Work vehicle control method, work vehicle control program, work vehicle control system and work system

Abstract

To provide a work vehicle control method, work vehicle control program, work vehicle control system and work system capable of easily reducing a burden on an operator when traveling around an outer periphery.SOLUTION: A work vehicle control method is a control method of a work vehicle 10 capable of performing work while traveling through a work site F1. The control method includes: acquiring first work-related information regarding first work on a work site F1; and setting travel setting information based on the first work-related information. The travel setting information is setting information regarding the travel around the outer periphery of work site F1 of the work vehicle 10 traveling around the outer periphery of the work site F1 when a second work is performed on the work site F1 by the work vehicle 10 after the first work.SELECTED DRAWING: Figure 5

Description

Technical Field

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

Background Art

[0002] As a related art, a management system for managing a combine, which is a work vehicle capable of autonomous driving, is known (see, for example, Patent Document 1). In the related art, it is described that the work vehicle (combine) is automatically driven based on a path generated on a work site (field) to perform a harvesting operation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, even when automatically driving a work vehicle such as a combine as described above, when traveling on the outer periphery along the outer contour line of the work site, manual driving is often performed instead of automatic driving in order to avoid contact between the work vehicle and ridges or the like around the work site. Therefore, particularly when the work site is vast and the outer peripheral travel distance is relatively long, the burden on the operator may increase.

[0005] An object of the present invention is to provide a control method for a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system that can easily reduce the burden on the operator during outer peripheral travel.

Means for Solving the Problems

[0006] A control method for a work vehicle according to one aspect of the present invention is a control method for a work vehicle capable of working while traveling on a work site, and includes acquiring first work-related information regarding a first work on the work site, and setting travel setting information based on the first work-related information. The travel setting information is setting information regarding traveling on the outer periphery of the work site by the work vehicle when performing a second work on the work site by the work vehicle after the first work.

[0007] A control program for a work vehicle according to one aspect of the present invention is a program for causing one or more processors to execute the control method of the work vehicle.

[0008] A control system for a work vehicle according to one aspect of the present invention is used for a work vehicle capable of working while traveling on a work site. The control system for the work vehicle includes an acquisition processing unit and a setting processing unit. The acquisition processing unit acquires first work-related information regarding a first work on the work site. The setting processing unit sets travel setting information based on the first work-related information. The travel setting information is setting information regarding traveling on the outer periphery of the work site by the work vehicle when performing a second work on the work site by the work vehicle after the first work.

[0009] A work system according to one aspect of the present invention includes the control system for the work vehicle and the body of the work vehicle.

Advantages of the Invention

[0010] According to the present invention, it is possible to provide a control method for a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system that can easily reduce the burden on an operator during traveling on the outer periphery.

Brief Description of the Drawings

[0011]

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BEST MODE FOR CARRYING OUT THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are examples of embodying the present invention and are not intended to limit the technical scope of the present invention.

[0013] (Embodiment 1) [1] Overall Configuration First, the overall configuration of the work system 100 according to the present embodiment will be described with reference to FIGS. 1 to 3. The control system 1 for the work vehicle according to the present embodiment (hereinafter, also simply referred to as "control system 1") constitutes the work system 100 together with the body 11 of the work vehicle 10. That is, the work system 100 includes the control system 1 for the work vehicle and the body 11 of the work vehicle 10.

[0014] In this embodiment, the control system 1 includes a control device 3 (see FIG. 2) mounted on the vehicle body 11 of the work vehicle 10 and a terminal device 20. The work vehicle 10 and the terminal device 20 are capable of communicating with each other. As used in the present disclosure, "capable of communicating" means that information can be exchanged directly or indirectly via a communication network (network) N1 or a repeater or the like by an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). The work vehicle 10 and the terminal device 20 can communicate with each other via a communication network N1 such as the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), a public telephone line, a mobile phone line network, a packet line network, or a wireless LAN. The communication means between the work vehicle 10 and the terminal device 20 is not limited to the above examples and is realized by an appropriate communication means. Also, the fact that the work vehicle 10 and the terminal device 20 can communicate with each other is not an essential configuration in the control system 1.

[0015] The work vehicle 10 travels on a work site F1 (see FIG. 1) and performs some work within the work site F1 by means of a work implement 12. As used in the present disclosure, "work" is the work performed by the work implement 12 on the work site F1 and includes various agricultural operations such as mowing, harvesting, planting (rice planting), seeding, fertilizing, pesticide spraying, or leveling, as well as various works such as construction work. In this embodiment, as an example, the work performed by the work vehicle 10 is the mowing work (and harvesting work) of crops in a field as the work site F1.

[0016] When the work vehicle 10 moves to the work site F1, it performs work within the work site F1. In this embodiment, as an example, the "work vehicle" referred to in the present disclosure means a machine that performs various operations at a work site F1 such as a farm field. As an example, it is an agricultural machine (agricultural implement) such as a combine, a harvesting machine, a rice transplanter, a tractor, a seeding machine, a spreader, a sprayer, and a transplanter. The work vehicle 10 may be, for example, a construction machine (construction implement) or the like. In this embodiment, unless otherwise specified, the case where the work vehicle 10 is a combine (combine harvester) that performs threshing and sorting in addition to harvesting and reaping operations will be described as an example. In this work vehicle 10, the machine body 11 travels on a work site F1 such as a farm field to perform work (harvesting and reaping operations) at the work site F1.

[0017] The combine as the work vehicle 10 is mainly used for the harvesting operation of grains. While moving (traveling) within the farm field F1, it cuts the crops and harvests the cut crops. In particular, there are a general-purpose combine that feeds the entire cut crop into the thresher and a self-threshing combine that feeds only the ear tips of the cut crops into the thresher. In this embodiment, the self-threshing combine will be described as an example of the work vehicle 10.

[0018] Also, in this embodiment, as an example, the work vehicle 10 is assumed to be an automatic machine that can be operated by an operator while being capable of automatic driving (autonomous driving and autonomous operation). However, it is not limited to this. The work vehicle 10 may be a drone that operates by automatic driving, or may operate by the operation of a person (operator) (including remote operation).

[0019] As used in this disclosure, the "working area" refers to an area where the work vehicle 10 moves while performing various operations such as mowing, harvesting, planting (paddy planting), seeding, fertilizing, pesticide spraying, or leveling, including paddy fields, fields, orchards, and pastures. For example, if a paddy field or field where crops (agricultural products) such as rice, wheat, soybeans, or buckwheat grow is the working area F1, the crops grown in the working area F1 are agricultural products. Further, if trees are being grown in a nursery, the nursery becomes the working area F1, and if trees that will become timber are being grown in a forest as in forestry, the forest becomes the working area F1. In this case, the crops grown in the working area F1 are trees or plants. In this embodiment, unless otherwise specified, the work vehicle 10 is used for the rice cutting operation (and harvesting operation) in the field (working area F1), and the case where the working area F1 is a paddy field (field) for growing rice will be described as an example. Also, the working area F1 is not limited to a field. For example, if the work vehicle 10 is a construction machine, the site where the construction machine performs work becomes the working area F1.

[0020] In addition, the work vehicle 10 can move by automatic driving not only in the working area F1 (here, the field) but also on roads such as off-field routes outside the working area F1. The work vehicle 10 is configured to be able to automatically drive (move) along a preset target route (including off-field routes) inside and outside the working area F1 based on the position information of the current position of the work vehicle 10 measured by the positioning device 16 (see FIG. 2). The off-field route is, for example, an inter-field connection route connecting a plurality of working areas F1 (fields). The inter-field connection route is a farm road, forest road, public road, private road, or automobile road, etc., and may be a road dedicated to the work vehicle 10 or a road passable by general vehicles (passenger cars, etc.).

[0021] [2] Configuration of the work vehicle Next, the configuration of the work vehicle 10 according to this embodiment will be described in detail with reference to FIGS. 1 to 3.

[0022] In this embodiment, for convenience of explanation, the vertical direction in the state where the work vehicle 10 can be used is defined as the up-down direction D1. Based on the direction seen from a person (operator) riding on the body 11 (the driving part 111) of the work vehicle 10, the front-rear direction D2 and the left-right direction D3 (see FIG. 3) are defined. The left side in the left-right direction D3 refers to the left side when the body 11 travels forward, and the right side in the left-right direction D3 refers to the right side when the body 11 travels forward. However, these directions are not intended to limit the usage direction (direction during use) of the work vehicle 10.

