aforementioned processor of the control device 60 functions as the setting unit 61e, the changing unit 61f, and the remote travel permission unit 61g by executing the setting program, the changing program, and the travel permission program stored in the storage device 65, respectively.

[0182] When the restricting unit 61d causes the inclined work vehicle 1 to travel by remote operation with the remote operation device 90, the restricting unit 61d restricts the operation content of the inclined work vehicle 1. FIG. 22 is a diagram showing an example of restricting the operation content of the work vehicle and the working device according to the second embodiment.

[0183] The memory device 65 stores correspondence data that associates restriction data indicating restrictions on the operation contents of the work vehicle 1 and the work device 2 shown in FIG. 22 with a flag that is turned on if the restriction is valid and turned off if it is invalid. As shown in FIG. 22, this correspondence data associates five pieces of restriction data (that is, the vehicle speed of the work vehicle 1, the acceleration of the work vehicle 1, the shift of the work vehicle 1, the steering of the work vehicle 1, and five indicating restrictions on the operation contents of the work device 2) with a flag for each of these five pieces of data.

[0184] In FIG. 22, since all five flags are on, the vehicle speed, acceleration, shift, steering of the work vehicle 1 in the inclined state, and all of the operation contents of the work device 2 are restricted. If only the flag corresponding to the restriction on the vehicle speed of the work vehicle 1 is on and the other flags are off, only the restriction on the vehicle speed of the work vehicle 1 is applied.

[0185] Specifically, the restriction unit 61d restricts at least one of the vehicle speed, acceleration, shift, steering of the work vehicle 1 in the inclined state, and the operation contents of the work device 2. Further, when restricting the steering, the restriction unit 61d restricts the steering angle of the steering based on the inclination angle θ of the work vehicle 1 and the traveling direction of the work vehicle 1. Specifically, when steering the work vehicle 1 by remote operation using the remote operation device 90, the restriction unit 61d restricts the upper limit steering angle of the steering for which the centrifugal force of the work vehicle 1 acts on the downhill side relative to the work vehicle 1.

[0186] As shown in FIG. 24A, when the right side of the work vehicle 1 is the downhill side and the left side of the work vehicle 1 is the uphill side, when steering to the left, the centrifugal force of the work vehicle 1 acts on the downhill side, so the restriction unit 61d restricts the upper limit steering angle of the left steering angle to a value GR1 smaller than the upper limit value GR. Conversely, when steering to the right, the centrifugal force of the work vehicle 1 does not act on the downhill side, so the restriction unit 61d leaves the upper limit steering angle of the right steering angle unchanged at the upper limit value GL without restricting it.

[0187] When the right side of the work vehicle 1 is on the uphill side and the left side of the work vehicle 1 is on the downhill side as shown in FIG. 24B, when steering to the right, the centrifugal force of the work vehicle 1 acts on the downhill side. Therefore, the restricting unit 61d restricts the upper limit steering angle of the right steering angle to a value GL1 smaller than the upper limit value GL. On the contrary, when steering to the left, the centrifugal force of the work vehicle 1 does not act on the downhill side. Therefore, the restricting unit 61d leaves the upper limit steering angle of the left steering angle as the upper limit value GR without restriction.

[0188] FIG. 23 is a diagram showing an example of the restriction content of the second embodiment. The storage device 65 stores data indicating the restriction content shown in FIG. 23.

[0189] As shown in FIG. 23, the speed limit of the work vehicle 1 is, for example, restricted to a second specified speed v2 smaller than the first specified speed v1. The acceleration limit of the work vehicle 1 is, for example, restricted to a second specified acceleration a2 smaller than the first specified acceleration a1. The shift limit of the work vehicle 1 is to maintain the first gear (that is, a shift from the first gear to the second gear is not possible). The steering limit of the work vehicle 1 is, for example, to restrict the upper limit steering angle of the steering in which the centrifugal force acts on the downhill side of the work vehicle 1. The restriction on the operation content of the work implement 2 is, for example, to make the operation by the work implement 2 impossible or to restrict the operation content.

[0190] FIG. 20 is a flowchart showing the operation of the work vehicle according to the second embodiment. S1 to S4 in FIG. 20 are the same as S1 to S4 in FIG. 8B. Therefore, S31 to S41 in FIG. 20 will be described below.

