Working vehicle

Abstract

To provide a working vehicle that achieves good operability while appropriately preventing the overturning of the working vehicle both in automatic operation and remote operation.SOLUTION: There is provided a working vehicle 1 which can perform automatic operation including doing work at an agricultural field using a working device 2. The working vehicle 1 includes: a setter 61e configured to set a first threshold θ1 for the automatic operation and a second threshold θ2 for remote operation controlled by a remote controller 90; and a controller 60 configured to cause the working vehicle 1 to stop traveling if a tilt angle of the working vehicle 1 reaches the first threshold θ1 during the automatic operation or the second threshold θ2 during the remote operation.SELECTED DRAWING: Figure 18

Description

Technical Field

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

Background Art

[0002] The overturn prevention system of the work vehicle disclosed in Patent Document 1 includes an inclination angle sensor that detects the inclination angle in the vehicle width direction of the vehicle, a vehicle speed sensor that detects the vehicle speed, a position detection unit that detects the position of the vehicle, and a control unit that automatically drives the vehicle according to the stored planned travel route. The control unit sets a predetermined inclination angle smaller as the vehicle speed increases, and executes overturn prevention control to stop the vehicle when the inclination angle becomes equal to or greater than the predetermined inclination angle in the case of automatic driving, and does not execute overturn prevention control in the case of manual driving. Further, the control unit executes the same overturn prevention control as in automatic driving also in the case of remote operation by a remote operation device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Since the overturn prevention system of the work vehicle of Patent Document 1 executes overturn prevention control in the case of automatic driving or remote operation, even if the work vehicle stopped in an inclined posture by the overturn prevention control during automatic driving is switched to remote operation, the overturn prevention control is effective and thus remote operation is not possible, and there is a problem that the operability of remote operation is poor. In this case, it is necessary for the user to board the work vehicle and move the work vehicle by manual driving.

[0005] Therefore, in view of the above problems, an object of the present invention is to provide a work vehicle that can appropriately prevent the overturn of the work vehicle and ensure the operability in automatic driving and remote operation.

Means for Solving the Problems

[0006] The technical means of the present invention for solving the above technical problems are 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 farm field with a work device. The work vehicle includes a setting unit that sets a first threshold value during the automatic driving and a second threshold value during remote driving by a remote operation device, and a control device that stops the running of the work vehicle when the inclination angle of the work vehicle reaches the first threshold value during the automatic driving or the second threshold value during the remote driving.

Advantages of the Invention

[0007] According to the present invention, it is possible to ensure the operability while appropriately preventing the overturning of the work vehicle in both automatic driving and 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 agricultural work.

[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 the tire type or the crawler type. Also, the rear wheels 7R of the traveling device 7 may be of the tire type or the crawler type. The prime mover 4 is composed of a diesel engine or an electric motor, etc. 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 when the traveling device 7 is driven, the traveling vehicle body 3 travels forward and backward. 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, etc. is provided at the rear of the traveling vehicle body 3. The connecting device 8 connects the working device 2 for performing agricultural work to the traveling vehicle body 3. Specifically, by connecting the working device 2 to the connecting parts 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 work on the field. In this example, the working device 2 includes, for example, a tilling device (rotary tiller) for performing tilling work on the field, a stubble cultivation device for performing rough tillage, a subsoiling device (drive harrow) for performing subsoiling, a spraying device for spraying fertilizers or pesticides, etc., a seeding device for sowing seeds, a transplanting device for transplanting seedlings, and a harvesting device for performing 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 assist in performing agricultural work by the work device 2 while the work vehicle 1 travels in the 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 wirelessly communicates 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 seated 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, and the like. The storage device 65 is, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like.

[0018] The operating 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 an operation position corresponding to the operation.

[0019] The modes of the work vehicle 1 that can be selected 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 the work vehicle 1 (traveling vehicle body 3) travels by automatic driving while performing agricultural work (ground work) with the work device 2. 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 agricultural work (ground work) is performed with the work device 2 while automatically steering the traveling vehicle body 3. When the work vehicle 1 is in the automatic steering work mode, the driver of the work vehicle 1 operates the accelerator member or the brake member included in the operating device 62, and 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 a manual operation.