[0023] As shown in FIG. 2, the work vehicle 10 includes a work implement 12, a traveling device 13, a threshing device 14, a detection device 15, a positioning device 16, a communication device 17, a display device 18, etc. on the body 11 which is the main body of the work vehicle 10. Further, the work vehicle 10 further includes a driving part 111, a grain tank 112 for storing grains, a conveying device 113, a discharging device 114, etc. on the body 11. In addition, the work vehicle 10 further includes a power source, a straw processing part, a fuel tank, a battery, etc. on the body 11.

[0024] The work implement 12 is a reaper for harvesting crops (rice in this embodiment as an example) in the work field F1. The work implement 12 corresponds to multiple rows (for example, 6 rows, 7 rows, 8 rows, etc.) of harvesting operations, and in the width direction (left-right direction D3), it has a working width W2 (see FIG. 3) corresponding to the number of corresponding rows. That is, for example, if the work implement 12 corresponds to 6-row harvesting operations, it is possible to simultaneously harvest the grain straws for up to 6 rows in the width direction (left-right direction D3). In this embodiment, as an example, it is assumed that the work vehicle 10 is a 6-row (6-row harvesting) combine equipped with a work implement 12 corresponding to 6 rows.

[0025] The work implement 12 is disposed in front of the body 11 of the work vehicle 10 and is coupled to the body 11. The work implement 12, together with the body 11, constitutes the work vehicle 10. In other words, the work vehicle 10 according to this embodiment includes the work implement 12 and the body 11. The grain straw cut by the work implement 12 is sent to the threshing device 14 located behind the work implement 12.

[0026] The traveling device 13 can move the work vehicle 10 in the front-rear direction D2 and the left-right direction D3. The work vehicle 10 moves, for example, while turning right (or left) from the outside to the inside within a work area F1 such as a paddy field or a field. In this case, the movement locus of the work vehicle 10 becomes a spiral path.

[0027] The traveling device 13 has a pair of crawlers (tracks) arranged in the left-right direction D3 and a motor that drives each crawler. That is, the traveling device 13 is a crawler type (endless track type) traveling device that drives the body 11 of the work vehicle 10 by driving an endless belt-shaped crawler with a motor.

[0028] Here, the pair of crawlers is driven by the power from a power source in a state where independent speed change by a hydrostatic continuously variable transmission is possible. Therefore, the body 11 is in a forward state of going straight in the forward direction when the pair of crawlers is driven at a constant speed in the forward direction, and is in a backward state of going straight in the backward direction when the pair of crawlers is driven at a constant speed in the backward direction. Also, the body 11 is in a forward turning state of turning while moving forward when the pair of crawlers is driven at a non-uniform speed in the forward direction, and is in a backward turning state of turning while moving backward when the pair of crawlers is driven at a non-uniform speed in the backward direction. Further, the body 11 is in a pivot turning (in-place turning) state when one of the pair of crawlers is stopped from being driven and the other is driven, and is in a spin turning (super in-place turning) state when the pair of crawlers is driven at a constant speed in the forward direction and the backward direction. Also, the body 11 is in a traveling stop state when the pair of crawlers is stopped from being driven. Thereby, the body 11 can travel so as to move in the front-rear direction D2 and the left-right direction D3 within the work area F1.

[0029] The threshing device 14 performs threshing processing on the cereal straw cut by the working machine 12. In the threshing process, the threshed material containing cereal grains is separated from the cereal straw. The threshing device 14, for example, performs threshing processing on the cereal straw while conveying the cereal straw from the front to the rear of the threshing device 14. Further, the threshing device 14 performs sorting processing on the threshed material while conveying the threshed material from the front to the rear.

[0030] The conveying device 113 conveys cereal grains from the threshing device 14 to the grain tank 112 and puts the cereal grains into the grain tank 112. The grain tank 112 is a tank (container) that stores the threshed material (such as cereal grains) obtained by the threshing process and sorting process in the threshing device 14. The discharging device 114 discharges the cereal grains in the grain tank 112 to any location around the work vehicle 10.

[0031] The operation unit 111 is provided with a driver's seat on which the operator sits, a steering device, a transmission device, and various operation switches operated by the operator. The steering device, the transmission device, etc. are operation units operated by the operator or the control device 3. Therefore, the work vehicle 10 can perform both manual operation by the operator and automatic operation by the control device 3.

[0032] In this way, the work vehicle 10 according to the present embodiment can perform work on a plurality of work rows arranged in a direction (left - right direction D3) intersecting the traveling direction (front - rear direction D2) while traveling on the work area F1. In this embodiment, as an example, since the work vehicle 10 is a combine for 6 rows (6 - row cutting), while moving forward, it can simultaneously perform cutting of up to 6 work rows (crop rows).

[0033] During at least autonomous driving, the work vehicle 10 operates the traveling device 13 in accordance with the operations of the control device 3 such as the steering device and the transmission described above. For example, in the traveling device 13, the traveling direction of the machine body 11 is changed by a hydraulic power steering mechanism or the like according to the operation of the steering device by the control device 3. Further, according to the operation of the transmission by the control device 3, the traveling mode of the machine body 11 is switched to forward or reverse or the like. Further, the control device 3 operates the accelerator or the brake of the operating device to control the rotational speed of the power source or brakes the traveling device 13 using an electromagnetic brake.

[0034] The detection device 15 detects a detection target (obstacle) in the detection area around the machine body 11. In the present embodiment, as an example, the detection target includes a person and other animals, moving bodies such as vehicles (including other work vehicles), structures such as walls and pillars, plants, steps, or other obstacles. The detection device 15 may include various sensors such as a radar, a sonar sensor, a LiDAR (Light Detection and Ranging), a human sensor, or a camera (image sensor). Here, the detection device 15 is preferably a three-dimensional sensor capable of measuring the distance and azimuth to the detection target by a TOF (Time Of Flight) method that measures the distance to the measurement point based on the round-trip time until light or sound reaches and returns to the measurement point, or a stereo camera method or the like. Thereby, the detection device 15 can output measurement information including the position of the detection target in a plan view to the control device 3. In the present embodiment, as an example, it is assumed that the detection device 15 is a radar (millimeter-wave radar) using millimeter waves or a sonar sensor using ultrasonic waves (or sound waves).

[0035] The positioning device 16 determines the current position (latitude, longitude, altitude, etc.) of the aircraft 11. Specifically, the positioning device 16 calculates the current position (latitude and longitude) of the aircraft 11 using a satellite positioning system such as GNSS (Global Navigation Satellite System). That is, the positioning device 16 has a positioning antenna that receives positioning signals from satellites and calculates the current position based on the positioning signals. Further, the positioning device 16 includes an inertial sensor and can also detect the attitude of the aircraft 11 such as the current orientation.

[0036] Also, the positioning device 16 may detect the current position with relatively high accuracy, such as RTK (Real Time Kinematic) positioning, by using correction information corresponding to a base station (reference station) close to the work vehicle 10 to calculate the current position of the work vehicle 10. The current position of the aircraft 11 may be the same position as the positioning position (the position of the positioning antenna), or may be a position shifted from the positioning position, such as the center position of the aircraft 11 in plan view. As the positioning device 16, for example, a mobile phone terminal, a smartphone, a tablet terminal, or a quantum compass may be substituted.

[0037] The communication device 17 is a communication interface for connecting the work vehicle 10 (the control device 3, the positioning device 16, etc.) to an external device by wire or wirelessly and performing data communication according to a predetermined communication protocol with the external device. In the present embodiment, the communication device 17 can communicate with at least the terminal device 20, which is an external device, via the communication network N1. Further, the communication device 17 can be connected to the communication network N1 at least wirelessly, and can communicate with the terminal device 20 at any time while being the work vehicle 10 that moves (travels) in the work area F1. As the communication device 17, for example, a mobile phone terminal, a smartphone, or a tablet terminal may be substituted.

[0038] The display device 18 is a user interface for presenting information to a user (operator), such as a liquid crystal display or an organic EL display that displays various types of information. The display device 18 is disposed, for example, in the operation unit 111, and presents various types of information to the operator by displaying a screen including various types of information. The "screen" referred to in the present disclosure means a video (image) displayed on the display device 18 or the like, and includes images, graphics, photos, text, videos, and the like. The screen displayed on the display device 18 includes not only still images but also videos (movies) that change moment by moment. Further, the display device 18 has a function of outputting sound (including voice) to the user (operator) and a function of receiving an operation of the user (operator).