[0191] The control device 60 determines whether or not it is in the automatic driving state (S31). When the control device 60 determines that it is in the automatic driving state (S31: YES), it checks whether the work vehicle 1 and the work implement 2 have reached the goal position Pg (FIG. 3 etc.) (S32).

[0192] When the work vehicle 1 and the work implement 2 reach the goal position Pg (S32: YES), the control device 60 stops the running of the work vehicle 1 and the farming work by the work implement 2 (S34), and ends this process.

[0193] On the other hand, if the work vehicle 1 and the work device 2 have not reached the goal position Pg (S32: NO), the control device 60 determines whether or not the inclination angle θ of the work vehicle 1 is equal to or greater than the first threshold value θ1 (S33).

[0194] When the inclination angle θ of the work vehicle 1 is equal to or greater than the first threshold value θ1 (S33: YES), the control device 60 stops the travel of the work vehicle 1 (S34). At this time, the control device 60 may stop the agricultural work by the work device 2.

[0195] On the other hand, when the inclination angle θ of the work vehicle 1 is less than the first threshold value θ1 (S33: NO), the control device 60 returns to the process of S31.

[0196] Also, in S31, when the control device 60 determines that it is not in the automatic driving state (S31: NO), it checks whether or not it is in the inclined state (S35). When it is not in the inclined state (S35: NO), the control device 60 returns to the process of S31.

[0197] When the control device 60 determines that it is in the inclined state (S35: YES), it checks whether or not a predetermined condition is satisfied (S36). When it is determined that the predetermined condition is satisfied (S36: YES), the control device 60 changes the second threshold value θ2 (S37). On the other hand, when the control device 60 determines that the predetermined condition is not satisfied (S36: NO), it does not change the second threshold value θ2 (S38).

[0198] After S37 or after S38, the restriction unit 61d of the control device 60 restricts the operation content as shown in FIG. 23 (S39).

[0199] The control device 60 determines whether or not the inclination angle θ of the work vehicle 1 is equal to or greater than the second threshold value θ2 (S40). When the inclination angle θ of the work vehicle 1 is equal to or greater than the second threshold value θ2 (S40: YES), the control device 60 stops the travel of the work vehicle 1 (S41). At this time, the control device 60 may stop the agricultural work by the work device 2.

[0200] On the other hand, when the inclination angle θ of the work vehicle 1 is less than the second threshold value θ2 (S40: NO), the control device 60 returns to the process of S31.

[0201] The main characteristic items and effects of the work vehicle 1 in the first embodiment described above are as follows.

[0202] (Item B1) In the work vehicle 1 capable of automatic driving including performing work on the farm field H with the work device 2, a setting unit 61e that sets a first threshold value θ1 during the automatic driving and a second threshold value θ2 during remote driving by the remote operation device 90, and when the inclination angle θ of the work vehicle 1 reaches the first threshold value θ1 during the automatic driving or the second threshold value θ2 during the remote driving, a control device 60 that stops the running of the work vehicle 1. The work vehicle 1 is provided with.

[0203] According to this configuration, when the inclination angle θ of the work vehicle 1 during automatic driving reaches the inclination state of the first threshold value θ1, the running of the work vehicle 1 is stopped, so that the work vehicle 1 can be prevented from tipping over during automatic driving. Further, when the inclination angle θ of the work vehicle 1 during remote driving reaches the inclination state of the second threshold value θ2, the running of the work vehicle 1 is stopped, so that the work vehicle 1 can be prevented from tipping over during remote driving. Therefore, it is possible to ensure the operability while appropriately preventing the work vehicle 1 from tipping over in both automatic driving and remote driving.

[0204] (Item B2) The work vehicle 1 according to Item B1, wherein the absolute value of the second threshold value θ2 is larger than the absolute value of the first threshold value θ1.

[0205] According to this configuration, the running of the work vehicle 1 in an inclined state can be continued during remote driving rather than during automatic driving.

[0206] (Item B3) The work vehicle 1 according to Item B1, wherein the absolute value of the first threshold value θ1 is larger than the absolute value of the second threshold value θ2.

[0207] According to this configuration, the running of the work vehicle 1 in an inclined state can be continued during automatic driving rather than during remote driving.

[0208] The work vehicle 1 according to item B2, comprising a changing unit 61f that changes the second threshold value θ2 based on a predetermined condition.

[0209] According to this configuration, since the second threshold value θ2 during remote operation is changed based on a predetermined condition, the second threshold value θ2 during remote operation can be appropriately corresponded, remote operation can be flexibly performed, and fall prevention during remote operation can be appropriately performed.

