Travel support system

Abstract

To provide a travel support system capable of appropriately performing both travel that crosses a boundary line and prohibition of such boundary-crossing travel in autonomous operation in accordance with field conditions.SOLUTION: A travel support system 100 comprises: a work vehicle 1 capable of performing automatic travel including performing work on a field H using a work device 2; a setting section 51a which sets boundary-crossing permission information indicating whether crossing of a boundary line BD of the field H is permitted; and a control device 60 which controls the work vehicle 1 to either perform travel that crosses the boundary line BD or prohibit such travel, based on the boundary-crossing permission information.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

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

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The agricultural work vehicle disclosed in Patent Document 1 permits border crossing only when approaching the boundary line remotely (by remote control) and at a low speed, and prohibits border crossing uniformly during automatic driving. Therefore, in the agricultural work vehicle disclosed in Patent Document 1, since border crossing is uniformly prohibited during automatic driving, even in cases where border crossing may be permitted with respect to the boundary line of the farm field, it is not possible to respond to them. That is, it is not possible to appropriately perform border crossing travel across the boundary line during automatic driving and the prohibition of such border crossing travel according to the farm field.

[0005] Therefore, in view of the above problems, an object of the present invention is to provide a driving support system that can appropriately perform border crossing travel across the boundary line during automatic driving and the prohibition of such border crossing travel according to the farm field.

Means for Solving the Problems

[0006] The technical means of the present invention for solving the above technical problems are characterized by the following points.

[0007] A driving support system according to an aspect of the present invention includes a work vehicle capable of automatic driving including performing work on a field with a work device, a setting unit that sets border crossing permission information indicating whether border crossing of the boundary line of the field is permitted, and a control device that performs driving in which the work vehicle crosses the boundary line and prohibits the driving based on the border crossing permission information.

Effect of the Invention

[0008] According to the present invention, it is possible to appropriately perform border crossing driving across the boundary line in automatic driving and prohibit the border crossing driving according to the field.

Brief Description of the Drawings

[0009]

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Embodiments for Carrying Out the Invention

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] First, the work vehicle (agricultural machine) 1 of the present embodiment will be described. FIG. 17 is a side view of the work vehicle 1. In this example, the work vehicle 1 is a tractor, for example. Note that the work vehicle 1 is not limited to a tractor, and may be, for example, other agricultural machines such as a rice transplanter or a combine, or agricultural machines other than tractors that perform agricultural work.

[0012] The work vehicle 1 includes a traveling vehicle body 3, a prime mover 4, a transmission 5, and a traveling device 7. The front wheels 7F of the traveling device 7 may be of a tire type or a crawler type. Also, the rear wheels 7R of the traveling device 7 may be of a tire type or a crawler type. The prime mover 4 is composed of a diesel engine, an electric motor, or the like. In the present embodiment, the prime mover 4 is composed of a diesel engine. The transmission 5 can switch the driving force of the traveling device 7 by shifting gears and can also switch between forward and reverse of the traveling device 7. The driving force of the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, and the traveling device 7 is driven, so that the traveling vehicle body 3 travels forward and backward. In FIG. 17, the left side is the front of the traveling vehicle body 3, and the right side is the rear of the traveling vehicle body 3. Also, facing FIG. 17, the back side is the right side of the traveling vehicle body 3, and the front side is the left side of the traveling vehicle body 3.

[0013] A cabin 9 is provided on the traveling vehicle body 3. A driver's seat 10 is provided inside the cabin 9. A connecting device 8 composed of a three-point link mechanism or the like is provided at the rear of the traveling vehicle body 3. The connecting device 8 connects the traveling vehicle body 3 to a working device 2 for performing agricultural work. Specifically, by connecting the working device 2 to the connecting portions 8g, 8h provided on the connecting device 8, the working device 2 and the traveling vehicle body 3 are connected, and the working vehicle 1 can tow the working device 2. That is, the working device 2 can be mounted on the working vehicle 1.

[0014] The working device 2 performs ground operations on the farm field. In this example, the working device 2 includes, for example, a tilling device (rotary tiller) that tills the farm field, a stubble cultivation device that performs rough tillage, a substitute scraping device that performs scraping, a spraying device that sprays fertilizers or pesticides, a seeding device that sows seeds, a transplanting device that transplants seedlings, and a harvesting device that performs harvesting.

[0015] Next, the work vehicle 1 and the travel support system 100 (agricultural work support system) of the present embodiment will be described. FIG. 1 is a configuration diagram of the travel support system of the embodiment. The travel support system 100 includes the work vehicle 1 and a portable terminal 50 (portable terminal device). The travel support system 100 and the portable terminal 50 assist in performing agricultural work by the working device 2 while driving the work vehicle 1 in the farm field.

[0016] The work vehicle 1 includes a control device 60, an operation device 62, a prime mover 4, a transmission 5, a brake device 6, a steering device 29, a coupling device 8, a positioning device 40, an alarm device 63, a detection device 64, a storage device 65, and a communication device 66. In addition, an in-vehicle network N1 such as LAN or CAN is constructed in the work vehicle 1. The control device 60, the operation device 62, the positioning device 40, the alarm device 63, the detection device 64, the storage device 65, and the communication device 66 are connected to the in-vehicle network N1. These components provided in the work vehicle 1 are included in the travel support system 100. The communication device 66 is composed of a communication circuit that wirelessly communicates with the portable terminal 50. The communication device 66 is a short-range communication device or a communication device that performs wireless communication via a mobile phone communication network, a data communication network, a mobile phone communication network, or the like.

[0017] The control device 60 is composed of an electric / electronic circuit, a processor, a memory, etc. The processor is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit), etc. The memory of the control device 60 includes a volatile memory and a non-volatile memory. The control device 60 controls the operations of each part of the work vehicle 1. The operating device 62 is composed of switches, levers, pedals, and other keys that can be operated by a user (operator) such as a driver sitting in the driver's seat 10 or a worker near the work vehicle 1.

[0018] The storage device 65 is a storage device such as a non-volatile memory, and stores various control programs (prevention programs, determination programs, permission programs, etc.), various data, etc. The storage device 65 is, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), etc.

[0019] The operating device 62 includes a mode switch 62a and a lift operation lever 62b. The mode switch 62a is an operating member for switching the mode of the work vehicle 1. The lift operation lever 62b is an operating member that is operated by the user to change the lift height as the posture of the working device 2, and holds an operation position corresponding to the operation.

[0020] The modes selectable by the mode switch 62a of the work vehicle 1 include an automatic traveling work mode (automatic driving mode) and an automatic steering work mode. The automatic traveling work mode is a mode in which while the work vehicle 1 (traveling vehicle body 3) is traveling by automatic driving, the working device 2 performs agricultural work (ground work). The automatic driving of the work vehicle 1 means automatically changing the traveling speed of the traveling vehicle body 3 and automatically steering the traveling vehicle body 3. The automatic steering work mode is a mode in which while automatically steering the traveling vehicle body 3, the working device 2 performs agricultural work (ground work). When the work vehicle 1 is in the automatic steering work mode, the driver of the work vehicle 1 operates the accelerator member or the brake member included in the operating device 62, and the traveling speed of the traveling vehicle body 3 is changed according to the operation. That is, in the automatic steering work mode, the traveling speed of the traveling vehicle body 3 is changed based on manual operation.

[0021] In addition, the work vehicle 1 can also travel by manual driving, and it is possible to perform ground work with the working device 2 during the traveling. The manual driving of the work vehicle 1 means that the driver operates the accelerator member or the brake member of the operating device 62 to change the traveling speed of the traveling vehicle body 3, and operates the steering wheel 30 to steer the traveling vehicle body 3. In this case, the work vehicle 1 is in the manual mode. The work vehicle 1 is in the manual mode unless it is in the automatic traveling work mode or the automatic steering work mode.

[0022] The prime mover 4 (engine) is controlled for driving, stopping, and rotational speed by the control device 60. The transmission 5 is connected to the control valve 37. The control valve 37 is a solenoid valve that operates based on a control signal transmitted from the control device 60. The control valve 37 is supplied with the hydraulic oil discharged from the hydraulic pump 33. Although the control valve 37 is shown as one block in FIG. 1, it is provided in an appropriate number according to the number of hydraulic devices such as the hydraulic clutch or the hydraulic cylinder provided in the transmission 5.

[0023] The braking device 6 is connected to the control valve 38. The control valve 38 is a solenoid valve that operates based on a control signal transmitted from the control device 60. The control valve 38 is supplied with the hydraulic oil discharged from the hydraulic pump 33. The control device 60 operates the braking device 6 to apply brakes to the traveling vehicle body 3 by electrically controlling the switching position and the opening degree of the control valve 38.

[0024] The control device 60 electrically controls the switching position (opening degree) of the control valve 37 to control the drive of the transmission 5. When the transmission 5 transmits the driving force of the prime mover 4 to the traveling device 7, the traveling device 7 operates to move the traveling vehicle body 3 forward and backward. Also, for example, when the working device 2 performs ground work, the transmission 5 transmits the driving force of the prime mover 4 to the working device 2. Thereby, the operating force of the working device 2 increases.

[0025] Also, the control device 60 communicates with the working device 2 via the in-vehicle network N1. Specifically the working device 2 includes a control unit 21 and a communication unit 22. The control device 60 transmits a work command to the working device 2 via the in-vehicle network N1. When the control unit 21 of the working device 2 receives the work command by the communication unit 22, it controls the operations of the respective parts of the working device 2 based on the work command to perform agricultural work (ground work). Also, the control unit 21 of the working device 2 transmits information or data indicating the working state etc. to the control device 60 via the in-vehicle network N1 by the communication unit 22. The control device 60 detects the working state etc. of the working device 2 based on the information or data received from the working device 2 via the in-vehicle network N1.

[0026] There is also a working device 2 that does not include the control unit 21 and the communication unit 22. When using this type of working device 2, the control device 60 does not communicate with the working device 2 via the in-vehicle network N1, but as will be described later, it controls the operation of the working device 2 and detects the working state etc. of the working device 2 by raising and lowering the working device 2 by the connecting device 8 to change the position of the working device 2.

[0027] The steering device 29 has a steering wheel (handwheel) 30, a steering shaft (rotating shaft) 31, and an auxiliary mechanism (power steering mechanism) 32. The steering wheel 30 is provided inside the cabin 9 (Fig. 17). The steering shaft 31 rotates as the steering wheel 30 rotates. The auxiliary mechanism 32 assists the steering by the steering wheel 30.