[0039] The control device 3 mainly comprises a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and executes various processes (information processing). In the present embodiment, since the control device 3 mainly comprises a computer system having one or more processors, the control device 3 is realized by one or more processors executing a control program for a work vehicle. In the present embodiment, the control device 3 is an integrated controller that controls the entire work vehicle 10 and is composed of, for example, an electronic control unit (ECU: Electronic Control Unit). However, the control device 3 may be provided separately from the integrated controller.

[0040] The control device 3 is configured to be communicable with devices provided in each part of the aircraft body 11. That is, the work implement 12, the traveling device 13, the threshing device 14, the detection device 15, the positioning device 16, the communication device 17, the display device 18, etc. are electrically connected to the control device 3. Thereby, the control device 3 can control the work implement 12, the traveling device 13, the display device 18, etc., and can acquire the detection results of the detection device 15 and the positioning device 16. Here, the control device 3 may directly exchange various information (data) with each device, or may indirectly exchange the information via a repeater or the like.

[0041] In the present embodiment, as shown in FIG. 2, the control device 3 includes an acquisition processing unit 31, a setting processing unit 32, a traveling processing unit 33, and a storage unit 34.

[0042] The acquisition processing unit 31 executes an acquisition process for acquiring first work-related information. Here, the first work-related information is information related to the first work for the work area F1. The "first work" referred to in the present disclosure is work that is performed prior to the second work on the same work area F1 where the second work is performed, and includes, for example, various agricultural operations such as planting (rice planting), seeding, harvesting, harvesting, fertilizing, pesticide spraying, or leveling, and various operations such as construction work. The "second work" referred to in the present disclosure is work that is performed after the first work on the same work area F1 where the first work is performed, and includes, for example, various agricultural operations such as harvesting, harvesting, planting (rice planting), seeding, fertilizing, pesticide spraying, or leveling, and various operations such as construction work.

[0043] Here, the work performed by the work vehicle 10 controlled by the control system 1 is defined as the "second work". That is, in this embodiment, the harvesting work performed by the work vehicle 10 composed of a combine harvester is an example of the "second work". On the other hand, as the "first work" performed before the second work consisting of the harvesting work, there are, for example, operations such as planting (rice transplanting), seeding, fertilizing, pesticide spraying, or leveling. In this embodiment, it is assumed that the planting (rice transplanting) operation of planting seedlings in the paddy field as the work area F1 is an example of the "first work". The "first work" consisting of the planting operation is carried out by a work machine different from the work vehicle 10 composed of a combine harvester, for example, a rice transplanter. Thus, different work machines (work vehicles) can be used for the first work and the second work performed on the same work area F1.

[0044] The acquisition processing unit 31 acquires first work-related information regarding such a first work (in this embodiment, "planting work" as an example). The acquisition of the first work-related information is, for example, at the completion of the first work. However, it is not limited to this, and the acquisition of the first work-related information may be performed at any timing.

[0045] The setting processing unit 32 executes a setting process for setting the travel setting information. The travel setting information is setting information regarding the outer periphery travel of the work vehicle 10 traveling along the outer periphery of the work area F1 when the work vehicle 10 performs the second work on the work area F1 after the first work. Here, the setting processing unit 32 sets the travel setting information based on the first work-related information.

[0046] In this embodiment, as described above, the "second work" is the harvesting work, and the "first work" is the planting work. That is, during the harvesting work (second work), the travel setting information regarding the outer periphery travel when the work vehicle 10 travels along the outer periphery of the work area F1 is set based on the first work-related information regarding the planting work (first work) performed before the harvesting work.

[0047] The traveling processing unit 33 executes traveling processing for controlling the traveling device 13. As an example, the traveling processing unit 33 controls the traveling device 13 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a preset target route, thereby performing automatic traveling of the work vehicle 10. Further, the traveling processing unit 33 controls the work implement 12 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a preset target route, thereby performing work (in this embodiment, mowing work) by the work vehicle 10 at an appropriate position on the target route.

[0048] Specifically, when the traveling processing unit 33 acquires a traveling start instruction from the terminal device 20, it starts the automatic traveling of the work vehicle 10. For example, when an operator operates the start button on the operation screen of the terminal device 20, the terminal device 20 outputs a traveling start instruction to the work vehicle 10. Thereby, for example, the work vehicle 10 starts automatic traveling according to the target route R2 (see FIG. 5) within the work area F1 and performs work (in this embodiment, mowing work) by the work implement 12.

[0049] The target route R2 for automatically traveling the work vehicle 10 is generated, for example, in the terminal device 20. That is, the work vehicle 10 acquires route data corresponding to the target route R2 from the terminal device 20 and performs automatic traveling according to the target route R2.

[0050] Further, when the traveling processing unit 33 acquires a traveling stop instruction from the terminal device 20, it stops the automatic traveling of the work vehicle 10. For example, when an operator operates the stop button on the operation screen of the terminal device 20, the terminal device 20 outputs a traveling stop instruction to the work vehicle 10.

[0051] Also, the "automatic traveling" referred to in the present disclosure includes "autonomous traveling" in which the work vehicle 10 travels autonomously without the operation of the operator and "semi-automatic traveling" in which only steering is automated, such as straight-ahead assist.

[0052] "Autonomous driving" is a driving mode in which, for example, in addition to automatic steering, control of the vehicle speed and the like is also automatically performed so that the work vehicle 10 travels along the target route R2. "Straight-ahead assist" is a driving mode in which, for example, only automatic steering is performed so that the work vehicle 10 travels along a straight-line route parallel to a reference straight line (reference line), and the vehicle speed and the like are controlled by the operation of the operator.

[0053] As another example, the work vehicle 10 may travel by manual steering of the operator. For example, the operator boards the work vehicle 10 and steers the work vehicle 10 manually while checking the target route R2.

[0054] Further, in the present embodiment, for at least the outer peripheral travel of the work area F1 by the work vehicle 10 in the second work, the travel processing unit 33 controls the travel device 13 so as to be performed based on the travel setting information set by the setting processing unit 32.

[0055] The storage unit 34 is a non-volatile memory or the like that stores a control program for the work vehicle and various data such as target route information regarding the target route R2. That is, the travel processing unit 33 can execute, for example, automatic travel along the target route R2 for the travel device 13 based on the target route information stored in the storage unit 34.

[0056] Furthermore, when the detection device 15 detects an obstacle as a detection target during at least the automatic driving of the work vehicle 10, the control device 3 executes output of an alarm (including notification by sound and / or light) and avoidance processing of the obstacle (including detouring, decelerating, or stopping) by controlling the travel device 13. Further, the control device 3 may output the position information of the obstacle, the execution history of the avoidance processing, and the like to the terminal device 20 so as to be displayed on the terminal device 20.

[0057] In addition, electronic devices such as the control device 3, the detection device 15, the positioning device 16, the communication device 17, and the display device 18 can operate by power supply from the battery, and thus can operate even when the power source (engine) is stopped.

[0058] [3] Configuration of the Terminal Device Next, with reference to FIGS. 1 and 2, the configuration of the terminal device 20 according to the present embodiment will be described in detail.

[0059] In the present embodiment, the terminal device 20 is communicable with the work vehicle 10 as described above, and constitutes the control system 1 together with the control device 3 of the work vehicle 10. That is, the components of the control system 1 are provided in a distributed manner at least in the work vehicle 10 and the terminal device 20. However, the present invention is not limited to this configuration. For example, the functions of the control device 3 may be provided in the terminal device 20. In this case, the components of the control system 1 are realized only by the terminal device 20. Conversely, for example, the functions of the terminal device 20 may be provided in the control device 3. In this case, the components of the control system 1 are realized only by the control device 3.

[0060] In the present embodiment, as an example, the terminal device 20 is configured by a general-purpose terminal such as a tablet terminal, a smartphone, or a laptop computer. As shown in FIG. 2, the terminal device 20 includes an information processing unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. Further, the terminal device 20 further includes a sound output unit that outputs sound (including voice) to the user (operator), and a battery or the like.