[0210] The work vehicle 1 according to item B3, comprising a changing unit 61f that changes the first threshold value θ1 based on a predetermined condition.

[0211] According to this configuration, since the first threshold value θ1 during automatic operation is changed based on a predetermined condition, the first threshold value θ1 during automatic operation can be appropriately corresponded, automatic operation can be flexibly performed, and fall prevention during automatic operation can be appropriately performed.

[0212] The work vehicle 1 according to item B4, comprising a remote driving permission unit 61g that permits the running of the work vehicle 1 in an inclined state by remote operation by the remote operation device 90 if the inclination angle θ of the work vehicle 1 is less than the second threshold value θ2 changed by the changing unit 61f.

[0213] According to this configuration, when the inclination angle θ of the work vehicle 1 during automatic operation reaches the inclination state where it reaches the first threshold value θ1, the running of the work vehicle 1 is stopped, so that the fall of the work vehicle 1 during automatic operation can be prevented. That is, the premise configuration of preventing the fall of the work vehicle 1 during automatic operation can be ensured. On the other hand, when the second threshold value θ2 is determined to be a relaxation of a threshold value with a large absolute value, the work vehicle 1 in an inclined state can be run by remote operation by the remote operation device 90. That is, the remote operator can run the work vehicle 1 while confirming the inclined state of the work vehicle 1. For this reason, it is possible to prevent falling during automatic operation, and during remote operation, it is possible to allow running by remote operation while ensuring the safety of the work vehicle 1 in an inclined state.

[0214] (Item B7) If the reception intensity of the control signal from the remote control device 90 is equal to or greater than a predetermined value as the predetermined condition, the changing unit 61f changes the second threshold value θ2 so that the absolute value becomes larger, and if it is less than the predetermined value, the work vehicle 1 according to Item B4 or B6 that does not change the second threshold value θ2.

[0215] According to this configuration, if the reception intensity of the control signal from the remote control device 90 is equal to or greater than a predetermined value, since the remote operator operating the remote control device 90 is near the work vehicle 1 (at a position less than a predetermined distance from the work vehicle 1), even if the second threshold value θ2 is changed so that the absolute value becomes larger (that is, changed to a larger value, in other words, relaxed to the second threshold value θ21 after the change of the second threshold value θ2), the remote operator can drive the work vehicle 1 in an inclined state while performing a safety check. On the other hand, if the reception intensity is less than the threshold value, since the remote operator is far away (at a position equal to or greater than a predetermined distance from the work vehicle 1), the remote operator cannot perform a sufficient safety check, so the second threshold value θ2 is not changed (that is, the second threshold value θ2 is not relaxed). Therefore, the stop of the work vehicle 1 in an inclined state can be maintained. For this reason, it is possible to ensure that the remote operator is operating near the work vehicle 1, and the safety of driving the work vehicle 1 in an inclined state can be ensured.

[0216] (Item B8) If the remote control device 90 is located within a predetermined range of the work vehicle 1 as the predetermined condition, the changing unit 61f changes the second threshold value θ2 so that the absolute value becomes larger, and if the remote control device 90 is located outside the predetermined range of the work vehicle 1, the work vehicle 1 according to Item B4, B6 or B7 that does not change the second threshold value θ2.

[0217] According to this configuration, if the remote control device 90 is located within a predetermined range (the first range r1 in FIG. 7B) of the work vehicle 1, since the remote operator who operates the remote control device 90 is near the work vehicle 1 (within the predetermined range from the work vehicle 1), even if the second threshold value θ2 is changed so that the absolute value becomes larger (that is, changed to a larger value, in other words, the second threshold value θ2 is relaxed to the changed second threshold value θ21), the remote operator can drive the work vehicle 1 in an inclined state while performing a safety check. On the other hand, if the remote control device 90 is located outside the predetermined range (the second range r2 in FIG. 7B) of the work vehicle 1, since the remote operator is far away (outside the predetermined range from the work vehicle 1), the remote operator cannot sufficiently perform a safety check, so the second threshold value θ2 is not changed (that is, the second threshold value θ2 is not relaxed). Therefore, the stop of the work vehicle 1 in the inclined state can be maintained. For this reason, it can be ensured that the remote operator is operating near the work vehicle 1, and the safety of driving the work vehicle 1 in the inclined state can be ensured.