[0028] The auxiliary mechanism 32 includes a control valve 34 and a steering cylinder 35. The control valve 34 is an electromagnetic valve that operates based on a control signal transmitted from the control device 60. Specifically, the control valve 34 is composed of a three-position switching valve that can be switched by the movement of a spool or the like. The control valve 34 is supplied with the hydraulic oil discharged from the hydraulic pump 33. The control device 60 adjusts the hydraulic pressure supplied to the steering cylinder 35 by electrically controlling the switching position and opening degree of the control valve 34, and expands and contracts the steering cylinder 35. The steering cylinder 35 is connected to a knuckle arm 39 that changes the direction of the front wheels 7F.

[0029] The control valve 34 can also be switched by the steering of the steering shaft 31. Specifically, by operating the steering wheel 30, the steering shaft 31 rotates according to the operation state, and the switching position and opening degree of the control valve 34 are switched. The steering cylinder 35 expands and contracts to the left or right of the traveling vehicle body 3 according to the switching position and opening degree of the control valve 34. By this expansion and contraction operation of the steering cylinder 35, the steering direction of the front wheels 7F is changed. Note that the above-described steering device 29 is an example and is not limited to the above-described configuration.

[0030] The work vehicle 1 can perform manual steering by manually operating the steering wheel 30 and automatic steering by the control device 60. Also, according to the manual operation of an accelerator member or a brake pedal (both not shown) provided in the operation device 62, the transmission 5 or the brake device 6 operates, so that the traveling vehicle body 3 can travel and stop. Further, according to the control of the transmission 5 and the brake device 6 by the control device 60, the traveling vehicle body 3 can automatically travel and stop. The control device 60 expands and contracts the steering cylinder 35 by controlling the control valve 34, and the steering direction of the front wheel 7F is changed by the knuckle arm 39. That is, in the work vehicle 1, a manual operation in which the user (driver) performs a traveling operation and a steering operation, an automatic operation in which the control device 60 automatically performs traveling and steering, and an auto-steer control in which the control device 60 automatically performs steering and the user performs a traveling operation (also referred to as automatic steering control or semi-automatic operation) are each possible.

[0031] FIG. 2 is a perspective view of the connecting device 8. As shown in FIG. 2, the connecting device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end portion of the lift arm 8a is supported so as to be swingable upward or downward at the upper rear portion of a case (transmission case) that houses the transmission 5. The lift arm 8a swings (moves up and down) by the drive of the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a control valve 36 (FIG. 1). The control valve 36 is an electromagnetic valve that operates based on a control signal transmitted from the control device 60. The control valve 36 is supplied with hydraulic oil discharged from the hydraulic pump 33.

[0032] The front end portion of the lower link 8b shown in FIG. 2 is supported so as to be swingable upward or downward at the lower rear portion of the transmission 5 (FIGS. 1 and 17). The front end portion of the top link 8c is supported above the lower link 8b and is swingable upward or downward at the rear portion of the transmission 5. The lift rod 8d connects the lift arm 8a and the lower link 8b. Connecting portions 8g, 8h to which the work device 2 can be connected are provided at the rear end portions of the lower link 8b and the top link 8c.

[0033] The control valve 36 shown in FIG. 1 includes a control valve 36a and a control valve 36b shown in FIG. 2. The control device 60 (FIG. 1) adjusts the hydraulic pressure supplied to the lift cylinder 8e by electrically controlling the switching position or the opening degree of the control valve 36a, and expands and contracts the lift cylinder 8e. Due to the expansion and contraction operation of the lift cylinder 8e, the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a via the lift rod 8d moves up and down. As a result, the work implement 2 swings (moves up and down) upward or downward with the front part of the lower link 8b (the side opposite to the connecting parts 8g and 8h) as a fulcrum.

[0034] The control device 60 controls the prime mover 4, the transmission 5, the brake device 6, the traveling device 7, the steering device 29, and the connecting device 8 to automatically perform the traveling or steering of the work vehicle 1 while performing agricultural work on the field by the work implement 2. Specifically, the control device 60 executes an automatic operation of performing agricultural work by the work implement 2 while automatically running the work vehicle 1. Further, the control device 60 executes an automatic steering (auto-steer) of performing agricultural work on the field by the work implement 2 while automatically steering the work vehicle 1 and entrusting the change of the traveling speed of the work vehicle 1 to manual operation.

[0035] The positioning device 40 shown in FIG. 1 includes a receiving device 40a and an inertial measurement device 40b (IMU: Inertial It has a "Measurement Unit". The receiving device 40a receives satellite signals (such as the position of the positioning satellite, the transmission time, correction information, etc.) transmitted from satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Beidou, Galileo, and Michibiki. The positioning device 40 detects the current position (for example, latitude and longitude) based on the satellite signals received by the receiving device 40a. That is, the positioning device 40 is a position detection unit that detects the position of the work vehicle 1 (traveling vehicle body 3). The inertial measurement device 40b has an acceleration sensor, a gyro sensor, etc. The inertial measurement device 40b detects the roll angle, pitch angle, yaw angle, etc. of the traveling vehicle body 3. The warning device 63 is composed of a buzzer, a speaker, a warning light, etc. provided on the traveling vehicle body 3. The warning device 63 outputs warnings and alerts to the surroundings of the traveling vehicle body 3 by sound or light.

[0036] In addition, the detection device 64 includes sensors, cameras, and electric circuits that process output signals from the sensors or cameras installed in each part of the work vehicle 1 and the work device 2. The detection device 64 detects the operating states (such as driving and stopping states and operating positions) of each part such as the transmission 5, brake device 6, traveling device 7, coupling device 8, steering device 29, and operating device 62 of the work vehicle 1 based on the output signals from those sensors. Also, the detection device 64 detects the operating state of the work device 2 based on the output signals from sensors. Further, the detection device 64 includes an object detection unit 64a (object detection sensor) such as a LiDAR or an ultrasonic sensor. The object detection unit 64a is installed at the front, rear, and left and right sides of the traveling vehicle body 3. The object detection unit 64a detects the presence or absence of objects around the work vehicle 1 and the distance to the objects.

[0037] The mobile terminal 50 is, for example, a tablet terminal device or a smartphone. The mobile terminal 50 is carried by the user and taken out of the outside of the work vehicle 1 or installed at a predetermined position in the cabin 9 of the work vehicle 1. That is, the mobile terminal 50 can be operated outside the work vehicle 1 and can also be operated inside the work vehicle 1. Note that the outside of the work vehicle 1 is not limited to the outside of the cabin 9, but means a position other than the work vehicle 1, and may be a position close to the work vehicle 1 or a position far from the work vehicle 1.

[0038] The mobile terminal 50 includes a control device 51, a display device 52, an input device 53, a communication device 54, a storage device 55, and a notification device 56. The control device 51 is composed of an electric / electronic circuit, a processor, a memory, etc. The processor is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit), etc. The memory of the control device 51 includes a volatile memory and a non-volatile me mory. The control device 51 controls each part of the mobile terminal 50.

[0039] The storage device 55 is a storage device such as a non-volatile memory, and stores various control programs (setting programs, route creation programs, etc.), various data, etc. Further, the storage device 55 can read and write information or data for supporting the traveling of the work vehicle 1 and the agricultural work by the work device 2. The storage device 55 is, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), etc.

[0040] The control device 51 includes an area setting unit 51b and a route creation unit 51c. For example, the aforementioned processor of the control device 51 functions as the area setting unit 51b and the route creation unit 51c by executing the area setting program and the route creation program stored in the storage device 55, respectively.

[0041] The display device 52 is, for example, a liquid crystal display or an organic EL display, and displays various types of information on the screen. The input device 53 is a pointer device such as a transparent touch pad, for example, and is arranged in front of the display screen of the display device 52, and is a device for inputting or selecting information by an operation of directly touching the screen or an operation of bringing it closer. Therefore, by the user performing a touch operation (or proximity operation) on the display screen of the display device 52, various types of input or selection can be performed. Note that the input device 53 may be various input devices such as a mouse or a keyboard other than the touch pad.

[0042] The communication device 54 is composed of an electric circuit or a semiconductor element for communicating with the communication device 66 or the control device 60. The communication device 54 is, for example, a short-range communication device, or a communication interface that performs wireless communication via a mobile phone communication network, a data communication network, a mobile phone communication network, etc. Specifically, when the mobile terminal 50 is outside the work vehicle 1, the communication device 54 and the communication device 66 communicate with each other wirelessly. Also, when the mobile terminal 50 is installed inside the cabin 9 (inside the work vehicle 1) of the work vehicle 1 and is electrically connected to the in-vehicle network N1 by a cable or the like, the communication device 54 includes a communication interface for performing wired communication, and it is also possible for the communication device 54 and the control device 60 to communicate with each other wired.

[0043] The notification device 56 is a sound output device such as a speaker or a buzzer, which outputs a sound or voice indicating a predetermined notification or warning. Further, the notification device 56 is not limited to the sound output device, and may be a light emitting device such as an LED (light emitting diode) or a lamp, and can perform light emission, lighting, etc. indicating a predetermined notification or warning. Note that the notification device 56 may be a display device 52 or a display device different from the display device 52, and can perform a predetermined notification display, warning display, etc.

[0044] After the mobile terminal 50 is activated, when the user performs a predetermined operation on the display screen of the display device 52, information on the field H, the work vehicle 1 and the work device 2, work conditions for performing agricultural work by the work vehicle 1 and the work device 2 in the field H, or information for performing automatic driving of the work vehicle 1, etc. is input to the mobile terminal 50. Then, when the user performs a predetermined operation by the display device 52 and the input content is determined, the area setting unit 51b sets a predetermined area on the field map MP2 indicating the field H. Further, the route creation unit 51c creates a travel route L1 on which the work vehicle 1 travels on the field map MP2.

[0045] FIG. 3 is a diagram showing an example of the travel route L1 created by the route creation unit 51c. The area setting unit 51b (FIG. 1) sets a central area C1 and a headland area E1 in the field map MP2 as shown in FIG. 3 based on, for example, the position information of the field H (for example, latitude and longitude information), the dimension information of the working device 2, and the working conditions. More specifically, for example, the area setting unit 51b calculates contours Hc, Hb, and Ha formed by offsetting the contour H1 of the field H inward the same number of times as the number of headlands (in FIG. 3, the number of headlands is set to, for example, "3") with a width obtained by subtracting the overlap margin of the headlands from the working width of the working device 2. Here, the area setting unit 51b sets the area (central part) surrounded by the innermost contour Ha among them as the central area C1. Further, the area setting unit 51b sets a frame-shaped area (outer frame part) outside the central area C1 and inside the contour H1 of the field H as the headland area E1. Further, in the headland area E1, the area setting unit 51b sets the area between adjacent contours among the contour H1 of the field H and the contours Hc, Hb, and Ha obtained by offsetting the contour H1 as the headland E2a, E2b, and E2c. That is, the area between the contour H1 and the contour Hc is the headland E2c, the area between the contour Hb and the contour Hc is the headland E2b, and the area between the contour Ha and the contour Hb is the headland E2a. When the number of headlands is set to, for example, "1", the headland area E1 is only the headland E2c, and the area (central part) surrounded by the contour Hc is set as the central area C1.