[0061] The information processing unit 21 mainly includes a computer system having one or more processors such as a CPU and one or more memories such as a ROM and a RAM, and executes various processes (information processing). In the present embodiment, since the information processing unit 21 mainly includes a computer system having one or more processors, the information processing unit 21 is realized by one or more processors executing a control program for a work vehicle. That is, one or more processors of the control device 3 included in the control system 1 and one or more processors of the information processing unit 21 each execute a control program for a work vehicle, so that the control device 3 and the terminal device 20 cooperate to embody the control system 1.

[0062] The information processing unit 21 is configured to be communicable with each part of the terminal device 20 (the storage unit 22, the operation display unit 23, and the communication unit 24). That is, the storage unit 22, the operation display unit 23, the communication unit 24, etc. are electrically connected to the information processing unit 21. Thereby, the information processing unit 21 can read and write information to and from the storage unit 22, control the display of the operation display unit 23, and acquire operation inputs to the operation display unit 23. Here, the information processing unit 21 may directly exchange various information (data) with each part, or may indirectly exchange it via a repeater or the like.

[0063] Such a terminal device 20 is a user interface for receiving operation inputs by a user (operator) and outputting various information to the user. For example, the terminal device 20 receives various operations by the user by outputting an electric signal corresponding to the user's operation on the operation display unit 23. Further, the terminal device 20 outputs various information to the user by displaying various screens on the operation display unit 23.

[0064] The storage unit 22 is a non-volatile memory or the like that stores various data such as a control program for the work vehicle and target path information regarding the target path R2. Further, the storage unit 22 can store various data such as work implement information, work vehicle information, field information, and work information. The work implement information is information regarding the work implement 12 mounted on the machine body 11, and includes, for example, information such as the type, identification information, model name, model, and size (dimensions) of the work implement 12. The work vehicle information is information regarding the machine body 11 (vehicle main body) of the work vehicle 10, and includes, for example, information such as the type, identification information, model name, model, and size (dimensions) of the machine body 11. The field information is information regarding the field designated as the work area F1, and includes information such as the identification information of the field, the field name, the position, the shape, the size, the work start position (travel start position) where the work starts, the work end position (travel end position) where the work ends, and the work direction. The work information is information regarding the work performed by the work vehicle 10, and includes, for example, information such as the type of work and how the work is specifically performed. Further, the presence or absence of cooperative work by the work vehicle 10, the width of the headland, the width of the non-cultivated land, etc. may also be included in the work information.

[0065] These pieces of information (such as target path information, work implement information, work vehicle information, field information, and work information) stored in the storage unit 22 are set (registered) by being obtained through an operation input by a user (operator) to the operation display unit 23 or from the work vehicle 10. For example, regarding the type of the work implement 12 in the work implement information, the user may specify it by operating the operation display unit 23, or the work vehicle 10 may automatically determine the work implement 12 mounted on the machine body 11 and transmit it to the terminal device 20. These pieces of information may be obtained by the terminal device 20 from an external device other than the work vehicle 10 (for example, a server, an external storage medium, or another terminal device, etc.).

[0066] The operation display unit 23 is a user interface including a display unit such as a liquid crystal display or an organic EL display that displays various types of information, and an operation unit such as a touch panel, a mouse, a keyboard, a mechanical switch, or an encoder that accepts operations. As an example, an operator can perform an operation of setting (registering) various types of information by operating the operation unit of the operation display unit 23 on the operation screen displayed on the display unit of the operation display unit 23. For example, the operator can set automatic travel information (including target route information) regarding the automatic travel of the work vehicle 10.

[0067] Also, the operation display unit 23 enables the operator of the work vehicle 10 during automatic driving to perform close-range monitoring and remote monitoring by displaying the progress status of the work at the work site F1 and the operation status of the work vehicle 10 including the target route R2, (actual) movement trajectory, current position, and movement speed of the work vehicle 10. Close-range monitoring means, for example, monitoring within the range visible to the operator, and remote monitoring means, for example, monitoring by the video around the work vehicle 10 displayed on the terminal device 20. According to remote monitoring, it is also possible to monitor a plurality of work vehicles 10 with one terminal device 20. However, these definitions are merely examples, and other definitions may be provided. Here, the operation status of the work vehicle 10 also includes the detection result of the detection target object in the detection device 15. Furthermore, the operation display unit 23 can accept from the operator an instruction to start or stop the travel of the work vehicle 10. The terminal device 20 can remotely control the work vehicle 10 by transmitting these instructions to start or stop the travel to the work vehicle 10. Therefore, remote operation of the work vehicle 10 by the operator becomes possible.

[0068] The communication unit 24 is a communication interface for connecting the terminal device 20 to the work vehicle 10 either by wire or wirelessly and performing data communication according to a predetermined communication protocol between the work vehicle 10. In the present embodiment, the communication unit 24 can communicate with at least the work vehicle 10 (its communication device 17) via the communication network N1. Further, since the communication unit 24 can be connected to the communication network N1 at least wirelessly, it is possible to communicate with the work vehicle 10 at any time even at a location far enough from the work vehicle 10.

[0069] Incidentally, in the present embodiment, as shown in FIG. 2, the information processing unit 21 has a generation processing unit 211, a registration processing unit 212, and an output processing unit 213. In the present embodiment, as an example, since the information processing unit 21 is mainly composed of a computer system having one or more processors, by executing a control program for the work vehicle by one or more processors, these plurality of functional units (generation processing unit 211, etc.) are realized. These plurality of functional units included in the information processing unit 21 may be distributed and provided in a plurality of housings, or may be provided in one housing.

[0070] The generation processing unit 211 executes a route generation process for generating a route (target route R2) for running (automatically running) the work vehicle 10 at the work site F1. Here, the generation processing unit 211 generates the target route R2 based on generation data including work machine information, work vehicle information, farm field information, work information, etc. stored in the storage unit 22. That is, the target route R2 is generated by the generation processing unit 211 based on, for example, work machine information, work vehicle information, farm field information, work information, etc. set (registered) by a user (operator) through operation input to the operation display unit 23.

[0071] Specifically, the generation processing unit 211 generates a target path R2 within the work area F1 based on the travel start position and travel end position included in the field information. For example, the generation processing unit 211 generates a target path R2 for moving the body 11 of the work vehicle 10 from the travel start position to the travel end position within the work area F1 based on the generation data. In this embodiment, the field information included in the generation data includes outline information based on the outline of the work area F1. The generation processing unit 211 basically generates a spiral target path R2 so as to realize a so-called "perimeter mowing" by moving while turning right (or left) from the outside to the inside within the work area F1.

[0072] The registration processing unit 212 executes a registration process for registering work implement information, work vehicle information, field information, work information, etc. That is, the work implement information, work vehicle information, field information, work information, etc. used for the generation of the target path R2 are respectively registered (set) by the registration processing unit 212 through, for example, operation inputs by the user (operator) to the operation display unit 23.

[0073] The output processing unit 213 executes an output process of outputting, for example, the path data of the target path R2 to the work vehicle 10. That is, the path data regarding the target path R2 generated by the generation processing unit 211 is output from the output processing unit 213 to, for example, the communication unit 24, and is transmitted from the communication unit 24 to the work vehicle 10.

[0074] For example, when starting the work, the operator selects the field (work area F1), selects the work, confirms the target path R2, etc., and gives a work start instruction. When the operator gives a work start instruction, the output processing unit 213 transmits (outputs) the path data of the target path R2 generated by the generation processing unit 211 to the work vehicle 10. When the work vehicle 10 receives the path data generated in the terminal device 20, it stores the path data in the storage unit 34. Then, the work vehicle 10 performs automatic driving (autonomous driving and autonomous work) based on the current position of the work vehicle 10 calculated by the positioning device 16 and the target path R2 specified by the path data.

[0075] Furthermore, the output processing unit 213 can also cause the operation display unit 23 to display the generated target path R2 by outputting it to the operation display unit 23. The output mode of the output processing unit 213 is not limited to transmission to the work vehicle 10 or display as described above. For example, it may be transmission to other devices (such as user terminals), printing (printout), writing to a non-temporary recording medium, or voice output, etc.

[0076] The terminal device 20 may be able to access the website of the agricultural support service provided by the server (agricultural support site) via the communication network N1. In this case, the terminal device 20 can function as an operation terminal for the server when the browser program is executed by the information processing unit 21. And the server includes each of the above-described processing units and executes each process.

[0077] [4] Control method for work vehicle Hereinafter, with reference to FIGS. 4 to 6, an example of a control method for the work vehicle 10 (hereinafter simply referred to as the "control method") mainly executed by the control system 1 (the control device 3 and the terminal device 20) will be described.