[0218] (Item B9) The changing unit 61f, as the predetermined condition, changes the value of the second threshold value θ2 so that the absolute value becomes larger when the remote control device 90 is within the predetermined range of the work vehicle 1 and is located on the uphill side of the work vehicle 1, and does not change the second threshold value θ2 when the remote control device 90 is within the predetermined range of the work vehicle 1 and is located on the downhill side of the work vehicle 1. The work vehicle 1 according to Item B8.

[0219] According to this configuration, if the remote control device 90 is located within the predetermined range of the work vehicle 1 and on the mountain side (uphill slope side), since the remote operator who operates the remote control device 90 is near the work vehicle 1 (on the mountain side within the predetermined range from the work vehicle 1), even if the second threshold value θ2 is changed so that the absolute value becomes larger (that is, changed to a larger value, in other words, the second threshold value θ2 is relaxed to the changed second threshold value θ21), the remote operator can drive the work vehicle 1 in an inclined state while performing a safety check, and moreover, can surely ensure personal safety. On the other hand, if the remote control device 90 is located within the predetermined range of the work vehicle 1 but on the valley side (downhill slope side), personal safety cannot be ensured, so the second threshold value θ2 is not changed (that is, the second threshold value θ2 is not relaxed). Therefore, the stop of the work vehicle 1 in an inclined state can be maintained. For this reason, it can be ensured that the remote operator is operating near the work vehicle 1, the safety of driving the work vehicle 1 in an inclined state can be ensured, and the personal safety of the remote operator can be ensured.

[0220] (Item B10) The changing unit 61f is the work vehicle 1 described in any one of Items B4, B6 to B9 that changes the second threshold value θ2 based on the type of the work device 2 as the predetermined condition.

[0221] According to this configuration, since the second threshold value θ2 is changed according to the type of the work device 2, it is possible to prevent the work vehicle 1 from tipping over in consideration of the work device 2.

[0222] (Item B11) The changing unit 61f is the work vehicle 1 described in Item B10 that, as the predetermined condition, changes the value of the second threshold value θ2 so that the absolute value becomes larger if the type of the work device 2 is a contact type that performs work in contact with the ground, and does not change the second threshold value θ2 if the type of the work device 2 is a non-contact type that performs work without contacting the ground.

[0223] According to this configuration, if the type of the working device 2 is a contact type that performs work in contact with the ground, the work vehicle 1 equipped with the contact type working device 2 has a more stable posture than the work vehicle 1 equipped with the non-contact type working device 2. Therefore, the second threshold value θ2 can be changed so that the absolute value becomes larger (that is, changed to a larger value, in other words, the second threshold value θ2 is relaxed to the changed second threshold value θ21), and the running safety of the work vehicle 1 in an inclined state can be ensured.

[0224] (Item B12) The changing unit 61f, as the predetermined condition, changes the value of the second threshold value θ2 so that the absolute value becomes larger if the type of the working device 2 is a traveling type having wheels or crawlers, and does not change the second threshold value θ2 if it is a separation type in which the center of gravity is higher than a predetermined position and is not in contact with the ground. The work vehicle 1 according to Item B10.

[0225] According to this configuration, if the type of the working device 2 is a traveling type having wheels or crawlers, the work vehicle 1 equipped with the traveling type working device 2 has a more stable posture than the work vehicle 1 equipped with the separation type working device 2. Therefore, the second threshold value θ2 can be changed so that the absolute value becomes larger (that is, changed to a larger value, in other words, the second threshold value θ2 is relaxed to the changed second threshold value θ21), and the running safety of the work vehicle 1 in an inclined state can be ensured.

[0226] (Item B13) The changing unit 61f, as the predetermined condition, changes the value of the second threshold value θ2 so that the absolute value becomes larger when the working device 2 is in a posture inclined in the front-rear direction, and does not change the second threshold value θ2 when the working device 2 is in a posture inclined in the left-right direction. The work vehicle 1 according to any one of Items B4, B6 to B12.

[0227] According to this configuration, when the working device 2 is in a posture inclined in the front-rear direction, the risk of tipping is low, so the second threshold value θ2 can be changed so that the absolute value becomes larger (that is, changed to a larger value, in other words, the second threshold value θ2 is relaxed to the second threshold value θ21 after the change). On the other hand, when the working device 2 is in a posture inclined in the left-right direction, there is a risk of tipping compared to the posture inclined in the front-rear direction, so the second threshold value θ2 is not changed (that is, the second threshold value θ2 is not relaxed). Therefore, the stopped state of the work vehicle 1 in the inclined state can be maintained. For this reason, the traveling safety of the work vehicle 1 in the inclined state can be ensured.