[0046] The route creation unit 51c (Fig. 1) creates a travel route L1 on the field map MP2 based on the position information of the field H, the central area C1, the headland area E1, the dimensional information of the work vehicle 1 and the work implement 2, the working conditions, or the automatic driving information, etc. Specifically, the route creation unit 51c divides the central area C1 from one end (the right end in Fig. 3) of the central area C1 parallel to the working direction (the vertical direction in Fig. 3) by a width obtained by subtracting the overlap margin in the central part included in the working conditions from the working width of the work implement 2, thereby creating a plurality of unit working sections in the central area C1. Then, a straight travel route L1a along which the traveling vehicle body 3 travels straight is created on the center line in the width direction (the left - right direction in Fig. 3) of each unit working section. Next, the route creation unit 51c creates a turning route L1b in the headland area E1 that connects adjacent straight travel routes L1a. The turning route L1b is a route from one of two adjacent straight travel routes L1a to the other. When creating the turning route L1b, the route creation unit 51c secures a turning space for turning the work vehicle 1 and the work implement 2 in the headland area E1.

[0047] In Fig. 3, a simple semi - circular turning route L1b is illustrated, but this shape is for the convenience of being easily displayed on the display screen of the display device 52 or easily visually recognized the travel route L1 on the display screen. When the traveling vehicle body 3 and the work implement 2 of the work vehicle 1 actually travel based on one straight travel route L1a and then turn toward the other straight travel route L1a, the traveling vehicle body 3 etc. may not only move forward but also move backward or turn around, drawing a trajectory with a shape more complex than a semi - circle. That is, the turning route L1b is a route for display on the display device 52, and the work vehicle 1 may not turn based on the turning route L1b.

[0048] When the control device 60 (Fig. 1) of the work vehicle 1 runs the traveling body 3 based on the straight travel route L1a, the connecting device 8 (Fig. 2) lowers the work device 2 to the work position P1, and the work device 2 performs ground work. Further, when the control device 60 turns the traveling body 3 at a location corresponding to the turning route L1b, that is, when turning the traveling body 3 from one straight travel route L1a to the other straight travel route L1a, the connecting device 8 raises the work device 2 to the non-work position P2 to stop the ground work by the work device 2. That is, the straight travel route L1a is a work route for performing ground work by the work device 2 while automatically driving the traveling body 3 of the work vehicle 1. In addition, the central area C1 where a plurality of straight travel routes L1a are created is a work area for performing ground work by the work device 2 while reciprocating the traveling body 3 straight by automatic driving.

[0049] Further, for example, when it is input as a work condition to work in the central area C1 and the innermost pillow area E2a, in addition to the straight travel route L1a and the turning route L1b, the route creation unit 51c creates a circumferential route L1c that circles outside the central area C1 in the pillow area E1. The circumferential route L1c is a work route for performing ground work by the work device 2 while automatically driving the traveling body 3 of the work vehicle 1. The circumferential route L1c includes a plurality of substantially straight straight travel routes L1s and turning routes L1r that curve with a predetermined radius of curvature or more. A plurality of straight travel routes L1s are created on the center line in the width direction of the pillow area E2a so as to correspond to each straight line portion of the contour H2a of the central area C1.

[0050] The turning route L1r is a route from one straight travel route L1s to the other straight travel route L1s adjacent to the extending direction of the one straight travel route L1s. The one straight travel route L1s and the other straight travel route L1s have different extending directions, but the end of the one straight travel route L1s and the start of the other straight travel route L1s are connected by the turning route L1r. When creating the turning route L1r, the route creation unit 51c also secures a turning space for turning the traveling body 3 and the work device 2 of the work vehicle 1 in the pillow area E1.

[0051] FIG. 3 exemplifies a simple arc-shaped turning route L1b for convenience. However, when the work vehicle 1 or the like actually turns from one straight route L1s to the other straight route L1s, in practice, not only forward movement but also backward movement or turning back may be performed to draw a trajectory with a shape more complex than an arc. That is, the turning route L1r is a route for display on the display device 52, and the work vehicle 1 may not turn based on the turning route L1r.

[0052] After creating the circumferential route L1c, the route creation unit 51c sets the start position Ps at the end of one straight route L1a (the upper end of the right straight route L1a in FIG. 3) that is not connected to the turning route L1b among both ends of the straight routes L1a at both ends of the central area C1 (the left and right ends in FIG. 3), and connects the circumferential route L1c to the end of the other straight route L1a (the lower end of the left straight route L1a in FIG. 3). Further, the route creation unit 51c sets the goal position Pg at the end of the circumferential route L1c that is not connected to the straight route L1a. Then, the route creation unit 51c stores information indicating the central area C1, the headland area E1, the travel route L1, the start position Ps, the goal position Pg, and the turning space in the internal memory as route information.

[0053] When the creation of the travel route L1 by the route creation unit 51c is completed, the control device 51 causes the display device 52 to display route information such as the field map MP2, the central area C1, the headland area E1, the travel route L1, the start position Ps, and the goal position Pg. After that, when the user performs a predetermined operation using the input device 53, the control device 51 causes the display device 52 to display the travel control screen D8 shown in FIG. 4. Further, the control device 51 generates automatic travel data based on the setting information stored in the internal memory, and transmits (outputs) the automatic travel data to the control device 60 of the work vehicle 1 via the communication device 54.

[0054] The automatic driving data includes route information, setting information of the work vehicle 1, setting information of the work device 2, and automatic driving information, etc. Among them, the information of the driving route L1 included in the route information includes information indicating the positions of the work routes L1a and L1s, and may not include information indicating the positions of the turning routes L1b and L1r. In addition, the setting information of the work vehicle 1 and the work device 2 includes the dimensional information of the work vehicle 1 and the work device 2, the type of agricultural work to be performed, and the like.

[0055] Figure 4 is a diagram showing an example of the travel control screen D8. As shown in Figure 4, the travel control screen D8 is a screen that displays the travel state of the work vehicle 1 and the work state by the work device 2 in the automatic driving work mode. In Figure 4, the display device 52 displays the travel control screen D8 showing the travel state and the work state of the work vehicle 1 after a while since the automatic driving work mode is started. The travel control screen D8 displays a field map MP2, a travel route L1, a start position Ps, a goal position Pg, an agricultural machine mark X2, the travel state of the work vehicle 1, a setting change key B20, a status display key B21, a work trajectory key B22, and a trajectory clear key B23. The control device 51 acquires, at a predetermined cycle, the position of the actual traveling vehicle body 3 detected by the positioning device 40 through the communication device 54, and displays the agricultural machine mark X2 indicating the work vehicle 1 at the corresponding location on the field map MP2 according to the position of the traveling vehicle body 3 at any time. That is, the agricultural machine mark X2 in the travel control screen D8 indicates the actual position of the traveling vehicle body 3 of the work vehicle 1.

[0056] For example, while looking at the travel control screen D8, the user manually moves the work vehicle 1 to the start position Ps, and then performs a predetermined operation to shift to the automatic driving work mode using the mode switch 62a (Figure 1). Thereby, the control device 60 shifts to the automatic driving work mode, and based on the automatic driving data received from the mobile terminal 50 and the position of the traveling vehicle body 3 detected by the positioning device 40, starts the automatic driving of the work vehicle 1 and performs the ground work by the work device 2 while driving the traveling vehicle body 3 in automatic driving.

[0057] Specifically, the control device 60 first reads the route information included in the automatic driving data to grasp the central area C1, the shoulder area E1, the travel route L1 (working route L1a, L1s), the start position Ps, and the goal position Pg. Then, based on the straight route L1a of the travel route L1 from the start position Ps, the control device 60 causes the working device 2 to perform ground work while automatically driving the traveling vehicle body 3. When the traveling vehicle body 3 (working vehicle 1) reaches the end of one straight route L1a, the control device 60 temporarily stops the ground work by the working device 2, raises the working device 2, and turns the traveling vehicle body 3 toward the start of the adjacent other straight route L1a. That is, the control device 60 turns the working vehicle 1 and the working device 2 at a location corresponding to the turning route L1b. At this time, the control device 60 turns the working vehicle 1 and the working device 2 based on the position information of the central area C1, the shoulder area E1, the position information of the straight route L1a, the dimension information of the working vehicle 1 and the working device 2, the position of the traveling vehicle body 3 detected by the positioning device 40, and the detection result of the detection device 64.

[0058] Then, when the traveling vehicle body 3 reaches the start of the other straight route L1a, the control device 60 lowers the working device 2 and resumes the ground work by the working device 2 when starting to automatically drive the traveling vehicle body 3 based on the other straight route L1a. As a result, the traveling vehicle body 3 reciprocates straight through the central area C1 by automatic driving, and the ground work is performed on the central area C1 by the working device 2.

[0059] After that, based on the circular route L1c and the position of the traveling vehicle body 3, the control device 60 causes the working device 2 to perform ground work while automatically driving the traveling vehicle body 3. At this time, the control device 60 performs ground work by the working device 2 while automatically driving the traveling vehicle body 3 based on the straight - ahead route L1s, and when turning the traveling vehicle body 3 at a location corresponding to the turning route L1r, raises the working device 2 to stop the ground work by the working device 2. At the time of this turning, the control device 60 turns the work vehicle 1 and the working device 2 based on the position information of the central area C1, the pillow - ground area E1, the position information of the straight - ahead route L1s, the dimensional information of the work vehicle 1 and the working device 2, the position of the traveling vehicle body 3 detected by the positioning device 40, and the detection result of the detection device 64. As a result, the traveling vehicle body 3 automatically circles outside the central area C1, and the working device 2 performs ground work on the pillow - ground E2a (Fig. 3) surrounding the central area C1.