[0020] In addition, the work vehicle 1 can also travel by manual operation, and can perform ground operations with the work device 2 during such travel. The manual operation of the work vehicle 1 means that the driver operates the accelerator member or the brake member of the operation device 62 to change the traveling speed of the traveling vehicle body 3, and operates the steering wheel 30 to steer the traveling vehicle body 3. 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 traveling work mode, the automatic steering work mode, or the remote operation mode described later.

[0021] The prime mover 4 (engine) is controlled for 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, the number of control valves 37 is appropriately set according to the number of hydraulic devices such as hydraulic clutches or hydraulic cylinders provided in the transmission 5.

[0022] The braking device 6 is connected to the control valve 38. The control valve 38 is an electromagnetic 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 to apply a brake to the traveling vehicle body 3 by electrically controlling the switching position and the opening degree of the control valve 38.

[0023] The control device 60 electrically controls the switching position (opening degree) of the control valve 37 to control the driving 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 forward and backward. Also, for example, when the work device 2 performs ground operations, the transmission 5 transmits the driving force of the prime mover 4 to the work device 2. As a result, the operating force of the work device 2 increases.

[0024] In addition, 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 work). Further, the control unit 21 of the working device 2 transmits information or data indicating the work state etc. to the control device 60 via the in-vehicle network N1 by the communication unit 22. The control device 60 detects the work 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] 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. However, as will be described later, the control device 60 controls the operation of the working device 2 and detects the work state etc. of the working device 2 by raising and lowering the working device 2 by the connecting device 8 and changing the position of the working device 2.

[0026] The steering device 29 has a steering wheel (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 wheel 7F.

[0028] The control valve 34 can also be switched by steering 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 the expansion and contraction operation of the steering cylinder 35, the steering direction of the front wheel 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 perform manual steering by manually operating the steering wheel 30 and automatic steering by the control device 60. Further, according to the 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, according 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. In addition, the control device 60 expands and contracts the steering cylinder 35 by controlling the control valve 34, and the steering direction of the front wheel 7F is changed by the knuckle arm 39. That is, in the work vehicle 1, manual driving in which the user (driver) performs a traveling operation and a steering operation, automatic driving in which the control device 60 automatically performs traveling and steering, and 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 driving) are each possible.

[0030] Figure 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 of the lift arm 8a is swingably supported above or below the upper rear part 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 of the lower link 8b shown in Fig. 2 is swingably supported above or below the lower rear part of the transmission 5 (Figs. 1 and 17). The front end of the top link 8c is swingably supported above or below the rear part of the transmission 5 above the lower link 8b. The lift rod 8d connects the lift arm 8a and the lower link 8b. Connecting parts 8g, 8h to which the working device 2 can be connected are provided at the rear ends 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. By 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. As a result, the working device 2 swings (moves up and down) above or below with the front part (opposite side to the connecting parts 8g, 8h) of the lower link 8b as a fulcrum.

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

[0034] The positioning device 40 shown in FIG. 1 has a receiving device 40a and an inertial measurement unit 40b (IMU). The receiving device 40a receives satellite signals (position of positioning satellites, transmission time, correction information, etc.) transmitted from satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Beidou, Galileo, and 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 has 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] In addition, the detection device 64 includes sensors, cameras, and electric circuits that process output signals from the sensors or cameras installed in each part of the work vehicle 1 and the work device 2. Based on the output signals from these sensors and the like, 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, the braking device 6, the traveling device 7, the coupling device 8, the steering device 29, and the 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 and the like. The detection device 64 also 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, but 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 near 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. In this example, the area setting unit 51b and the route creation unit 51c are composed of software programs, but in other examples, they may be composed of hardware such as semiconductor elements or electric circuits such as ASICs.

[0038] The display operation unit 52 is composed of a touch panel and displays various information on the screen. Also, various inputs can be made by performing a predetermined operation on the display screen of the display operation unit 52. 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. Alternatively, 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 also 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 confirmed, the area setting unit 51b sets a predetermined area on the map indicating the field H. Also, the route creation unit 51c creates a travel 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 the central area C1 and the 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 work implement 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 work implement 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. Further, 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 the 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 implement 2, the working conditions, or the automatic driving information. Specifically, the route creation unit 51c divides the central area C1 by separating it from 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 implement 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 in the headland area E1 that connects adjacent straight travel routes L1a. The turning route L1b is a route from one of 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 implement 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 being easily displayed on the display screen of the display operation unit 52 or easily visually recognized the travel route L1 on the display screen. When the traveling vehicle body 3 and the work implement 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 runs the traveling vehicle 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 vehicle body 3 at a location corresponding to the turning route L1b, that is, when turning the traveling vehicle 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 vehicle 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 vehicle body 3 straight by automatic driving.