[0228] (Item B14) The work vehicle 1 according to any one of Items B1 to B13, comprising a limiting unit 61d that limits the operation content of the work vehicle 1 in the inclined state when the work vehicle 1 in the inclined state is caused to travel by remote operation by the remote operation device 90.

[0229] According to this configuration, since the operation content of the work vehicle 1 in the inclined state is limited, the traveling of the work vehicle 1 in the inclined state by remote operation by the remote operation device 90 can be performed more safely.

[0230] (Item B15) The work vehicle 1 according to Item B14, wherein the limiting unit 61d limits at least one of the vehicle speed, acceleration, shifting, steering, and operation content of the working device 2 of the work vehicle 1 in the inclined state.

[0231] According to this configuration, when the work vehicle 1 is in a tipping state, at least one of the vehicle speed, acceleration, shifting, steering, and operation content of the working device 2 of the work vehicle 1 is limited, so the traveling safety of the work vehicle 1 in the inclined state can be ensured.

[0232] (Item B16) The work vehicle 1 according to Item B15, wherein when the limiting unit 61d limits the steering, the steering angle of the steering is limited based on the inclination angle θ of the work vehicle 1 and the traveling direction of the work vehicle 1.

[0233] According to this configuration, since the steering angle is restricted based on the tilt angle θ of the work vehicle 1 and the traveling direction of the work vehicle 1, the steering of the work vehicle 1 in a tilted state can be performed safely.

[0234] (Item B17) When the work vehicle 1 is steered by remote operation using the remote operation device 90, the limiting unit 61d restricts the upper limit steering angle of the steering in which the centrifugal force of the work vehicle 1 acts on the downhill side of the work vehicle 1. The work vehicle 1 described in Item B16.

[0235] According to this configuration, since the upper limit steering angle of the steering in which the centrifugal force of the work vehicle 1 acts on the valley side (downhill side) of the work vehicle 1 is restricted, it is possible to prevent the work vehicle 1 from tipping over due to the centrifugal force.

[0236] (Item B18) As the predetermined condition, the changing unit 61f changes the value of the second threshold θ2 so that the absolute value becomes larger when there is a change operation by the remote driver, and returns to the original second threshold θ2 when there is a return operation by the remote driver. The work vehicle 1 according to any one of Items B4, B6 to B17.

[0237] According to this configuration, if there is a change operation by the remote driver, the value of the second threshold θ2 is changed so that the absolute value becomes larger (that is, changed to a larger value, in other words, the second threshold θ2 is relaxed to the changed second threshold θ21), so that the second threshold θ2 can be changed as appropriate. Further, when there is a return operation by the remote driver, it returns to the original second threshold θ2, so that the second threshold θ2 can be returned as appropriate.

[0238] In the above-described first and second embodiments and the first modification, the remote operation device 90 is, for example, a remote controller, but is not limited thereto. For example, the remote operation device 90 may be a tablet terminal device or a smartphone. Further, the portable terminal 50 may also serve as the remote operation device 90.

[0239] As described above, the present invention has been explained. However, it should be considered that all aspects of the disclosed embodiments are illustrative and not restrictive. The scope of the present invention is indicated not by the above description but by the claims, and it is intended that all modifications within the meaning and scope equivalent to the claims be included.

Explanation of Signs

[0240] 1 Work vehicle 2 Working device 60 Control device 61a Cross-border prevention control unit 61b Determination unit 61c Cross-border permission unit 61d Restriction unit 61e Setting unit 61f Change unit 61g Remote travel permission unit 90 Remote operation device θ1 First threshold value θ2 Second threshold value

Claims

1. In a work vehicle capable of automatic driving, including performing work on a farm field using a work implement, A border crossing prevention control unit that prohibits the work vehicle from crossing a boundary line of the field; a determination unit that determines whether or not to permit the work vehicle, which is remotely operated by a remote operation device, to cross the boundary line; a border crossing permission unit that permits the border crossing state when the determination unit determines that the border crossing state is permitted; A limiting unit that limits the operation content of the work vehicle in the border crossing state; A work vehicle equipped with:

2. The work vehicle according to claim 1 , wherein the determination unit determines that the border crossing state is permitted if the vehicle speed of the work vehicle is less than a specified value, and determines that the border crossing state is not permitted if the vehicle speed is equal to or greater than the specified value.