[0060] Figs. 5A to 5D are diagrams for explaining the automatic steering of the work vehicle 1. In the automatic driving work mode, the control device 60 calculates the deviation between the position of the traveling vehicle body 3 detected by the positioning device 40 and the traveling route L1 (working route L1a, L1s) while automatically driving the traveling vehicle body 3. When the deviation is less than the threshold value (for example, Fig. 5A), the control device 60 maintains the rotation angle of the steering shaft 31 (Fig. 1). When the deviation between the position of the traveling vehicle body 3 and the traveling route L1 is equal to or greater than the threshold value and the traveling vehicle body 3 is located on the left side of the traveling route L1 (for example, Fig. 5B), the control device 60 rotates the steering shaft 31 so that the steering direction of the traveling vehicle body 3 becomes the right direction. When the deviation between the position of the traveling vehicle body 3 and the traveling route L1 is equal to or greater than the threshold value and the traveling vehicle body 3 is located on the right side of the traveling route L1 (for example, Fig. 5C), the control device 60 rotates the steering shaft 31 so that the steering direction of the traveling vehicle body 3 becomes the left direction. The above is an example of the automatic steering method of the work vehicle 1, and the automatic steering method of the work vehicle 1 is not limited to the above method.

[0061] Further, when the control device 60 automatically drives the traveling vehicle body 3 based on the traveling route L1, it calculates the actual vehicle speed of the traveling vehicle body 3 based on the change in the position of the traveling vehicle body 3. Then, it controls the driving of the transmission 5, the braking device 6, and the prime mover 4 so that the actual vehicle speed coincides (or substantially coincides) with the vehicle speed associated with the straight traveling route L1a, the turning route L1b, or the circular route L1c.

[0062] As described above, in the automatic driving work mode of the work vehicle 1, the control device 60 automatically performs the steering of the traveling vehicle body 3 while automatically changing the traveling speed of the traveling vehicle body 3 based on the traveling route L1 and the position of the traveling vehicle body 3 (work vehicle 1). Further, the control device 60 automatically executes or stops the farming work (ground work) by the work device 2.

[0063] Now, as shown in FIG. 1, the control device 51 of the mobile terminal 50 includes a setting unit 51a. The setting unit 51a sets border crossing permission information indicating whether border crossing with respect to the boundary line BD of the farm field H is possible. For example, the aforementioned processor of the control device 51 functions as the setting unit 51a by executing a setting program stored in the storage device 55.

[0064] Further, the storage device 55 stores the border crossing permission information set by the setting unit 51a in association with the farm field map MP2 and stores it. The stored information of the storage device 55 (for example, the farm field map MP2) is transmitted from the mobile terminal 50 to the work vehicle 1 and stored in the storage device 65. The control device 60 of the work vehicle 1 performs border crossing driving in which the work vehicle 1 crosses the boundary line BD and prohibits such border crossing driving based on the border crossing permission information.

[0065] Here, the setting of the non-border-crossing area AR1 of the farm field H will be described. FIG. 6A is a diagram showing an example of the setting of the non-border-crossing area AR1 of the farm field H. FIG. 6B is a diagram showing an example of the setting of the non-border-crossing area A R1 and the border-crossing permitted area AR2 of the farm field H. The border crossing permission information includes non-border-crossing ​​Information indicating area AR1 (see FIGS. 6A and 6B) and at least one of the information indicating the cross-border allowable area AR2 (see FIG. 6B ) is included.

[0066] As shown in FIG. 6A, the setting unit 51a sets the outside of the boundary line BD of the farm field H as a non-crossable area AR1 where cross-border travel is not possible. For example, the setting unit 51a sets a non-crossable area AR1 that is outside the boundary line BD and extends over the entire circumference of the boundary line BD as a default value (initial value). Note that the setting unit 51a may set the range specified (designated) by the user as the non-crossable area AR1. Furthermore, as shown in FIG. 6B, the setting unit 51a sets a specified range within the non-crossable area AR1 of the farm field H as the cross-border allowable area AR2. For example, the setting unit 51a sets the range specified (designated) by the user within the non-crossable area AR1 as the cross-border allowable area AR2.

[0067] FIG. 7A is a diagram showing an example of setting the width W of the cross-border allowable area AR2. As shown in FIG. 7A, the setting unit 51a sets the width W along the boundary line BD of the cross-border allowable area AR2. It can also be said that this width W is the length along the side of the farm field H.

[0068] For example, the setting unit 51a sets at least one or more of the plurality of unit widths W1 obtained by dividing the length direction of the boundary line BD of the non-crossable area AR1 at predetermined widths as the width W of the cross-border allowable area AR2. In FIG. 7A, the length obtained by summing three unit widths W1 is set as the width W (=W1×3) of the cross-border allowable area AR2. The unit width W1 may be, for example, 1 m, 2 m, etc., or the lateral width (left and right width), the longitudinal length in the front-rear direction of the work vehicle 1, or the lateral width (left and right width) of the work device 2.

[0069] The setting of the cross-border allowable area AR2 by the user can be performed as follows. The display device

[0070] ​​52 displays a screen including the non-crossable area AR1 of the field H. As shown in FIG. 7A, when at least one or more of the plurality of unit widths W1 on the screen of the display device 52 are selected by a touch operation by the user, the setting unit 51a sets the selected at least one or more unit widths W1 as the width W of the crossable area AR2. Note that the user does not need to continuously select (designate) the unit width W1, and may select (designate) the separated unit widths W1. That is, the user may select the unit widths W1 in a scattered manner. Also, in FIG. 7A, the entire length in the depth direction of the width W of the crossable area AR2 is set as the depth D of the crossable area AR2. When at least one or more of the plurality of unit widths W1 are selected by a touch operation by the user, the setting unit 51a sets the selected at least one or more unit widths W1 as the width W of the crossable area AR2. Note that the user does not need to continuously select (designate) the unit width W1, and may select (designate) the separated unit widths W1. That is, the user may select the unit widths W1 in a scattered manner. Also, in FIG. 7A, the entire length in the depth direction of the width W of the crossable area AR2 is set as the depth D of the crossable area AR2. Note that the user does not need to continuously select (designate) the unit width W1, and may select (designate) the separated unit widths W1. That is, the user may select the unit widths W1 in a scattered manner. Also, in FIG. 7A, the entire length in the depth direction of the width W of the crossable area AR2 is set as the depth D of the crossable area AR2. That is, the user may select the unit widths W1 in a scattered manner. Also, in FIG. 7A, the entire length in the depth direction of the width W of the crossable area AR2 is set as the depth D of the crossable area AR2. That is, the user may select the unit widths W1 in a scattered manner. Also, in FIG. 7A, the entire length in the depth direction of the width W of the crossable area AR2 is set as the depth D of the crossable area AR2.

[0071] FIG. 7B is a diagram showing an example of setting the width W and the depth D of the crossable area AR2. As shown in FIG. 7B, the setting unit 51a sets the depth D in the direction orthogonal to the boundary line BD of the crossable area AR2. For example, the setting unit 51a sets at least one or more of the plurality of unit depths D1 obtained by dividing the depth direction of the crossable area AR2 into predetermined lengths as the depth D of the crossable area AR2 from the boundary line BD. In FIG. 7B, the length obtained by summing three unit widths W1 is set as the width W of the crossable area AR2, and the length obtained by summing two unit depths D1 from the boundary line BD is set as the depth D (= D1 × 2) of the crossable area AR2.

[0072] For example, the display device 52 displays a screen including the non-crossable area AR1 of the field H. Then, as shown in FIG. 7B, when at least one or more of the plurality of unit depths D1 on the screen of the display device 52 are selected by a touch operation by the user from the boundary line BD, the setting unit 51a sets the selected at least one or more unit depths D1 as the depth D of the crossable area AR2. Then, as shown in FIG. 7B, when at least one or more of the plurality of unit depths D1 on the screen of the display device 52 are selected by a touch operation by the user from the boundary line BD, the setting unit 51a sets the selected at least one or more unit depths D1 as the depth D of the crossable area AR2. Then, as shown in FIG. 7B, when at least one or more of the plurality of unit depths D1 on the screen of the display device 52 are selected by a touch operation by the user from the boundary line BD, the setting unit 51a sets the selected at least one or more unit depths D1 as the depth D of the crossable area AR2. Then, as shown in FIG. 7B, when at least one or more of the plurality of unit depths D1 on the screen of the display device 52 are selected by a touch operation by the user from the boundary line BD, the setting unit 51a sets the selected at least one or more unit depths D1 as the depth D of the crossable area AR2. Then, as shown in FIG. 7B, when at least one or more of the plurality of unit depths D1 on the screen of the display device 52 are selected by a touch operation by the user from the boundary line BD, the setting unit 51a sets the selected at least one or more unit depths D1 as the depth D of the crossable area AR2.

[0073] FIG. 7C is a diagram showing an example of setting the width W and height of the crossable area AR2. FIG. 7D is a diagram showing an example of setting the width W, depth D, and depth of the crossable area AR2. The setting unit 51a sets the height of the work vehicle 1 and the work device 2 that permit cross-border travel in the crossable area AR2 as shown in FIGS. 7C and 7D. That is, the setting unit 51a sets the height of the crossable area AR2.

[0074] In FIGS. 7C and 7D, since the actual height of the portion that is the crossable area AR2 of the farm field H is, for example, 20 cm, a value obtained by adding a margin height (for example, 10 cm) to the actual height (20 cm) of the portion is set as the height of the crossable area AR2. In FIG. 7D, for the portion at the third unit depth D1 from the boundary line BD in the width W of the crossable area AR2, since there are, for example, obstacles, it remains set as the non-crossable area AR1. Note that the above specific values (10 cm, 20 cm, 30 cm, etc.) are examples and are not limited to these values.

[0075] The display device 52 displays a screen including the non-crossable area AR1 of the farm field H. As shown in FIGS. 7C and 7 D, when the user numerically inputs the actual height (20 cm) of the crossable area AR2 selected on the screen of the display device 52, the setting unit 51a sets, as the height of the crossable area AR2, a value obtained by adding a margin height ( for example, 10 cm) to the input numerical value (for example, 30 cm).

[0076] In addition, the above cross-border travel includes a first cross-border travel in which only the working device 2 mounted on or towed by the work vehicle 1 crosses the border, and a second cross-border travel in which the work vehicle 1 and the working device 2 cross the border. The setting unit 51a sets the cross-border travel selected from among the first cross-border travel and the second cross-border travel. The storage device 55 stores the selected cross-border travel, that is, the first cross-border travel or the second cross-border travel, as a cross-border travel in the cross-border available area AR2 of the field map MP2. Here, it is assumed that the first cross-border travel is stored in the storage device 55 as the cross-border travel in the cross-border available area AR2.

[0077] The storage device 55 stores in advance a field map MP2 including the position information (for example, latitude and longitude information) of each of the field H and the boundary line BD of the field H. In addition, the storage device 55 stores the cross-border permission information (at least one of the information indicating the non-crossable area AR1 and the information indicating the crossable area AR2) set by the setting unit 51a. The route creation unit 51c creates a travel route L1 for automatically driving the work vehicle 1 on the field map MP2 based on the field map MP2, the information of the working device 2 (for example, dimension information), and the cross-border permission information.