[0045] Further, 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 circles 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 vehicle 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. Also when creating the turning route L1r, the route creation unit 51c secures a turning space for turning the traveling vehicle body 3 and the work device 2 of the work vehicle 1 in the pillow area E1.

[0047] FIG. 3 illustrates, for the sake of convenience, a simple arc-shaped turning route L1b. 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 locus having 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 both ends of the straight route 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 information indicating the central area C1, the headland area E1, the travel 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 travel 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 travel route L1, the start position Ps, and the goal position Pg. After that, when the user performs a predetermined operation on the display operation unit 52, the control unit 51 causes the display operation unit 52 to display the travel control screen D8 shown in FIG. 4. Further, the control unit 51 generates automatic travel data based on the setting information stored in the internal memory, and transmits (outputs) the automatic travel 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. In addition, 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 that displays 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 since 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 work trajectory key B22, and a trajectory clear key B23. The control unit 51 acquires the position of the actual traveling vehicle body 3 detected by the positioning device 40 at a predetermined cycle through the communication unit 54, and displays the agricultural machine mark X2 at the corresponding location on the field map MP2 according to the position of the traveling vehicle body 3 at any time. 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 manually driving the work vehicle 1 to the start position Ps, a predetermined operation for switching to the automatic driving work mode is performed with the mode switch 62a (FIG. 1). Thereby, the control device 60 switches 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 operation 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 travel route L1 (working route L1a, L1s), the start position Ps, and the goal position Pg. Then, based on the straight route L1a of the travel route L1 from the start position Ps, the control device 60 causes the working device 2 to perform ground work while automatically driving the traveling vehicle body 3. When the traveling vehicle body 3 (working vehicle 1) reaches the end of one straight route L1a, the control device 60 temporarily stops the ground work by the working device 2, raises the working device 2, and turns the traveling vehicle body 3 toward the start of the adjacent other straight 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 route L1a, the dimensional 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 of the other straight route L1a, the control device 60 lowers the working device 2 and resumes the ground work by the working device 2 when starting to automatically drive the traveling vehicle body 3 based on the other straight route L1a. As a result, the traveling vehicle body 3 reciprocally travels straight through the central area C1 by automatic driving, and the ground work 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, the pillow 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. As a result, the traveling vehicle body 3 automatically travels around the outside of the central area C1, and the working device 2 performs ground work on the pillow ground 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 (working 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 farming 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 to remotely drive and remotely stop 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 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 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 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 of the remote control device 90 is on and the sixth button 90f is long-pressed, the power of the remote control device 90 is turned off.

[0062] The first button 90a is a button for moving the work vehicle 1 forward when pressed simultaneously 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 during remote operation.

[0063] The second button 90b is a button for moving the work vehicle 1 backward when pressed simultaneously 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 during remote operation.

[0064] The third button 90c is a button for turning the work vehicle 1 to the left when pressed simultaneously 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 during remote operation. Also, when the pressing operation of the third button 90c stops, 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 by 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 by 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 of the work vehicle 1 in the remote operation mode starts in remote operation. 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 of the work vehicle 1 in the remote operation mode ends in remote operation.

[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 indicates that the display color is green if the work vehicle 1 is in the remote operation mode, the light goes out if it is not in the remote operation mode, and the display color is red 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 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 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 the determination unit 61b determines permission, and a restriction unit 61d that restricts the operation contents 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, the determination program, the permission program, and the 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 each 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) of 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) of 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 to a position at a distance 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 be different 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 becomes a position closer to 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 that the cross-border state is permitted if the vehicle speed of the work vehicle 1 is less than the specified value, and determines that the cross-border state is not permitted 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 the cross-border state 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 the cross-border state 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 the cross-border state 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 the cross-border state 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 the cross-border state is permitted if the work device 2 is not in operation, and determine that the cross-border state 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 operating state of the work device 2 detected by the detection device 64.