3. The work vehicle according to claim 1 , wherein the determination unit determines that the border crossing state is permitted if the reception strength of the control signal from the remote control device is equal to or greater than a predetermined value, and determines that the border crossing state is not permitted if the reception strength is less than the predetermined value.

4. The work vehicle according to claim 1, wherein the determination unit determines that the border crossing state is permitted if the position indicated by the position information of the remote control device is within a predetermined range of the work vehicle, and determines that the border crossing state is not permitted if the position indicated by the position information of the remote control device is outside the predetermined range of the work vehicle.

5. The work vehicle according to claim 1 , wherein the determination unit determines that the border crossing state is permitted if the work implement is not in operation, and determines that the border crossing state is not permitted if the work implement is in operation.

6. The work vehicle according to claim 1 , wherein the determination unit determines whether the border crossing state is permitted or not based on a type of the work implement.

7. The work vehicle according to claim 6, wherein the determination unit determines that the border crossing state is permitted if the type of the work implement is a non-contact type that performs work without contacting the ground, and determines that the border crossing state is not permitted if the type of the work implement is a contact type that performs work by contacting the ground.

8. The work vehicle according to claim 1 , wherein the determination unit determines whether the border crossing state is permitted or not based on a height of the work implement.

9. a setting unit that sets permission or non-permission of the border crossing state in response to a selection operation by a user; The work vehicle according to claim 1 , wherein the determination unit determines that the border crossing state is permitted when the permission is set in the setting unit, and determines that the border crossing state is not permitted when the prohibition is set in the setting unit.

10. The work vehicle according to claim 1 , wherein the determination unit determines whether or not to permit a border crossing state in which the work vehicle, which has been switched from the automatic driving mode to remote driving by the remote control device, crosses the boundary line.

11. The work vehicle according to any one of claims 1 to 10, wherein the determination unit, when detecting the switch to remote operation, determines whether or not to permit the border crossing state.

12. A positioning device for detecting the position of the work vehicle; a storage device that pre-stores a farm field map including position information of the farm field and the boundary line, A work vehicle as described in any one of claims 1 to 10, wherein the judgment unit judges whether or not to permit the border crossing state when the position of the work vehicle detected by the positioning device is in front of the boundary line stored in the memory device.

13. The work vehicle according to any one of claims 1 to 10, wherein the restriction unit restricts at least one of the vehicle speed, acceleration, gear shifting, border crossing range of the work vehicle, and operation of the work device of the work vehicle in the border crossing state.

14. The work vehicle according to claim 13 , wherein the restriction unit changes restrictions on operation details of the work vehicle in the border crossing state based on a topographical condition of the field and a traveling direction of the work vehicle.

15. The work vehicle according to claim 14, wherein the restriction unit relaxes or strengthens restrictions on the operation of the work vehicle in the border crossing state based on the inclination angle and inclination direction of the field as the topographical condition of the field and the traveling direction of the work vehicle.

16. An acquisition unit that acquires ridge information indicating a ridge of the field, The work vehicle according to any one of claims 1 to 10, wherein the determination unit determines whether or not to permit the border crossing state based on the ridge information acquired by the acquisition unit.

17. The work vehicle according to any one of claims 1 to 10, wherein the border crossing permission unit, when permitting the border crossing state, sets another boundary line by shifting the position of the boundary line, and determines whether to permit the border crossing state in which the work vehicle crosses the other boundary line.

18. a storage device that prestores a field map including the field, a driving route for automatic driving in the field, and position information of the boundary line; A work vehicle as described in any one of claims 1 to 10, wherein the judgment unit, when switching from the automatic driving to the remote driving, uses the boundary line of the field map used in the automatic driving to determine whether or not to allow the work vehicle to cross the boundary line.

19. a storage device that prestores a field map including the field, a driving route for automatic driving in the field, and position information of the boundary line; The work vehicle according to any one of claims 1 to 10, wherein the determination unit permits the border crossing state when the field map is not selected.

20. An obstacle sensor for detecting an obstacle; A work vehicle according to any one of claims 1 to 10, comprising a control device that stops the work vehicle when the obstacle sensor detects an obstacle, even if the determination unit permits the border crossing state.

Images