[0078] Since the control method according to the present embodiment is executed by the control system 1 mainly configured by a computer system, in other words, it is embodied by a control program for a work vehicle (hereinafter simply referred to as the "control program"). That is, the control program according to the present embodiment is a computer program for causing one or more processors to execute each process related to the control method.

[0079] Here, when a preset specific start operation for executing a control program is performed, the control system 1 executes the following various processes related to the control method. The start operation is, for example, a start operation of an application program (control program for a work vehicle) on the terminal device 20. On the other hand, when a preset specific end operation is performed, the control system 1 ends the following various processes related to the control method. The end operation is, for example, an end operation of an application program (control program for a work vehicle) on the terminal device 20.

[0080] Also, hereinafter, the work area F1 is a farm field having a rectangular shape in plan view. As shown in FIG. 4, among the outer contour lines (four sides) of the work area F1, one side is assumed to be the "first outer contour line f11", and one side adjacent to this is the "second outer contour line f12". That is, FIGS. 4 and 5 show the vicinity of the corner between the first outer contour line f11 and the second outer contour line f12 in the work area F1. In FIGS. 4 and 5, the front-rear direction D2 and the left-right direction D3 are the directions when based on the orientation of the machine body 51 (or the machine body 11) of the work machine 50 (or the work vehicle 10) shown in FIGS. 4 and 5.

[0081] [4.1] First operation In the control system 1 according to the present embodiment, as described above, the acquisition processing unit 31 acquires first operation-related information regarding the first operation on the work area F1, and the setting processing unit 32 sets travel setting information based on the first operation-related information. Therefore, hereinafter, first, the first operation performed on the work area F1 will be described with reference to FIG. 4.

[0082] As shown in FIG. 4, the planting operation as the first operation is performed by a work machine 50 (here, a rice transplanter) different from the work vehicle 10. The work machine 50 includes a machine body 51 capable of traveling on the work area F1 and a working device 52 provided at the rear of the machine body 51. This work machine 50 performs work (planting work) while automatically traveling on the work area F1 along the first target path R1.

[0083] In the example of FIG. 4, the first target path R1 includes a working path r11, a non-working path r12, and an outer peripheral working path r13. The working path r11 and the outer peripheral working path r13 are paths along which the working machine 50 travels (moves) while performing work with the working implement 52. The non-working path r12 is a path that connects between a plurality of working paths r11 and is for the working machine 50 to perform a turning travel for changing the traveling direction, and is a path along which the working machine 50 travels (moves) without performing work with the working implement 52.

[0084] In the drawing showing the target path R1 such as FIG. 4, the paths along which the working machine 50 performs work (working path r11 and outer peripheral working path r13) are indicated by solid lines, and the path along which the working machine 50 does not perform work (non-working path r12) is indicated by a dotted line. In the drawing showing the target path R1 such as FIG. 4, the target path R1 (and the working machine 50) generated for the working area F1 is schematically shown in a plan view.

[0085] More specifically, as shown in FIG. 4, a plurality of parallel working paths r11 are arranged at regular intervals in the target path R1. The plurality of working paths r11 are arranged such that the working paths r11 extending from one side (the lower side in FIG. 4) of the working area F1 toward the other side (the upper side in FIG. 4) and the working paths r11 in the opposite direction are arranged alternately.

[0086] Here, all of the plurality of working paths r11 are linear paths along which the working machine 50 moves forward while performing work with the working implement 52. The interval between adjacent working paths r11 is set based on the width dimension (working width W1) in the left-right direction D3 of the working implement 52. By having the working machine 50 travel along the plurality of working paths r11, planting work is performed on substantially the entire area of the working area F1 (excluding the pillow area that becomes the outer peripheral part). And between a pair of adjacent working paths r11, they are connected by a non-working path r12 that connects the end of one working path r11 on the side of the first outer contour line f11 and the start of the other working path r11 on the side of the second outer contour line f12.

[0087] Further, the outer peripheral working path r13 is continuous with the end of the final working path r11 among the plurality of working paths r11, and is a path that circulates along the outer peripheral portion of the working area F1 along the outer contour line of the working area F1. In the example of FIG. 4, the outer peripheral working path r13 makes one clockwise revolution around the pillow area that forms the outer peripheral portion of the working area F1 along the outer contour line of the working area F1 (including the first outer contour line f11 and the second outer contour line f12).

[0088] According to such a first target path R1, the working machine 50 performs a planting operation while reciprocating along the working path r11 in the inner area F11 (inside the dashed line in FIG. 4) excluding the outer peripheral area F12 that forms the outer peripheral portion of the working area F1. Thereafter, the working machine 50 performs a planting operation while traveling around the outer peripheral working path r13 clockwise in the outer peripheral area F12. However, when the working machine 50 travels along the outer peripheral working path r13, it is preferable to perform the automatic traveling of the working machine 50 in the "manned state" where the operator is on board the machine body 51. Thereby, the working machine 50 can perform a planting operation on substantially the entire working area F1 including the outer peripheral area F12.

[0089] In short, when the working machine 50 travels along the working path r11, it performs a work (planting work) with the working machine 52. Therefore, as shown in FIG. 4, a plurality of seedlings are planted in the passage area A1 in the inner area F11 through which the working machine 50 (the working machine 52 thereof) has passed. Here, in the passage area A1, a plurality of work rows (seedling rows) arranged in the left-right direction D3 orthogonal to the traveling direction of the working machine 50 are formed.

[0090] Similarly, when the working machine 50 travels along the outer peripheral working path r13, it also performs a work (planting work) with the working machine 52. Therefore, a plurality of seedlings are also planted in the passage area A2 in the outer peripheral area F12 through which the working machine 50 (shown by the imaginary line (two-dot chain line) in FIG. 4) has passed. Here, although not shown in FIG. 4, in the passage area A2, a plurality of work rows arranged in the left-right direction D3 orthogonal to the traveling direction of the working machine 50 are formed.

[0091] The first target path R1 is not limited to the path illustrated in FIG. 4 and is appropriately set. Also, in FIG. 4, the working machine 50 first travels in the inner region F11 and then travels in the outer peripheral region F12, but the traveling order of the working machine 50 is not limited to this. For example, the working machine 50 may first travel in the outer peripheral region F12 and then travel in the inner region F11.

[0092] Also, in the example of FIG. 4, the non-working path r12 set in the outer peripheral region F12 includes a turning path for a gentle right turn during a gentle turn, but the turning mode for changing the orientation of the working machine 50 is not limited to "gentle turn". The non-working path r12 may include a turning mode in which the machine body 51 is turned while switching between forward and reverse in order to enable the turning of the machine body 51 within a limited space, such as a so-called "fish tail turn". Similarly, for the turning mode of the working machine 50 when traveling on the outer peripheral working path r13, an appropriate turning mode such as "gentle turn" or "fish tail turn" can be applied.

[0093] In order to realize the automatic traveling of the working machine 50 as described above, it is necessary to recognize and register the shape of the working area F1 in advance. As an example, the operator boards the working machine 50 and drives it to go around once along the outer periphery of the working area F1 to be registered (teaching travel), and the terminal device 20 acquires the position information during travel from the working machine 50 and recognizes the position and shape of the working area F1 based on the position information and registers it as the working area F1. The outer peripheral working path r13 is generated on the path along which the working machine 50 travels during such teaching travel. Based on such teaching travel or the performance information of the past travel path, when the working area F1 is registered, for example, for obstacles that are difficult to detect only by the detection device 15 such as a culvert, it is possible to generate the first target path R1 in a state where they are avoided from the beginning.

[0094] Furthermore, a plurality of working paths r11 may be generated while leaving a width for a plurality of passes in the outer peripheral region F12 of the working area F1, and an outer peripheral working path r13 for a plurality of passes may be generated along the outer periphery of the working area F1. In this case, after the work machine 50 travels along the plurality of working paths r11, it sequentially travels along the outer peripheral working paths r13 for a plurality of rounds from the inside to the outside. At this time, it is preferable that the work machine 50 automatically travels along the inner outer peripheral working path r13 in an unmanned state and automatically travels along the outermost outer peripheral working path r13 in a manned state.