[0079] The determination unit 61b determines permission and non-permission of the cross-border state based on the type of the work device 2. The determination unit 61b determines that the cross-border state 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 the cross-border state 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 the cross-border state based on the height of the work device 2.

[0080] Note that when the determination unit 61b detects a switch to remote operation, it may determine whether to permit the cross-border 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 cross-border state on the premise that the switch to remote operation has been detected. 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 cross-border state, the cross-border range of the work vehicle 1, and the operation content of the work implement 2.

[0082] The control device 60 includes a setting unit 61e that sets permission or non-permission of the cross-border state according to the user's selection operation. For example, the aforementioned 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 cross-border state is permitted when permission is set in the setting unit 61e, and determines that the cross-border state is not permitted when non-permission is set in the setting unit 61e.

[0083] FIG. 8A and FIG. 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 implement 2 from the type of the work implement 2 included in the automatic driving data. Then, the control device 60 positions the work implement 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 conveyance of the tilling device 2A or the like, the control device 60 raises the tilling device 2A by the connecting device 8 to separate the tilling claws 2g from the soil K2 of the field H and positions it at the non-working position P2 where tilling work cannot be performed as shown in FIG. 14A. 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 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] Further, when the farming operation is a rough tillage operation and the working device 2 connected to the work vehicle 1 as shown in Fig. 16A is a rough tillage device 2C, the control device 60, as shown in Fig. 16B, lowers the rough tillage device 2C by the connecting device 8 (lifting device) to bring the working claws 2n of the rough tillage device 2C into contact with the soil K2 and positions it 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, as shown in Fig. 16A, raises the rough tillage device 2C by the connecting device 8 (lifting device) to separate the working claws 2n from the soil K2 and positions it at the non-working position P4 where the rough tillage operation cannot be performed.

[0088] Also, when performing farming operations such as seeding and watering, the control device 60 positions the working device 2 (such as a seeding device and a watering device) for performing the farming 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 divided 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, 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 farming 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 farming 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 farming operation by the working device 2 while running along the working route L1s formed in the re-inner peripheral headland 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 front position FP 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 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 front position FP of the boundary line BD (S6: YES), the determination unit 61b of the control device 60 determines whether the cross-border permission conditions are met 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 met.

[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 (the second range r2 in FIG. 7B) outside the predetermined range (the 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 (the 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 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 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 cross-border state of the work vehicle 1 (S10). As shown in FIG. 7A, the cross-border permission unit 61c permits the cross-border 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 the cross-border 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, riding up, etc., it may be the second maximum overrun line ML2. Also, 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 of permitting the work vehicle 1 to move forward and cross the boundary line BD is described. However, for the case where the working device 2 first crosses the boundary line BD when the work vehicle 1 moves backward, 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 a border crossing range that crosses the boundary line BD and does not reach the maximum overrun line ML. Also, when the work vehicle 1 travels along the contour H1 of the field H and the right or left side of the work vehicle 1 crosses the boundary line BD, the border permission unit 61c permits the right or left side of the work vehicle 1 (and the working device 2) to be located within a border crossing range that crosses the boundary line BD and does not reach the maximum overrun line ML.

[0103] The restricting 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 restricting the operation content of the work vehicle and the working device. The storage device 65 stores correspondence data in which 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 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 height or more, and reducing the operation amount. For example, the height of the working device 2 lifted 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 ridge 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 farm 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 operation 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 operation 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 border crossing state. For example, when the automatic driving is terminated in the middle of the driving route L1, the position where the automatic driving is terminated in the middle of the driving route L1 of the work vehicle 1 is stored in the storage device 65, and when the automatic driving is resumed, the control device 60 resumes the automatic driving from the position where the automatic driving was terminated in the middle of the driving 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 border crossing 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. Further, 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 a border crossing based on the boundary line BD (boundary) created in the field map MP2, if there is no physical ridge, the border crossing can be permitted.

[0110] In addition, 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) can be created at a position extended from the current border line BD, and the second border crossing determination can be made 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 the border crossing can be made surely and safely.