[0078] Specifically, as shown in FIGS. 6A and 6B, the area setting unit 51b sets on the field map MP2 a headland area E1 set on the inner periphery of the boundary line BD of the field H and a central area C1 located inside the headland area E1. The setting unit 51a sets, as shown in FIG. 6B, a specified range within the non-crossable area AR1 of the field H as the crossable area AR2.

[0079] The route creation unit 51c creates, as shown in FIGS. 6A and 6B, a turning route L1b which is the travel route L1 in the headland area E1 based on the field map MP2, the information (dimension information) of the working device 2, the non-crossable area AR1, and the crossable area AR2.

[0080] Specifically, as shown in FIGS. 6A and 6B, the route creation unit 51c creates a central area C1 Create a plurality of straight routes L1a in the and create a turning route L1b that connects the ends of the straight routes L1a in the pillow area E1. When creating the turning route L1b, as shown in Fig. 6B, when there is a cross-border allowable area AR2, the route creation unit 51c creates a first turning route L1b1 that enters the cross-border allowable area AR2 and changes direction. The first turning route L1b1 is, for example, a semicircular turning route without a U-turn or a turning route with a U-turn. For example, the route creation unit 51c makes the work vehicle 1 and the work equipment 2 turnable along an arc-shaped locus of a semicircle with the distance (distance) between two straight routes L1a connecting the ends as the diameter, and as long as they do not enter the non-cross-border area AR1 (they may enter the cross-border allowable area AR2), create the locus as the turning route L1b. On the other hand, when creating the turning route L1b, as shown in Fig. 6A, when there is no cross-border allowable area AR2, the route creation unit 51c creates a second turning route L1b2 that changes direction without entering the non-cross-border area AR1. The second turning route L1b2 is, for example, a turning route with a U-turn. For example, the route creation unit 51c makes the work vehicle 1 and the work equipment 2 turnable along the above-mentioned semi-circular arc-shaped locus, and as long as they do not enter the non-cross-border area AR1, set the locus as the first turning route L1b1. If they enter the non-cross-border area AR1, set the locus of turning back without entering the non-cross-border area AR1 as the second turning route L1b2. Note that the first turning route L1b1 is not limited to a semi-circular turn without a U-turn, but may be a turn with a U-turn, and may be a turn with a U-turn with fewer U-turns than the second turning route L1b2.

[0081]

[0082] ​​​​​​​​​​​​​​ As described above, the route creation unit 51c prohibits the work vehicle 1 from traveling in the non-crossable area AR1 and creates a travel route L1 that permits the work vehicle 1 to travel in the crossable area AR2. For this reason, the control device 60 of the work vehicle 1 causes the work vehicle 1 to travel along the travel route L1 created by the route creation unit 51c in an automatic driving mode. That is, the control device 60 of the work vehicle 1 prohibits the work vehicle 1 from traveling in the non-crossable area AR1 at least during automatic driving and permits the work vehicle 1 to travel in the crossable area AR2. As described above, the route creation unit 51c prohibits the work vehicle 1 from traveling in the non-crossable area AR1 and creates a travel route L1 that permits the work vehicle 1 to travel in the crossable area AR2. For this reason, the control device 60 of the work vehicle 1 causes the work vehicle 1 to travel along the travel route L1 created by the route creation unit 51c in an automatic driving mode. That is, the control device 60 of the work vehicle 1 prohibits the work vehicle 1 from traveling in the non-crossable area AR1 at least during automatic driving and permits the work vehicle 1 to travel in the crossable area AR2. As described above, the route creation unit 51c prohibits the work vehicle 1 from traveling in the non-crossable area AR1 and creates a travel route L1 that permits the work vehicle 1 to travel in the crossable area AR2. For this reason, the control device 60 of the work vehicle 1 causes the work vehicle 1 to travel along the travel route L1 created by the route creation unit 51c in an automatic driving mode. That is, the control device 60 of the work vehicle 1 prohibits the work vehicle 1 from traveling in the non-crossable area AR1 at least during automatic driving and permits the work vehicle 1 to travel in the crossable area AR2. As described above, the route creation unit 51c prohibits the work vehicle 1 from traveling in the non-crossable area AR1 and creates a travel route L1 that permits the work vehicle 1 to travel in the crossable area AR2. For this reason, the control device 60 of the work vehicle 1 causes the work vehicle 1 to travel along the travel route L1 created by the route creation unit 51c in an automatic driving mode. That is, the control device 60 of the work vehicle 1 prohibits the work vehicle 1 from traveling in the non-crossable area AR1 at least during automatic driving and permits the work vehicle 1 to travel in the crossable area AR2. As described above, the route creation unit 51c prohibits the work vehicle 1 from traveling in the non-crossable area AR1 and creates a travel route L1 that permits the work vehicle 1 to travel in the crossable area AR2. For this reason, the control device 60 of the work vehicle 1 causes the work vehicle 1 to travel along the travel route L1 created by the route creation unit 51c in an automatic driving mode. That is, the control device 60 of the work vehicle 1 prohibits the work vehicle 1 from traveling in the non-crossable area AR1 at least during automatic driving and permits the work vehicle 1 to travel in the crossable area AR2. As described above, the route creation unit 51c prohibits the work vehicle 1 from traveling in the non-crossable area AR1 and creates a travel route L1 that permits the work vehicle 1 to travel in the crossable area AR2. For this reason, the control device 60 of the work vehicle 1 causes the work vehicle 1 to travel along the travel route L1 created by the route creation unit 51c in an automatic driving mode. That is, the control device 60 of the work vehicle 1 prohibits the work vehicle 1 from traveling in the non-crossable area AR1 at least during automatic driving and permits the work vehicle 1 to travel in the crossable area AR2.

[0083] As shown in FIG. 1, the control device 60 includes a border crossing prevention control unit 61a, a determination unit 61b, and a border crossing permission unit 61c. The border crossing prevention control unit 61a prohibits the work vehicle 1 and the work device 2 during automatic driving from traveling beyond the boundary line BD of the farm field H.

[0084] The determination unit 61b determines that border crossing is not permitted when the work vehicle 1 or the work device 2 being automatically driven crosses beyond the front position FP of the boundary line BD of the non-crossable area AR1, and determines that border crossing is permitted when the work vehicle 1 or the work device 2 crosses beyond the front position FP of the boundary line BD of the crossable area AR2.

[0085] The border crossing permission unit 61c permits the first border crossing travel or the second border crossing travel set by the setting unit 51a when the determination unit 61b determines that border crossing is permitted. Here, since the first border crossing travel is stored in the storage device 55 as the border crossing travel in the crossable area AR2 as described above, the first border crossing travel (only the work device 2 is located in the crossable area AR2 and performs border crossing travel) is permitted in the crossable area AR2.

[0086] For example, when the above-described processor of the control device 60 executes the prevention program, the determination program, and the permission program stored in the storage device 65, the processor functions as the border crossing prevention control unit 61a, the determination unit 61b, and the border crossing permission unit 61c, respectively.

[0087] The storage device 65 stores in advance a field map MP2 including the position information (for example, latitude and longitude information) of each of the field H, the boundary line BD of the field H, and the front position FP in front of the boundary line BD, and cross-border permission information (at least one of information indicating the non-crossable area AR1 and information indicating the crossable area AR2). That is, the field map MP2 includes the position information of the field H, the boundary line BD, and the front position FP, and the cross-border permission information (information on the non-crossable area AR1 and the crossable area AR2).

[0088] The stored information in the storage device 55 (that is, the field map MP2) is transmitted from the mobile terminal 50 to the work vehicle 1 and stored in the storage device 65, but is not limited thereto. For example, the control device 60 of the work vehicle 1 may execute automatic driving control using the field map MP2 stored in the storage device 55 of the mobile terminal 50 instead of the field map MP2 stored in the storage device 65.

[0089] In the field H of the field map MP2 shown in FIG. 3, as shown in FIG. 8, the boundary line BD of the field H is set in advance. For example, the control device 51 of the mobile terminal 50 sets the inside within a predetermined distance (a first set value indicating a predetermined distance) from the contour H1 of the field H as the boundary line BD. Further, the control device 51 may set the boundary line BD based on an operation instruction by the user. For example, the boundary line BD is set in the headland E2c of the headland area E1, but may be set at other locations.

[0090] The determination unit 61b determines whether to permit the cross-border state when the corresponding position corresponding to the traveling state among the positions of the work vehicle 1 and the work device 2 during automatic driving is at the front position FP. This corresponding position is a position corresponding to the traveling state (forward, backward, left turn, and right turn) of the work vehicle 1 among a plurality of predetermined positions calculated from the detection position of the work vehicle 1 during automatic driving detected by the positioning device 40 (more precisely, the latitude and longitude indicating the arrangement position of the positioning device 40 on the work vehicle 1).

[0091] Specifically, this corresponding position is as follows: when the traveling state of the work vehicle 1 is forward as shown in FIG. 8, it is the front position PF of the work vehicle 1; when it is backward, it is the rear position PB of the working device 2; when it is forward and turning left, it is the right front position PR1 of the work vehicle 1; when it is forward and turning right, it is the left front position PL1 of the work vehicle 1; when it is backward and turning left, it is the right rear position PR2 of the working device 2; and when it is backward and turning right, it is the left rear position PL2 of the working device 2.

[0092] The determination unit 61b detects the traveling state (forward, backward, left turn, and right turn) of the work vehicle 1 by means of the inertial measurement device 40b. For example, based on the acceleration sensor of the inertial measurement device 40b , the forward or backward movement of the work vehicle 1 is detected. The roll angle, pitch angle, and yaw angle of the traveling vehicle body 3 detected by the inertial measurement device 40b and the acceleration sensor are used to detect the left turn or right turn of the work vehicle 1. Further, the determination unit 61b may detect the left turn or right turn of the work vehicle 1 based on the steering angle of the steering wheel 30.

[0093] Note that the front position PF shown in FIG. 8 can be calculated as a position offset by the dimension from the arrangement position of the positioning device 40 to the front end of the work vehicle 1 with respect to the arrangement position of the positioning device 40. The rear position PB shown in FIG. 8 can be calculated as a position offset by the dimension from the arrangement position of the positioning device 40 to the rear end of the work vehicle 1 with respect to the arrangement position of the positioning device 40.