[0095] By the way, in the first operation, a tolerance limit line La1 that is the limit position allowing the protrusion of the implementation area of the first operation is defined. The tolerance limit line La1 is defined by a margin value L2 that is the distance to the inside of the working area F1 based on the outer shape line of the working area F1 (including the first outer shape line f11 and the second outer shape line f12). And the first target path R1 is generated based on the tolerance limit line La1 so that the machine body 51 of the work machine 50 does not protrude outside (toward the outer shape line of the working area F1) from the tolerance limit line La1.

[0096] That is, in order to avoid the work machine 50 from contacting the edge B1 or the like around the working area F1, a safety margin is secured at the outer peripheral portion of the working area F1, and the first target path R1 is generated so that the work machine 50 travels further inside. In other words, when the work machine 50 travels in the working area F1, the first target path R1 is generated so that the work machine 50 can travel without protruding from the tolerance limit line La1 set inside by the margin value L2 from the outer shape line, rather than bringing the work machine 50 as close as possible to the outer shape line of the working area F1.

[0097] Thereby, for example, as shown in FIG. 4, even at a location where the edge B1 protrudes inward from the outer shape line (the first outer shape line f11) of the working area F1, when the work machine 50 travels along the outer peripheral working path r13, it becomes difficult for the work machine 50 to contact the edge B1.

[0098] [4.2] Second operation Next, the second operation performed by the work vehicle 10 controlled by the control system 1 according to the present embodiment will be described with reference to FIG. 5.

[0099] As shown in FIG. 5, as the second operation, the mowing operation (and the harvesting operation) is performed by a work vehicle 10 (here, a combine) different from the work machine 50 (here, a rice transplanter) after the first operation. The work vehicle 10 includes a machine body 11 capable of traveling on a work area F1 and a work implement 12 provided at the front of the machine body 11. This work vehicle 10 performs an operation (mowing operation) while automatically traveling on the work area F1 along the target path R2.

[0100] Here, in the present embodiment, as shown in FIG. 5, at the time of the second operation (mowing operation), the work vehicle 10 moves while turning right from the outside (outer contour side) to the inside within the work area F1 along the spiral target path R2, thereby realizing so-called "circumferential mowing". However, generally, even when automatically driving a work vehicle 10 such as a combine, when traveling on the outer periphery along the outer contour of the work area F1 (including the first outer contour f11 and the second outer contour f12), in order to avoid contact between the work vehicle 10 and the ridges B1 etc. around the work area F1, manual driving is often performed instead of automatic driving. Then, particularly when the work area F1 is vast or the like and the outer peripheral travel distance is relatively long, the burden on the operator may increase.

[0101] Therefore, in the present embodiment, by adopting the following configuration, a control method for the work vehicle 10, a control program for the work vehicle, a control system 1 for the work vehicle, and a work system 100 that can easily reduce the burden on the operator during outer peripheral travel are realized.

[0102] That is, the control method according to the present embodiment is a control method for the work vehicle 10 that can perform operations while traveling on the work area F1. This control method includes acquiring first operation-related information regarding the first operation on the work area F1 and setting travel setting information based on the first operation-related information. The travel setting information is setting information regarding the outer peripheral travel of the work vehicle 10 on the outer periphery of the work area F1 when the second operation is performed on the work area F1 by the work vehicle 10 after the first operation.

[0103] According to the control method according to this embodiment, in the second operation, the travel setting information regarding the outer peripheral travel of the work vehicle 10 traveling on the outer periphery of the work area F1 is set based on the first operation related information regarding the first operation. In short, in the second operation, it is possible to cause the work vehicle 10 to perform outer peripheral travel by utilizing the first operation related information regarding the first operation performed in advance. Therefore, for example, when the possibility of contacting the ridge B1 or the like is low, it is possible to realize a more flexible outer peripheral travel of the work vehicle 10, such as making the outer peripheral travel of the work vehicle 10 also an automatic travel. As a result, there is an advantage that it is easy to reduce the burden on the operator during the outer peripheral travel.

[0104] Here, in this embodiment, the travel setting information is setting information regarding the travel on the outermost periphery of the work area F1 by the work vehicle 10. That is, as shown in FIG. 5, in the second operation, if the work vehicle 10 travels in a spiral shape from the outside of the work area F1, the target path R2 has a plurality of circular paths including the first circular path r21 that is the outermost periphery and the second circular path r22 adjacent to the first circular path r21. And once the first circular path r21 is determined, based on the working width W2 of the work implement 12, other circular paths (the second circular path r22) are generated at a constant pitch. The travel setting information is information regarding the outer peripheral travel when the work vehicle 10 travels on the first circular path r21 that is the outermost periphery among these plurality of circular paths.

[0105] Therefore, the travel setting information is set based on the first operation related information only for the first circular path r21 that is the outermost periphery among the plurality of circular paths, and the processing load related to the setting of the travel setting information can be suppressed to be small. Moreover, since the travel setting information set based on the first operation related information is applied during the travel on the outermost periphery, for example, it is easy to avoid the work vehicle 10 from contacting the ridge B1 or the like.

[0106] Here, the first operation-related information includes information related to the target path (first target path R1) of the working machine 50 that performs the first operation. That is, if the outer peripheral operation path r13 among the first target path R1 is specified, the path traveled by the working machine 50 during the first operation can be estimated. And based on the path, for example, when the work vehicle 10 travels on the outer periphery, it is possible to determine the possibility of the work vehicle 10 contacting the bank B1 or the like.

[0107] Alternatively, the first operation-related information may include information related to the actual travel path of the working machine 50 that performs the first operation. That is, if the path actually traveled by the working machine 50 during the first operation is specified, based on the path, for example, when the work vehicle 10 travels on the outer periphery, it is possible to more reliably determine the possibility of the work vehicle 10 contacting the bank B1 or the like.

[0108] Also, the first operation-related information includes the working width W1 of the working machine 52 that performs the first operation. If the working width W1 of the working machine 52 that has performed the first operation is specified, based on the working width W1, for example, when the work vehicle 10 travels on the outer periphery, it is possible to more reliably determine the possibility of the work vehicle 10 contacting the bank B1 or the like.

[0109] In particular, as described above, by specifying both the target path (first target path R1) of the working machine 50 that performs the first operation, or the actual travel path of the working machine 50, and the working width W1, it is possible to specify the outermost peripheral position where the first operation (planting operation in this embodiment) was performed in the work area F1. Specifically, as shown in FIG. 4, from the outer contour line (including the first outer contour line f11 and the second outer contour line f12) in the work area F1 to the first target path R1 or the like, the distance L1, and the working width W1, the distance L3 from the outer contour line in the work area F1 to the outermost peripheral position where the first operation was performed can be specified. Therefore, for example, when the work vehicle 10 travels on the outer periphery, it is possible to more reliably determine the possibility of the work vehicle 10 contacting the bank B1 or the like. Further, when the first operation is a planting operation and the second operation is a harvesting operation, it is less likely to leave unharvested areas.

[0110] Further, the setting processing unit 32 may use the width dimension (working width W2) in the left - right direction D3 of the working machine 12 of the work vehicle 10 for setting the traveling setting information. For example, based on the relationship between the working width W1 of the working machine 50 and the working width W2 of the work vehicle 10, it is possible to obtain the relative position of the outermost peripheral position of the second operation with respect to the outermost peripheral position where the first operation is performed, and so on.

[0111] Also, in the present embodiment, the traveling setting information includes information regarding the traveling mode of the work vehicle 10. The "traveling mode" as referred to in the present disclosure includes, for example, whether it is automatic traveling or manual traveling. Thereby, when performing the second operation, it becomes easier to set an appropriate traveling mode as the traveling mode when the work vehicle 10 travels on the outer periphery of the work area F1.

[0112] Specifically, in the control method according to the present embodiment, when the outermost peripheral position where the first operation is performed in the work area F1 is located inside the outer contour line of the work area F1 by a predetermined distance or more based on the first - operation - related information, as the traveling mode, automatic traveling of the work vehicle 10 is set to be possible. In short, as shown in FIG. 4, if the distance L3 from the outer contour line of the work area F1 to the outermost peripheral position (the same as the allowable limit line La1) where the first operation is performed is a predetermined distance or more, the setting processing unit 32 enables the automatic traveling of the work vehicle 10 when the work vehicle 10 travels on the outer periphery of the work area F1 during the second operation. On the other hand, if the distance L3 is less than the predetermined distance, the setting processing unit 32 makes the automatic traveling of the work vehicle 10 impossible and makes the work vehicle 10 perform manual traveling when the work vehicle 10 travels on the outer periphery of the work area F1 during the second operation.