[0112] In addition, it is provided with a storage device 65 that stores in advance a field map MP2 including the position information of the field H, the travel route L1 for automatic 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 automatic 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 state becomes a state where the field map MP2 is not selected, and remote operation may be performed in this state. Since that 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, it is provided with 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. 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 Modified Example> The work vehicle 1 of the first modified example will be described. The restriction unit 61d of the first modified 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 upward slope (S22). If the pitch angle of the work vehicle 1 is an upward slope equal to or greater than a predetermined angle (S22: YES), the restricting portion 61d relaxes the restrictions on the operation contents 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 restrictions. The storage device 65 stores data indicating the relaxation of restrictions 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 it 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 it 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 border crossing range is an upward slope and the traveling direction of the work vehicle 1 in the border crossing state is toward the upward slope, the restricting portion 61d relaxes the restrictions on the operation contents of the work vehicle 1 (for example, relaxes the vehicle speed to a speed increased according to the inclination angle (for example, 0.7 km / h) rather than the speed limit (for example, 0.5 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, strengthening the restriction on the vehicle speed 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). Strengthening the restriction on the acceleration 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). Strengthening the restriction on the shift 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 including performing work on a field H with a work device 2, 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 the permission, 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 prerequisite 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 to permit the border crossing state if the vehicle speed of the work vehicle 1 is less than a specified value, and determines not to permit the border crossing state if the vehicle speed is equal to or greater than 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 to permit the border crossing state if the reception intensity of the control signal from the remote operation device 90 is equal to or greater than a predetermined value, and determines not to permit 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 control device 90 is equal to or greater than a predetermined value, since the remote operator (user) who operates 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 it is permitted to be in a 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 it is not permitted to be in a border-crossing state. Therefore, it is possible to ensure that the remote operator is operating near the work vehicle 1, and the safety during 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 control 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 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 it is permitted to be in a 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 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 it is not permitted to be in a border-crossing state. Therefore, it is possible to ensure that the remote operator is operating near the work vehicle 1, and the safety during 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 accidental work on areas other than the target area of the farm field H (such as ridges). 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 it 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 areas other than the target area of the farm field H (such as ridges), 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) The work vehicle 1 according to any one of Items A1 to A8, comprising a setting unit 61e that sets permission or non - permission of the cross - border state according to a selection operation of the user, wherein the determination unit 61b determines permission of the cross - border state when the permission is set in the setting unit 61e, and determines non - permission of the cross - border state when the non - permission is set in the setting unit 61e.

[0142] According to this configuration, since permission or non - permission of the cross - border state is set by a selection operation by the user, it is possible to appropriately change whether crossing the border is permitted or not.

[0143] (Item A10) The work vehicle 1 according to Item A1, wherein the determination unit 61b determines whether to permit a 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.

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

[0145] (Item A11) The work vehicle 1 according to any one of Items A1 to A10, wherein the determination unit 61b makes a determination as to whether to permit the cross - border state when detecting the switch to the remote operation.

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

[0147] (Item A12) The work vehicle 1 according to any one of Items A1 to A10, comprising 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 position information of the field H and the boundary line BD, wherein the determination unit 61b makes a determination as to whether to permit the cross - border state when the position of the work vehicle 1 detected by the positioning device 40 is at a position FP in front of the boundary line BD stored in the storage device 65.

[0148] According to this configuration, when the work vehicle 1 approaches the boundary line BD, it is possible to determine whether to permit the crossing state. Therefore, the determination of whether to permit the crossing state can be performed 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, shift, crossing range of the work vehicle 1 in the crossing state, and operation content of the work device 2 of the work vehicle 1 in the crossing state.

[0150] According to this configuration, when the work vehicle 1 is in the crossing state, since at least one of the vehicle speed, acceleration, shift, crossing range of the work vehicle 1, and operation content of the work device 2 of the work vehicle 1 is restricted, it is possible to permit crossing while ensuring the safety of the work vehicle 1 in the crossing 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 crossing 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 crossing 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 crossing 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 crossing 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 restriction 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 inclination direction of the field H as the terrain state of the 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 restriction 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 rather than 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 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) decreased according to the inclination angle rather than 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, comprising an acquisition unit (object detection unit 64a) that acquires boundary information indicating the ridge of the field, and the determination unit 61b determines whether to permit the border crossing state based on the boundary 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 on the field map MP2, if there is no physical ridge, the border crossing can be permitted.