[0094] The right front position PR1 of the work vehicle 1 shown in FIG. 8 can be calculated as a position offset by the dimension from the arrangement position of the positioning device 40 to the front end of the work vehicle 1 and the dimension from the arrangement position of the positioning device 40 to the right end of the work vehicle 1 with respect to the arrangement position of the positioning device 40. The left front position PL1 of the work vehicle 1 shown in FIG. 8 can be calculated as a position offset by the dimension from the arrangement position of the positioning device 40 to the front end of the work vehicle 1 and the dimension from the arrangement position of the positioning device 40 to the left end of the work vehicle 1 with respect to the arrangement position of the positioning device 40.

[0095] The right rear position PR2 of the working device 2 shown in FIG. 8 can be calculated as a position offset from the arrangement position of the positioning device 40 by the dimensions from the arrangement position to the rear end and the right end of the working device 2, respectively. The left rear position PL2 of the working device 2 shown in FIG. 8 can be calculated as a position offset from the arrangement position of the positioning device 40 by the dimensions from the arrangement position to the rear end and the left end of the working device 2, respectively.

[0096] FIG. 9 is a flowchart showing an example of the creation process of the travel route L1 of the work vehicle. It is assumed that information such as the field H, the work vehicle 1 and the working device 2, the working conditions for performing agricultural work by the work vehicle 1 and the working device 2 in the field H, or information for performing automatic driving of the work vehicle 1 is input to the portable terminal 50 by a user performing a predetermined operation on the display screen of the display device 52. The area setting unit 51b sets a predetermined area, that is, the central area C1 and the headland area E1, on the field map MP2 showing the field H (S11).

[0097] When the user performs a touch operation on the non-crossable area AR1 shown in FIG. 6B on the display screen of the display device 52, the setting unit 51a sets crossability information indicating whether crossing the boundary line BD of the field H is possible or not (S12).

[0098] Specifically, the setting unit 51a performs the crossability information setting shown in FIG. 10. FIG. 10 is a diagram showing an example of the setting process of the crossability information. The display device 52 displays the field map MP2 (S21). For example, the display device 52 displays the field map MP2 shown in FIG. 6A.

[0099] The setting unit 51a determines an instruction for allowing crossing by the user (S22). For example, a crossing-allowed instruction button and a cancel button are displayed on the display screen of the display device 52. When the user touches the crossing-allowed instruction button, a request instruction for designating the crossing-allowed area AR2 is input to the control device 51. When the setting unit 51a receives the request instruction for designating the crossing-allowed area AR2 (S22: YES), it specifies the determination type of the crossing-allowed area AR2 (S23).

[0100] As the determination types of the crossable area AR2, there are a first determination by user designation, a second determination by image analysis of the field H, a third determination by the work history of the field H, a fourth determination by the work type of the work device 2, and a fifth determination to reset the crossable area AR2 of the field H set last time. The storage device 55 stores in advance data indicating which of the first determination to the fifth determination is to be made. Here, it is assumed that the storage device 55 stores the first determination as the default. Therefore, the setting unit 51a specifies the determination type of the crossable area AR2 as the first determination by user designation (S23).

[0101] Note that the present invention is not limited to the above, and a configuration in which the user appropriately selects at the timing of S23 may be adopted. For example, in S23, the display device 52 displays five buttons for the first determination to the fifth determination. When the user touches and operates any one of the five buttons, a determination instruction corresponding to the touch operation is input to the control device 51. When receiving the determination instruction, the setting unit 51a specifies the determination instructed among the first determination to the fifth determination as the determination type of the crossable area AR2 (S23).

[0102] The setting unit 51a specifies the crossable area AR2 (S24). For example, when the setting unit 51a specifies that it is the first determination in S23, the range specified (designated) by the user within the non-crossable area AR1 is specified as the crossable area AR2 (S24). For example, the setting unit 51a executes a process of specifying the crossable area AR2 shown in FIG. 11. FIG. 11 is a diagram showing an example of the process of specifying the crossable area AR2.

[0103] ​The setting unit 51a sets the width W of the crossable area AR2 as shown in FIG. 7A in accordance with a touch operation by the user (S31). The setting unit 51a determines whether there is a depth specification in the touch operation by the user (S32). If there is a depth specification (S32: YES), the setting unit 51a sets the depth D of the width W of the crossable area AR2 as shown in FIG. 7B in accordance with the touch operation by the user (S33). Note that, as shown in FIG. 7A, when the entire length of the depth of the crossable area AR2 is forcibly set as the depth D of the crossable area AR2, it is treated as a case where there is no depth specification (S32: NO).

[0104] After S33, or when there is no depth specification (S32: NO), the setting unit 51a determines whether there is a height specification in the touch operation by the user (S34). The setting unit 51a sets the height of the crossable area AR2 in accordance with the touch operation by the user as shown in FIG. 7A (S35). After S35, or when there is no height specification (S34: NO), the setting unit 51a ends the process shown in FIG. 11 and proceeds to the process of S25 in FIG. 10.

[0105] Returning to FIG. 10, when the setting unit 51a identifies that it is the second determination in S23, the setting unit 51a identifies, as the crossable area AR2, the range identified by the image analysis of the farmland H among the non-crossable areas AR1 (S24).

[0106] Specifically, the storage device 55 stores in advance a field map MP2 including the position information of the field H and the boundary line BD and the image of the field H. The setting unit 51a determines the presence or absence of a crossable area based on the image of the field H and the position information of the boundary line BD in the field map MP2, and when it is determined that there is a crossable area, sets the crossable area as a crossable area AR2. More specifically, the setting unit 51a performs pattern matching between the images of all circumferential locations of the field H outside the boundary line BD in the image of the field H and a first reference image that is an image of various ridges and flatlands and whose height information is known or specifiable, and pattern matching with a second reference image indicating various obstacles, thereby determining the height of all circumferential locations of the field H and determining the presence or absence of obstacles. Then, if there is a location where the height is less than a predetermined height among all circumferential locations of the field H, the setting unit 51a determines that there is a crossable area, and if there is no location where the height is less than the predetermined height, determines that there is no crossable area. Subsequently, when it is determined that there is a crossable area, the setting unit 51a sets the area composed of locations where the height is less than the predetermined height as the crossable area AR2.

[0107] Further, when the setting unit 51a specifies that it is the third determination in S23, the setting unit 51a specifies the crossable area AR2 based on the work history of the field H (S24).

[0108] For example, if the previous work history of the field H is a first work history that permits crossing (for example, the work history of upland farming), the height of the ridge is low, and there is no problem even if the work vehicle 1 crosses the boundary line BD. Therefore, in the case of the first work history, the setting unit 51a sets the crossable area AR2. On the other hand, if the previous work history of the field H is a second work history that prohibits crossing (for example, the work history of paddy field farming), the height of the ridge is high, and there are problems such as the work vehicle 1 colliding with the ridge when crossing the boundary line BD. Therefore, in the case of the second work history, the setting unit 51a does not set the crossable area AR2. Further, the work history of the field H may include the position information where the work vehicle 1 has passed or is located during work among all circumferential locations of the field H. In this case, the setting unit 51a may set the area specified by the position information where the work vehicle 1 has passed or is located as the crossable area AR2.

[0109] Further, when the setting unit 51a specifies that it is the fourth determination in S23, it specifies the cross-border allowable area AR2 based on the work type of the field H (S24).

[0110] For example, if the current work type of the field H is the first work type that allows crossing (for example, upland farming), the ridge height is low, and there is no problem even if the work vehicle 1 crosses the boundary line BD. Therefore, the setting unit 51a sets the cross-border allowable area AR2 in the case of the first work type. On the other hand, if the current work type of the field H is the second work type that prohibits crossing (for example, paddy field farming), the ridge height is high, and there are problems such as the work vehicle 1 colliding with the ridge when crossing the boundary line BD. Therefore, the setting unit 51a does not set the cross-border allowable area AR2 in the case of the second work type.

[0111] Also, when the setting unit 51a specifies that it is the fifth determination in S23, it specifies the cross-border allowable area AR2 of the field H that has been set previously (S24).

[0112] The display device 52 displays the cross-border allowable area AR2 set in S24, and also displays an OK button and an NG button. When the user views the cross-border allowable area AR2 and there is a touch operation on the OK button (S25: YES), the cross-border allowable area AR2 is set (S26), the process shown in FIG. 10 is terminated, and the process proceeds to S13 shown in FIG. 9. On the other hand, if there is a touch operation on the NG button in S25 (S25: NO), the process returns to S24.

[0113] When the user touches and operates the above cancel button in S22, a cancel instruction is input to the control device 51. When the setting unit 51a receives the cancel instruction (S22: NO), it does not specify the cross-border allowable area, terminates the process shown in FIG. 10, and proceeds to the process of S13 shown in FIG. 9.

[0114] Returning to FIG. 9, the route creation unit 51c creates a travel route L1 along which the work vehicle 1 travels on the field map MP2 (S13). For example, as shown in FIG. 3, the route creation unit 51c creates a plurality of straight travel routes L1a within the central area C1 and creates a turning route L1b in the headland area E1 and the like.

[0115] In particular, as shown in FIGS. 6A and 6B, the route creation unit 51c creates a turning route L1b, which is a travel route L1 in the headland area E1, based on the field map MP2, the information (dimension information) of the work device 2, the non-crossable area AR1, and the crossable area AR2.

[0116] Specifically, when creating the turning route L1b, as shown in FIG. 6B, if there is a crossable area AR2 ahead in the traveling direction of the straight travel route L1a, the route creation unit 51c creates a first turning route L1b1 that enters the crossable area AR2 and changes direction. In FIG. 6B, the first turning route L1b1 is a semi-circular turn without a U-turn, but it is not limited to this, and a turn with a U-turn may also be possible.

[0117] On the other hand, when creating the turning route L1b, as shown in FIG. 6A, if there is no crossable area AR2, the route creation unit 51c creates a second turning route L1b2 (for example, a turn with a U-turn) that changes direction without entering the non-crossable area AR1. Further, when creating the turning route L1b, as shown in FIG. 6B, if there is no crossable area AR2 ahead in the traveling direction of the straight travel route L1a, in other words, if there is a non-crossable area AR1 ahead in the traveling direction of the straight travel route L1a, the route creation unit 51c creates a second turning route L1b2 (for example, a turn with a U-turn) that changes direction without entering the non-crossable area AR1. That is, the left turning route on the lower side of the paper in FIG. 6B is the second turning route L1b2, and the right turning route on the lower side of the paper in FIG. 6B is the first turning route L1b1.

[0118] The storage device 55 stores the field map MP2 including the travel route L1 created by the route creation unit 51c in S13. The stored information (i.e., the field map MP2) of the storage device 55 of the mobile terminal 50 is transmitted to the work vehicle 1 and stored in the storage device 65 of the work vehicle 1. The work vehicle 1 can automatically drive along the travel route L1 of the field map MP2.