[0113] In this way, when there is a sufficient margin from the outermost peripheral position where the first operation is performed to the outer contour line of the work area F1, the risk of the work vehicle 10 contacting the ridge B1 or the like is low. Therefore, even during outer - periphery traveling, by enabling the automatic traveling of the work vehicle 10, the burden on the operator can be reduced.

[0114] Alternatively, the first operation-related information may include information related to the position of the allowable limit line La1. That is, in the present embodiment, as described above, based on the margin value L2, which is the distance from the outer contour line of the work area F1 to the inside of the work area F1 during the first operation, the allowable limit line La1, which is the limit position allowing the protrusion of the implementation area of the first operation, is defined. Therefore, it is also possible to use the position of the allowable limit line La1 as the first operation-related information. As a result, compared with the case of calculating the distance L3 from the outer contour line of the work area F1 to the outermost peripheral position where the first operation is performed, it is possible to reduce the calculation load.

[0115] When using the position of the allowable limit line La1 as the first operation-related information, the control method may set the automatic driving of the work vehicle 10 as the traveling mode when the position of the allowable limit line La1 is located more than a predetermined distance inside the outer contour line of the work area F1 based on the first operation-related information. In short, as shown in FIG. 4, if the margin value L2, which is the distance from the outer contour line of the work area F1 to the allowable limit line La1, is more than a predetermined distance, the setting processing unit 32 enables the automatic driving of the work vehicle 10 when the work vehicle 10 travels along the outer periphery of the work area F1 during the second operation. On the other hand, if the margin value L2 is less than the predetermined distance, the setting processing unit 32 disables the automatic driving of the work vehicle 10 and makes the work vehicle 10 manually driven when the work vehicle 10 travels along the outer periphery of the work area F1 during the second operation.

[0116] In this way, when there is sufficient margin from the allowable limit line La1 to the outer contour line of the work area F1, the risk of the work vehicle 10 contacting the ridge B1 or the like is low. Therefore, even during the outer peripheral travel, by enabling the automatic driving of the work vehicle 10, the burden on the operator can be reduced.

[0117] Here, whether to automatically drive the work vehicle 10 during the outer peripheral travel may be confirmed with the operator by, for example, the terminal device 20 or the like, and the work vehicle 10 may be automatically driven during the outer peripheral travel only after the operator indicates consent.

[0118] In addition, the automatic driving includes "corner cutting" performed by the work vehicle 10 at the corner of the outermost periphery of the work area F1. During corner cutting, in order to enable the body 11 to turn within a limited space, the work vehicle 10 turns the body 11 while switching between forward and reverse. Therefore, particularly the rear part of the body 11 will swing left and right. However, if the outermost peripheral position where the first operation was performed is sufficiently far from the outer contour line of the work area F1, it is less likely that the rear part of the body 11 will come into contact with the ridge B1 or the like even during such corner cutting.

[0119] In addition, the "driving mode" may include whether it is a manned driving that requires an operator to board the work vehicle 10 or an unmanned driving that does not require an operator to board the work vehicle 10, in addition to or instead of automatic driving / manual driving. The "manned driving" mentioned here includes "manned automatic driving" in which the operator is on board but automatic driving is performed, and "manned manual driving" in which the operator on board operates the work vehicle 10. Also, the "unmanned driving" mentioned here includes "unmanned automatic driving" in which automatic driving is performed and "unmanned manual driving" in which the operator remotely operates the work vehicle 10.

[0120] When the "driving mode" includes manned driving / unmanned driving, for example, if the distance L3 from the outer contour line of the work area F1 to the outermost peripheral position (the same as the allowable limit line La1) where the first operation was performed is equal to or greater than a predetermined distance, the driving mode is set to enable the unmanned driving of the work vehicle 10. If the distance L3 is less than the predetermined distance, the driving mode is set to disable the unmanned driving of the work vehicle 10 and to be manned driving (manned automatic driving or manned manual driving).

[0121] Furthermore, for example, when there are three or more driving modes such as manual driving / manned automatic driving / unmanned automatic driving, the predetermined distance may be set step by step so that the three or more driving modes automatically switch. As an example, as the distance L3 from the outer contour line of the work area F1 to the outermost peripheral position (the same as the allowable limit line La1) where the first operation was performed decreases, the driving mode is switched in the order of unmanned automatic driving, manned automatic driving, and manual driving.

[0122] By the way, in the present embodiment, the work area F1 includes a plurality of outer outlines (the first outer outline f11, the second outer outline f12, etc.). Here, the travel setting information regarding the outer peripheral travel can be set individually for each of these plurality of outer outlines. That is, for example, the travel setting information regarding the outer peripheral travel can be set individually for each of the first outer outline f11 and the second outer outline f12. And according to the travel setting information set for the first outer outline f11, the travel mode etc. of the work vehicle 10 when traveling along the first outer outline f11 are set.

[0123] Further, the control method according to the present embodiment further has, as a travel mode, when it is set to enable the automatic travel of the work vehicle 10, causing the display device 18 to display the target route R2 related to the automatic travel. In short, when the work vehicle 10 is caused to automatically travel during the outer peripheral travel, the target route R2 (the first circular route r21) related to the automatic travel is displayed on the display device 18. On the other hand, as a travel mode, when the automatic travel of the work vehicle 10 is set to be impossible (that is, when it is set to manual travel), the display of the first circular route r21 is not performed. Therefore, when the work vehicle 10 automatically travels along the first circular route r21, the operator can visually grasp the travel route of the work vehicle 10, and the workability is improved. Further, the work start position (travel start position) and the work end position (travel end position) may also be displayed on the display device 18 by icons or the like.

[0124] Next, the flow of the process for setting the travel setting information regarding the outer peripheral travel of the work vehicle 10 in the control method will be described with reference to FIG. 6.

[0125] As shown in FIG. 6, first, the acquisition processing unit 31 of the control system 1 executes an acquisition process of acquiring first work-related information regarding the first work for the work area F1 (S1). At this time, the acquisition processing unit 31 acquires the first work-related information via a recording medium, in response to the input of the operator, or by communication with the terminal device 20 or a server or the like.

[0126] Based on the first work-related information, the setting processing unit 32 obtains the distance L3 from the outer contour line at the work site F1 to the outermost peripheral position where the first work is performed (the same as the allowable limit line La1), and compares the distance L3 with a predetermined distance (S2). If the distance L3 is greater than or equal to the predetermined distance (S2: Yes), the setting processing unit 32 sets the travel setting information so that the work vehicle 10 can automatically travel when the work vehicle 10 travels on the outer periphery of the work site F1 during the second work (S3).

[0127] On the other hand, if the distance L3 is less than the predetermined distance (S2: No), the setting processing unit 32 disables the automatic travel of the work vehicle 10 and makes the work vehicle 10 manually travel when the work vehicle 10 travels on the outer periphery of the work site F1 during the second work (S4).

[0128] However, the flowchart shown in FIG. 6 is only an example, and processes may be added or omitted as appropriate, or the order of processes may be changed as appropriate.

[0129] [5] Modification Example Hereinafter, modification examples of Embodiment 1 will be listed. The modification examples described below can be applied in appropriate combinations.

[0130] The control system 1 in the present disclosure includes a computer system. The computer system mainly includes one or more processors and one or more memories as hardware. By the processor executing a program (control program for work vehicle) recorded in the memory of the computer system, the functions as the control system 1 in the present disclosure are realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be provided by being recorded on a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. Also, some or all of the functional units included in the control system 1 may be configured by electronic circuits.

[0131] Also, it is not an essential configuration of the control system 1 that at least some functions of the control system 1 are integrated in one housing, and the components of the control system 1 may be provided dispersedly in a plurality of housings. Conversely, in Embodiment 1, functions dispersed in a plurality of devices (for example, the control device 3 and the terminal device 20) may be integrated in one housing. Further, at least some functions of the control system 1 may be realized by a cloud (cloud computing) or the like.

[0132] Also, the terminal device 20 is not limited to general-purpose terminals such as tablet terminals, smartphones, or laptop computers, and may be composed of dedicated terminals. Further, a plurality of terminal devices 20 may be associated with one work vehicle 10. In this case, one work vehicle 10 can be controlled by the plurality of terminal devices 20. Conversely, one terminal device 20 may be associated with a plurality of work vehicles 10. In this case, a plurality of work vehicles 10 can be controlled by one terminal device 20.