[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 a 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 pre-stores 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 uses the boundary line BD of the field map MP2 used in the automatic driving when switching from the automatic driving to the remote driving, to determine whether to permit a border crossing state in which the work vehicle 1 crosses the boundary line BD.

[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 pre-stores 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 manually.

[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 according to the second embodiment. The setting unit 61e of the work vehicle 1 according to 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] Also, as shown in FIG. 18, the work vehicle 1 according to the second embodiment further includes a change unit 61f and a remote driving permission unit 61g, and the restriction 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. Regarding the configuration similar to that of the first embodiment, the same reference numerals are used 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 the predetermined condition, the first threshold value θ1 may be changed based on the 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 does not change the second threshold value θ2 if it is less than the predetermined value.

[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 change 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 change 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 change 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 change unit 61f does not change the second threshold value θ2.

[0176] Further, as a predetermined condition (the fourth predetermined condition in FIG. 21), the change unit 61f changes the second threshold value θ2 based on the type of the work device 2. For example, as a predetermined condition, when the type of the work device 2 is a contact type that performs work in contact with the ground, the change 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 work device 2 is a non-contact type that performs work without contacting the ground, the change unit 61f does not change the second threshold value θ2. Also, as a predetermined condition, when the type of the work device 2 is a traveling type having wheels or crawlers, the change 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 work 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 change unit 61f does not change the second threshold value θ2.

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

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

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

[0180] The control device 60 includes a remote driving 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 driving permission unit 61g permits the traveling of the inclined work vehicle 1 by remote driving with the remote operation device 90.

[0181] For example, the storage device 65 further stores various control programs (setting programs, changing programs, traveling 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 driving permission unit 61g by executing the setting program, the changing program, and the traveling permission program stored in the storage device 65, respectively.

[0182] When the inclined work vehicle 1 is caused to travel by remote driving 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 work 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, all 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 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 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 where the centrifugal force of the work vehicle 1 acts on the downhill side of 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 restriction.

[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, since the centrifugal force of the work vehicle 1 does not act on the downhill side even when steering to the left, the restricting unit 61d does not restrict the upper limit steering angle of the left steering angle and keeps it at the upper limit value GR.

[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, it is impossible to shift up from the first gear to the second gear). 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 device 2 is, for example, to make the operation by the work device 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 device 2 have reached the goal position Pg (FIG. 3 etc.) (S32).

[0192] When the work vehicle 1 and the work device 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 device 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 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 running 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 it is in an inclined state (S35). When it is not in an 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 an inclined state (S35: YES), it checks whether a predetermined condition is satisfied (S36). When it determines 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 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 running 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 a work vehicle 1 capable of automatic driving including performing work on a field H with a 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 a 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.

[0203] According to this configuration, when the inclination angle θ of the work vehicle 1 during automatic driving reaches an inclined state where it reaches the first threshold value θ1, the running of the work vehicle 1 is stopped, so that it is possible to prevent the work vehicle 1 from tipping over during automatic driving. Further, when the inclination angle θ of the work vehicle 1 during remote driving reaches an inclined state where it reaches the second threshold value θ2, the running of the work vehicle 1 is stopped, so that it is possible to prevent the work vehicle 1 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 that of the first threshold value θ1.

[0205] According to this configuration, during remote driving, the running of the work vehicle 1 in an inclined state can be continued more 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 that of the second threshold value θ2.

[0207] According to this configuration, during automatic driving, the running of the work vehicle 1 in an inclined state can be continued more 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 traveling 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 traveling of the work vehicle 1 is stopped, so that the work vehicle 1 can be prevented from falling during automatic operation. That is, the premise configuration for preventing the work vehicle 1 from falling 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 traveled by remote operation by the remote operation device 90. That is, the remote operator can travel 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 traveling 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 in which the second threshold value θ2 is not changed.

[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, the second threshold value θ2 is relaxed to the second threshold value θ21 after the change), 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 in which the second threshold value θ2 is not changed.

[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 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.

[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 a 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 a 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 according to 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 according to 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 contact with 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 second threshold value θ21 after the change), 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 second threshold value θ21 after the change), 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 changed second threshold value θ21). 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 restricted, 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, gear shift, 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, gear shift, steering, and operation content of the working device 2 of the work vehicle 1 is restricted, 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 restricts the steering, the steering angle of the steering is restricted 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). Therefore, the second threshold θ2 can be changed appropriately. 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 appropriately.