[0119] FIG. 12 is a flowchart showing an example of the automatic driving operation of the work vehicle.

[0120] When the control device 60 of the work vehicle 1 receives the automatic driving data transmitted from the communication device 54 of the mobile terminal 50 (S51), it checks (reads) the type of the agricultural work included in the automatic driving data (S52). At this time, the control device 60 may detect the type of the agricultural work performed by the work device 2 from the type of the work device 2 included in the automatic driving data. Then, the control device 60 positions the work device 2 at predetermined work positions P1, P3, and P5 where the agricultural work is to be performed by the connection device 8 (lifting device) according to the confirmed type of the agricultural work (S53).

[0121] When the work device 2 connected to the work vehicle 1 is the tilling device 2A as shown in FIGS. 14A and 14B, the control device 60 lowers the tilling device 2A by the connection device 8 and positions it at the work position P1 where the tilling claws 2g of the tilling device 2A can contact the soil K2 of the field H as shown in FIG. 14B so that the tilling work can be performed. Further, the control device 60 deepens the tilling depth for the field H by further lowering the tilling device 2A by the connection device 8 or by deeply inserting the tilling claws 2g into the soil K2 by the tilling device 2A. Further, the control device 60 The connection device 8 or the tilling device 2A raises the tilling device 2A or the tilling claws 2g to reduce the tilling depth with respect to the field H. Further, during the conveyance of the tilling device 2A or the like, as shown in FIG. 14A, the control device 60 raises the tilling device 2A by the connection device 8 to separate the tilling claws 2g from the soil K2 of the field H and positions them at the non-working position P2 where tilling work cannot be performed. That is, the control device 60 changes the lifting height of the working device 2 by the connection device 8 or the working device 2.

[0122] On the other hand, for example, when the agricultural work is spraying work such as fertilizer or agricultural chemicals, and the working device 2 connected to the work vehicle 1 is the spraying device 2B as shown in FIG. 15, the control device 60 positions the spraying device 2B at the working position P3 separated from the soil K2 of the field H by the connection device 8 (lifting device) both when performing the spraying work and when not performing the spraying work. That is, in the example of FIG. 15, the working position P3 where the spraying device 2B performs the spraying work and the non-working position P31 where the spraying device 2B does not perform the spraying work are at the same position at the same height from the soil K2. As another example, the working position P3 and the non-working position P31 of the spraying device 2B may be different.

[0123] Also, when the agricultural work is rough tillage work, and the working device 2 connected to the work vehicle 1 is the rough tillage device 2C as shown in FIG. 16A, the control device 60, as shown in FIG. 16B, lowers the rough tillage device 2C by the connection device 8 (lifting device) to bring the working claws 2n of the rough tillage device 2C into contact with the soil K2 and positions it at the working position P5 where rough tillage work can be performed. Further, during the conveyance of the rough tillage device 2C or the like, the control device 60, as shown in FIG. 16A, raises the rough tillage device 2C by the connection device 8 (lifting device) to separate the working claws 2n from the soil K2 and positions it at the non-working position P4 where rough tillage work cannot be performed.

[0124] Also, when performing agricultural work such as seeding work and watering work, the control device 60 positions the working device 2 (such as a seeding device and a watering device) for performing the agricultural work at a predetermined position (working position and non-working position) separated from the soil K2 of the field H by the connection device 8 (lifting device).

[0125] As described above, the types of the working device 2 can be classified into a non-contact type that performs work without contacting the soil K2 (ground surface) of the farm field H, and a contact type that performs work in contact with the soil K2 (ground surface) of the farm field H. The plowing device 2A, the rough tillage device 2C, the seeding device, etc. are of the contact type, and the spraying device 2B, the watering device, etc. are of the non-contact type.

[0126] After positioning the working device 2 at the working position P1 as described above (S53), the control device 60 starts the running of the work vehicle 1 (running vehicle body 3) and the agricultural work by the working device 2 from the start position Ps (such as in FIG. 3) based on the running route L1 (working route L1a, L1s) included in the automatic running data and the position of the work vehicle 1 (running vehicle body 3) detected by the positioning device 40 (S54). That is, the control device 60 starts the automatic driving of the work vehicle 1. Thereby, in the example shown in FIG. 3, the control device 60 performs agricultural work by the working device 2 while running along the working route L1a created in the central area C1 from the start position Ps, and then performs agricultural work by the working device 2 while running along the working route L1s formed in the inner peripheral headland E2a surrounding the central area C1 (S55).

[0127] During the automatic driving of the work vehicle 1, the control device 60 determines whether the positions of the work vehicle 1 and the working device 2 detected by the positioning device 40 (at least one of the above six corresponding positions) are located on the boundary line BD of the non-crossable area AR1 (S56). As described above, the six corresponding positions are a total of six positions including the front position PF, the right front position PR1, and the left front position PL1 of the work vehicle 1, and the rear position PB, the right rear position PR2, and the left rear position PL2 of the working device 2, but are not limited thereto.

[0128] When the positions of the work vehicle 1 and the working device 2 are not located on the boundary line BD (S56: NO), the control device 60 checks whether the work vehicle 1 has reached the goal position Pg (such as in FIG. 3) (S57). Here, if the work vehicle 1 has not reached the goal position Pg (S57: NO), the control device 60 returns to the process of S55.

[0129] The control device 51 causes the display device 52 to display the travel control screen D 8 shown in FIG. 13 at least in S55 to S57. FIG. 13 is a diagram showing an example of notifying cross-border maneuverability on the travel control screen D8 As shown in FIG. 13, when the work vehicle 1 is in the automatic driving state, the display device 52 displays a notification display ND1 indicating that it is in the automatic driving state. Therefore, the user can recognize that the vehicle is in the automatic driving state.

[0130] As shown in FIG. 13, during the automatic driving of the work vehicle 1, the display device 52 displays cross-border availability information on the field map MP2. That is, the display device 52 displays the non-crossable area AR1 and the crossable area AR2 of the field H on the travel control screen D8. Therefore, the user can confirm the non-crossable area AR1 and the crossable area AR2 of the field H during the automatic driving. Also, the user can look at the display device 52 and see the agricultural machine mark X2 indicating the work vehicle 1 automatically driven along the travel route L1 and the positional relationship with the cross-border availability information (non-crossable area AR1 and crossable area AR2). When the notification device 56 crosses the boundary line BD of the field H and turns during the automatic driving of the work vehicle 1

[0131] it notifies that it is turning across the boundary line BD. For example, as a message indicating that it is turning across the boundary line BD, the notification device 56 outputs a voice message such as "Turning across the border" or "Turning across the border in the crossable area" by voice. Also, the notification device 56 may output a warning sound (for example, a buzzer sound ) about turning across the boundary line BD together with or instead of the above voice output. Further, when the work vehicle 1 enters the crossable area AR2 and turns the display device 52, based on the display control by the control device 51, on the display screen shown in FIG. 13 ​ 、Display the notification display ND2 indicating the cross-border maneuverability.

[0132] On the other hand, when the work vehicle 1 reaches the goal position Pg (S57: YES), the control device 60 stops the running of the work vehicle 1 and the farming work by the work device 2 (S58). At this time, since there is no unworked area within the planned automatic driving in the field H, the control device 60 positions the work device 2 at the non-working positions P2, P31, and P4 by the connecting device 8 (lifting device), and the automatic driving of the work vehicle 1 is completed (fully completed).

[0133] In S56, when the positions of the work vehicle 1 and the work device 2 (at least one of the above six corresponding positions) are located on the boundary line BD of the non-crossable area AR1 (S56: YES), the control device 60 (cross-border prevention control unit 61a) stops at least the running of the work vehicle 1 (S59). In S59, the control device 60 (cross-border prevention control unit 61a) may perform at least one of stopping the work by the work device 2 and positioning the work device 2 at the non-working positions P2, P31, and P4.

[0134] Also, in S56, when the position of the work vehicle 1 (at least one of the front position PF, the right front position PR1, and the left front position PL1 of the work vehicle 1) is located on the boundary line BD of the crossable area AR2 (S56: YES), the control device 60 (cross-border prevention control unit 61a) stops the running of the work vehicle 1 (S59). On the other hand, in S56, when only the position of the work device 2 (at least one of the rear position PB, the right rear position PR2, and the left rear position PL2 of the work device 2) is located in the crossable area AR2 (S56: NO), the control device 60 (cross-border prevention control unit 61a) does not stop the running of the work vehicle 1 and permits (continues) the first cross-border running.

[0135] In the above embodiment, the cross-border running in the crossable area AR2 is regarded as the first cross-border running, but it may also be regarded as the second cross-border running.

[0136] The main characteristic items and effects of the driving support system 100 in the embodiment described above are as follows.

[0137] (Item A1) A work vehicle 1 capable of automatic driving including performing work on a field H with a work device 2, a setting unit 51a for setting border crossing permission information indicating whether border crossing of the boundary line BD of the field H is permitted, and a control device 60 for performing border crossing driving in which the work vehicle 1 crosses the boundary line BD and prohibiting the border crossing driving based on the border crossing permission information. A travel support system 100 is provided.

[0138] According to this configuration, since it is possible to set border crossing permission information indicating whether border crossing of the boundary line BD of the field H is permitted, it is possible to set whether border crossing of the boundary line BD is permitted according to the actual situation of the field H. For this reason, it is possible to appropriately perform border crossing driving in which the boundary line BD is crossed in automatic driving and prohibition of the border crossing driving according to the field H. For example, regarding the travel route of automatic driving created in advance, since it is not necessary to create a complicated turning-back route for not crossing the border, the burden of creating the travel route of automatic driving can be reduced. In addition, the problem that the work time of automatic driving is increased due to turning back can also be reduced.

[0139] (Item A2) The setting unit 51a sets an area where border crossing is not possible, an area where border crossing is prohibited AR1 outside the boundary line BD, sets a range specified in the area where border crossing is prohibited AR1 as an area where border crossing is permitted AR2, and the border crossing permission information includes information indicating the area where border crossing is prohibited AR1 and the area where border crossing is permitted AR2. The control device 60 prohibits border crossing driving of the work vehicle 1 in the area where border crossing is prohibited AR1 and permits border crossing driving in the area where border crossing is permitted AR2. The travel support system 100 described in Item A1.

[0140] According to this configuration, since a range specified in the area where border crossing is prohibited AR1 of the field H is set as an area where border crossing is permitted AR2, it is possible to set the area where border crossing is permitted AR2 according to the actual situation of the field H. In addition, it is possible to easily reset whether border crossing is permitted when the field environment changes.