[0133] Also, the above-described target route R2 is only an example and can be changed as appropriate. For example, the traveling direction of the work vehicle 10 and / or the traveling order of the target route R2 can also be changed as appropriate.

[0134] Also, as in Embodiment 1, it is not essential that different work machines (work vehicles) are used in the first work and the second work performed on the same work site F1. In the first work and the second work, for example, the same work vehicle 10 such as a tractor may be used. Further, the second work may be any work performed after the first work, may be the work performed next to the first work, or may be the work performed with one or a plurality of other works sandwiched between the first work.

[0135] Also, in addition to or instead of the traveling mode, the traveling setting information may include, for example, vehicle speed or route.

[0136] (Embodiment 2) The control method of the work vehicle 10 according to this embodiment is different from Embodiment 1 in that the travel setting information includes information regarding the travel route of the work vehicle 10. Hereinafter, for the same configurations as those in Embodiment 1, common reference numerals will be given and the description will be omitted as appropriate.

[0137] That is, in this embodiment, as shown in FIG. 7, the setting processing unit 32 can set a travel route (target route R2) related to the outer peripheral travel of the work vehicle 10 based on the first work-related information. In the example of FIG. 7, the target route R2 of the work vehicle 10 is set along the target route (first target route R1) of the work machine 50 included in the first work-related information.

[0138] Specifically, the target route R2 is generated so that the outermost peripheral position where the first work (planting work) is performed is within the working width W2 (see FIG. 5) of the second work (mowing work). Here, the outermost peripheral position where the first work is performed can be estimated based on the target route (first target route R1) of the work machine 50 that performs the first work, or the actual travel route of the work machine 50 and the working width W1. However, it is not limited to this, and the outermost peripheral position where the first work is performed may be specified by an operator's input or from a camera image or the like.

[0139] In this embodiment, based on the first work-related information, the travel route (target route R2) of the work vehicle 10 is set up to. Therefore, for example, as shown in FIG. 7, when the work machine 50 snakes to avoid an obstacle (here, the ridge B1) during the first work, the target route R2 can be generated so that the work vehicle 10 also snakes along this movement. Therefore, it is possible to perform the work up to the outermost contour line of the work area F1 while avoiding contact with obstacles of the work vehicle 10.

[0140] The configuration of Embodiment 2 can be adopted in appropriate combination with various configurations (including modified examples) described in Embodiment 1.

[0141] [[Appendix of the Invention]] The following is an appendix on the outline of the invention extracted from the above embodiments. Note that each configuration and each processing function described in the following appendix can be selectively combined arbitrarily.

[0142] <Appendix 1> A control method for a work vehicle capable of working while traveling on a work site, comprising: acquiring first work-related information regarding a first work on the work site; when performing a second work on the work site by the work vehicle after the first work, setting travel setting information regarding the travel of the work vehicle on the outer periphery of the work site based on the first work-related information. A control method for a work vehicle.

[0143] <Appendix 2> The first work-related information includes information related to the actual travel route of the work machine performing the first work. The control method for a work vehicle according to Appendix 1.

[0144] <Appendix 3> The first work-related information includes information related to the target route of the work machine performing the first work. The control method for a work vehicle according to Appendix 1.

[0145] <Appendix 4> The first work-related information includes the working width of the work machine performing the first work. The control method for a work vehicle according to any one of Appendices 1 to 3.

[0146] <Appendix 5> The travel setting information is setting information regarding the travel of the outermost periphery of the work site by the work vehicle. The control method for a work vehicle according to any one of Appendices 1 to 4.

[0147] <Appendix 6> The travel setting information includes information regarding the travel mode of the work vehicle. The control method of the work vehicle according to any one of Supplementary Notes 1 to 5.

[0148] <Supplementary Note 7> Based on the first work-related information, when the outermost peripheral position where the first work at the work site is carried out is located inside the outer contour line of the work site by a predetermined distance or more, as the traveling mode, the automatic traveling of the work vehicle is set to be possible. The control method of the work vehicle according to Supplementary Note 6.

[0149] <Supplementary Note 8> During the first work, an allowable limit line that is the limit position allowing the protrusion of the implementation area of the first work is defined by a margin value that is the distance inside the work site based on the outer contour line of the work site. The first work-related information includes information related to the position of the allowable limit line. The control method of the work vehicle according to any one of Supplementary Notes 1 to 5.

[0150] <Supplementary Note 9> The traveling setting information includes information related to the traveling mode of the work vehicle. Based on the first work-related information, when the position of the allowable limit line is located inside the outer contour line of the work site by a predetermined distance or more, as the traveling mode, the automatic traveling of the work vehicle is set to be possible. The control method of the work vehicle according to Supplementary Note 8.

[0151] <Supplementary Note 10> When the automatic traveling of the work vehicle is set to be possible as the traveling mode, further including causing a display device to display a target route related to the automatic traveling. The control method of the work vehicle according to Supplementary Note 7 or 9.

[0152] <Supplementary Note 11> The traveling setting information includes information related to the traveling route of the work vehicle. The control method of the work vehicle according to any one of Supplementary Notes 1 to 10.

[0153] <Supplementary Note 12> The control method of the work vehicle according to any one of Supplementary Notes 1 to 11, A control program for a work vehicle for causing one or more processors to execute.

Explanation of Signs

[0154] 1 Control system for work vehicle 10 Work vehicle 11 Machine body 18 Display device 31 Acquisition processing unit 32 Setting processing unit 50 Work machine 52 Working implement 100 Work system F1 Work area f11, f12 First and second outer contours (outer contours) L2 Margin value La1 Allowable limit line R1 First target path (target path) R2 Target path (travel path) W1 Working width

Claims

1. A control method for a work vehicle that travels while operating, comprising: obtaining first work-related information regarding a first work on the work site; when performing a second work on the work site by the work vehicle after the first work, setting travel setting information regarding the travel of the work vehicle along the outer periphery of the work site based on the first work-related information. A control method for a work vehicle.

2. The first work-related information includes information regarding the actual travel route of the work machine that performs the first work. The control method for a work vehicle according to Claim 1.

3. The first work-related information includes information regarding the target route of the work machine that performs the first work. The control method for a work vehicle according to Claim 1.

4. The first work-related information includes the working width of the work machine that performs the first work. The control method for a work vehicle according to any one of Claims 1 to 3.

5. The travel setting information is setting information regarding the travel of the work vehicle along the outermost periphery of the work site. The control method for a work vehicle according to any one of Claims 1 to 3.

6. The travel setting information includes information regarding the travel mode of the work vehicle. The control method for a work vehicle according to any one of Claims 1 to 3.

7. Based on the first work-related information, when the outermost peripheral position where the first work is performed on the work site is located inside the outer contour line of the work site by a predetermined distance or more, the travel mode is set to enable the automatic travel of the work vehicle. The control method for a work vehicle according to Claim 6.

8. When performing the first work, a tolerance limit line that is the limit position allowing the overhang of the implementation area of the first work is defined by a margin value that is the distance inside the work site with reference to the outer contour line of the work site. The first work-related information includes information regarding the position of the tolerance limit line. The control method for a work vehicle according to any one of Claims 1 to 3.

9. The travel setting information includes information regarding the travel mode of the work vehicle. Based on the first work-related information, when the position of the tolerance limit line is located inside the outer contour line of the work site by a predetermined distance or more, the travel mode is set to enable the automatic travel of the work vehicle. The control method for a work vehicle according to Claim 8.

10. When the traveling mode is set to enable the automatic traveling of the work vehicle, further including causing a display device to display a target route related to the automatic traveling. The control method for a work vehicle according to claim 7.

11. The travel setting information includes information regarding the travel route of the work vehicle. The control method for a work vehicle according to any one of claims 1 to 3.

12. The control method for a work vehicle according to any one of claims 1 to 3, A control program for a work vehicle for causing one or more processors to execute.

13. Used for a work vehicle capable of working while traveling on a work site, An acquisition processing unit that acquires first work-related information regarding a first work for the work site; A setting processing unit that, when performing a second work on the work site by the work vehicle after the first work, sets travel setting information regarding traveling on the outer periphery of the work site of the work vehicle traveling on the outer periphery of the work site based on the first work-related information. A control system for a work vehicle.

14. The control system for a work vehicle according to claim 13, And the body of the work vehicle. A work system.

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