[0238] In the first and second embodiments and the first modification described above, the remote operation device 90 is, for example, a remote control, 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 embodiments disclosed this time 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 are included.

Explanation of Signs

[0240] 1 Work vehicle 2 Working device 60 Control device 61a Cross-border prevention control unit 61b Judgment 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 setting unit that sets a first threshold value during the automatic driving and a second threshold value during remote driving by a remote control device; a control device that stops traveling of the work vehicle when the inclination angle of the work vehicle reaches the first threshold during the automatic driving or the second threshold during the remote driving; A work vehicle equipped with:

2. The work vehicle according to claim 1 , wherein the second threshold value has an absolute value greater than that of the first threshold value.

3. The work vehicle according to claim 1 , wherein the first threshold value has an absolute value greater than that of the second threshold value.

4. The work vehicle according to claim 2 , further comprising a change unit that changes the second threshold value based on a predetermined condition.

5. The work vehicle according to claim 3 , further comprising a change unit that changes the first threshold value based on a predetermined condition.

6. The work vehicle according to claim 4, further comprising a remote travel permission unit that permits the work vehicle to travel in an inclined state by remote operation using the remote control device if the inclination angle of the work vehicle is less than the second threshold changed by the change unit.

7. 5. The work vehicle according to claim 4, wherein the change unit changes the second threshold value so that its absolute value becomes larger if the reception strength of the control signal from the remote control device is equal to or greater than a predetermined value, and does not change the second threshold value if the reception strength is less than the predetermined value, as the specified condition.

8. 5. The work vehicle according to claim 4, wherein the change unit changes the value of the second threshold so that its absolute value becomes larger when the remote control device is located within a predetermined range of the work vehicle, and does not change the second threshold when the remote control device is located outside the predetermined range of the work vehicle, as the specified condition.

9. 9. The work vehicle according to claim 8, wherein the change unit changes the value of the second threshold so that its absolute value becomes larger when the remote control device is located within a predetermined range of the work vehicle and on an upward gradient side of the work vehicle, and does not change the second threshold when the remote control device is located within a predetermined range of the work vehicle and on a downward gradient side of the work vehicle, as the specified condition.

10. The work vehicle according to claim 4 , wherein the change unit changes the second threshold value based on a type of the work implement as the predetermined condition.

11. The work vehicle according to claim 10, wherein the change unit changes the second threshold value so that its absolute value is larger if the type of the work implement is a contact type that performs work by contacting the ground, and does not change the second threshold value if the type of the work implement is a non-contact type that performs work without contacting the ground.

12. 11. The work vehicle according to claim 10, wherein the change unit changes the value of the second threshold so that its absolute value becomes larger if the type of the work implement is a traveling type having wheels or crawlers, and does not change the second threshold if the type of the work implement is a separated type having a center of gravity higher than a predetermined position and not in contact with the ground, as the specified condition.

13. 5. The work vehicle according to claim 4, wherein the change unit changes the second threshold value so that its absolute value becomes large when the working implement is in a posture tilted in a forward / backward direction, and does not change the second threshold value when the working implement is in a posture tilted in a left / right direction, as the specified condition.

14. The work vehicle according to any one of claims 1 to 13, further comprising a limiting unit that limits the operation of the work vehicle in a tilted state when the work vehicle is driven by remote operation using the remote control device.

15. The work vehicle according to claim 14 , wherein the restriction unit restricts at least one of the vehicle speed, acceleration, gear shifting, steering, and operation of the work implement of the work vehicle in a leaning state.

16. The work vehicle according to claim 15 , wherein, when the steering is limited, the limiting unit limits a steering angle of the steering based on an inclination angle of the work vehicle and a traveling direction of the work vehicle.

17. The work vehicle according to claim 16, wherein the limiting unit limits an upper limit steering angle at which a centrifugal force of the work vehicle acts on a downward gradient side relative to the work vehicle when the work vehicle is steered by remote driving using the remote control device.

18. The work vehicle according to claim 4, wherein the change unit changes the second threshold value so that its absolute value becomes larger when a change operation is performed by a remote driver as the specified condition, and returns the second threshold value to its original value when a return operation is performed by the remote driver.

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