[0141] (Item A3) For the cross-border travel, it includes a first cross-border travel in which only the working device 2 mounted on or towed by the work vehicle 1 crosses the border, and a second cross-border travel in which the work vehicle 1 and the working device 2 cross the border. The setting unit 51a sets the cross-border travel selected from the first cross-border travel and the second cross-border travel in the travel support system 100 described in Item A1 or A2.

[0142] According to this configuration, since it is possible to select a first cross-border travel in which only the working device 2 crosses the border and a second cross-border travel in which the work vehicle 1 and the working device 2 cross the border, the degree of freedom of cross-border travel can be improved.

[0143] (Item A4) The setting unit 51a sets the width W along the boundary line BD of the cross-border available area AR2 in the travel support system 100 described in Item A2 or A3.

[0144] According to this configuration, since the width W along the boundary line BD of the cross-border available area AR2 is set, it is possible to preferably set the cross-border available boundary line BD among the boundary lines BD of the farmland H. Therefore, the cross-border available area AR2 can be set according to the actual situation of the farmland H.

[0145] (Item A5) The setting unit 51a sets the depth D in the direction orthogonal to the boundary line BD of the cross-border available area AR2 in the travel support system 100 described in Item A4.

[0146] According to this configuration, since the depth D in the direction orthogonal to the boundary line BD of the cross-border available area AR2 can be set, the content (width W and depth D) of the cross-border available area AR2 can be set in detail. Therefore, the cross-border available area AR2 can be set more in accordance with the actual situation of the farmland H.

[0147] (Item A6) The setting unit 51a sets the heights of the work vehicle 1 and the working device 2 that permit cross-border travel in the cross-border available area AR2 in the travel support system 100 described in Item A4.

[0148] According to this configuration, since the heights of the work vehicle 1 and the work device 2 that permit cross-border travel in the cross-border permitted area AR2 can be set, the content (width W and height) of the cross-border permitted area AR2 can be set in detail. Therefore, the cross-border permitted area AR2 can be set more in line with the actual situation of the field H.

[0149] (Item A7) The setting unit 51a is the travel support system 100 described in Item A5 that sets the heights of the work vehicle 1 and the work device 2 that permit cross-border travel in the cross-border permitted area AR2.

[0150] According to this configuration, since the width W, depth D, and height of the cross-border permitted area AR2 can be set, the content (width W, depth D, and height) of the cross-border permitted area AR2 can be set in the most detailed manner. Therefore, the cross-border permitted area AR2 can be set most in line with the actual situation of the field H.

[0151] (Item A8) The setting unit 51a is the travel support system 100 described in any one of Items A4, A5, and A7 that sets at least one or more of the plurality of unit widths W1 obtained by dividing the length direction of the boundary line BD of the non-cross-border area AR1 at predetermined widths as the width W of the cross-border permitted area AR2.

[0152] According to this configuration, since at least one or more of the plurality of unit widths W1 obtained by dividing the length direction of the boundary line BD of the non-cross-border area AR1 at predetermined widths are set as the width W of the cross-border permitted area AR2, the width W of the cross-border permitted area AR2 can be set based on the unit width W1 and by the number of unit widths W1. Therefore, the width W of the cross-border permitted area AR2 can be made at least equal to or greater than the unit width W1 and can be made easier to select. Also, the plurality of unit widths W1 set scattered can also be set as the width W of the cross-border permitted area AR2.

[0153] (Item A9) The setting unit 51a sets, as the depth D of the crossable area AR2, at least one or more of the unit depths D1 obtained by dividing the depth direction of the crossable area AR2 into a plurality of unit depths D1 at predetermined lengths, in the traveling support system 100 according to Item A5 or A6.

[0154] According to this configuration, since at least one or more unit depths D1 are set as the depth D of the crossable area AR2 from the boundary line BD among the plurality of unit depths D1 obtained by dividing the depth direction of the crossable area AR2 into predetermined lengths, the depth D of the crossable area AR2 can be set based on the unit depth D1 and the number of unit depths D1. Therefore, the depth D of the crossable area AR2 can be set to at least the unit depth D1 or more, and can be made easier to select.

[0155] (Item A10) A storage device 55 that stores in advance a farm map MP2 including the position information of the farm H and the boundary line BD, and a route creation unit 51c that creates a travel route L1 for automatically driving the work vehicle 1 on the farm map MP2 based on the farm map MP2, the information of the work device 2, and the crossability information, in the traveling support system 100 according to any one of Items A1 to A9.

[0156] According to this configuration, a travel route L1 corresponding to the crossability information and the information of the work device 2 can be created on the farm map MP2. Therefore, the work vehicle 1 can be automatically driven along the travel route L1 according to the actual situation of the farm H and the type of the work device 2.

[0157] An area setting unit 51b that sets, in the field map MP2, a headland area E1 set at the inner periphery of the boundary line BD of the field H and a central area C1 located inside the headland area E1. The setting unit 51a sets a range specified from among the non-crossable areas AR1 set outside the boundary line BD of the field H as a crossable area AR2. The crossability information includes information indicating the non-crossable area AR1 and the crossable area AR2. The route creation unit 51c creates the travel route L1 in the headland area E1 based on the field map MP2, the information of the working device 2, the non-crossable area AR1, and the crossable area AR2. The travel support system 100 according to item A10.

[0158] According to this configuration, in the area of the headland area E1 adjacent to the crossable area AR2, since the work vehicle 1 is allowed to enter the crossable area AR2 and change its direction, the degree of freedom in creating the travel route L1 in the headland area E1 can be improved. For example, instead of a turning route with a large turning amount of the work vehicle 1, a turning route with a turning amount of zero (or a turning route with a small turning amount) can be selected, and the efficiency of the turning operation can be improved.

[0159] The route creation unit 51c creates a plurality of straight travel routes in the central area C1, creates a turning route L1b that connects the ends of the straight travel route L1a in the headland area E1, and when creating the turning route L1b, creates a first turning route L1b1 that enters the crossable area AR2 and changes its direction when having the crossable area AR2, and creates a second turning route L1b2 that changes its direction without entering the non-crossable area AR1 when not having the crossable area AR2. The travel support system 100 according to item A11.

[0160] According to this configuration, in the first area adjacent to the cross-border allowable area AR2 in the headland area E1, since the work vehicle 1 is allowed to enter the cross-border allowable area AR2 and change its direction, a first turning route L1b1 (for example, a turn without a U-turn or a turn with a U-turn) that enters the cross-border allowable area AR2 and changes its direction is created. On the other hand, in the second area adjacent to the non-cross-border area AR1 in the headland area E1, since the work vehicle 1 cannot enter the non-cross-border area AR1, a second turning route L1b2 (for example, a turn with a U-turn) that changes its direction without entering the non-cross-border area AR1 is created. Since there is no or few U-turns in the first area and many U-turns in the second area, the turning time in the first area can be made shorter than the turning time in the second area, so that efficient automatic driving with a shortened turning time can be performed.

[0161] (Item A13) During the automatic driving of the work vehicle 1, a display device 52 that displays the cross-border allowability information on the farm map MP2. The driving support system 100 according to any one of Items A10 to A12. The driving support system 100 according to any one of Items A10 to A12, comprising a display device 52 that displays the cross-border allowability information on the farm map MP2 during the automatic driving of the work vehicle 1.

[0162] According to this configuration, since the display device 52 displays the cross-border allowability information on the farm map MP2 during the automatic driving of the work vehicle 1, the user can confirm the cross-border allowable range and the non-cross-border allowable range with respect to the boundary line BD of the farm H on the farm map MP2. For example, when the non-cross-border area AR1 and the cross-border allowable area AR2 are displayed as the cross-border allowability information, during the automatic driving of the work vehicle 1, the non-cross-border area AR1 and the cross-border allowable area AR2 of the farm map MP2 can be grasped, and it can also be confirmed which turning route L1b of the driving route L1 on the farm map MP2 can enter the cross-border allowable area AR2 and that the other turning routes L1b do not enter the non-cross-border area AR1.

[0163] (Item A14) The driving support system 100 according to Item A13, comprising a notification device 56 that notifies that the vehicle has turned while crossing the boundary line BD when the work vehicle 1 turns while crossing the boundary line BD of the farm H during automatic driving.

[0164] According to this configuration, when the notification device 56 makes a turn across the boundary line BD of the field H during the automatic driving of the work vehicle 1, it notifies that it is making a turn across the boundary line BD. Therefore, it is possible to inform the user that the work vehicle 1 is making a cross-border turn in which it enters the cross-border available area AR2 and makes a turn. Therefore, the user can safely confirm that it is a planned cross-border turn.

[0165] (Item A15) A storage device 55 that stores in advance a field map MP2 including the position information of the field H and the boundary line BD and an image of the field H, and the setting unit 51a sets, as the cross-border available area AR2, a range specified by the user among the non-cross-border areas AR1 located on the outer periphery of the field H in the field map MP2. The driving support system 100 according to any one of Items A2 to A9.

[0166] According to this configuration, since the range specified by the user among the non-cross-border areas AR1 of the field H in the field map MP2 is set as the cross-border available area AR2, the area selected by the user can be set as the cross-border available area AR2. Therefore, the cross-border available area AR2 can be set according to the needs of the user, and the degree of freedom in setting the cross-border available area AR2 is improved.

[0167] (Item A16) A storage device 55 that stores in advance a field map MP2 including the position information of the field H and the boundary line BD and an image of the field H, and the setting unit 51a determines the presence or absence of a cross-border possible area based on the image of the field H and the position information of the boundary line BD in the field map MP2. When it is determined that there is a cross-border possible area, the driving support system 100 according to any one of Items A2 to A9 that sets the cross-border possible area as the cross-border available area AR2.

[0168] According to this configuration, based on the image of the field H and the position information of the boundary line BD, the presence or absence of a crossable area is determined. When it is determined that there is a crossable area, the crossable area is set as the crossable area AR2. Therefore, the user only needs to check the set crossable area AR2, and there is no need for the user to set the crossable area AR2 of the field H, so the setting burden on the user can be reduced.

[0169] (Item A17) The setting unit 51a is the driving support system 100 according to any one of Items A2 to A9 for setting the crossable area AR2 based on the work history of the field H.

[0170] According to this configuration, since the crossable area AR2 is set based on the work history of the field H, the user only needs to check the crossable area AR2 set based on the work history, and there is no need for the user to set the crossable area AR2 of the field H, so the setting burden on the user can be reduced. For example, if the previous work history of the field H is the first work history that allows crossing (for example, the work history of upland farming), the ridge height is low, and there is no problem even if the work vehicle 1 crosses the boundary line BD, so the crossable area AR2 is set. On the other hand, if the previous work history of the field H is the second work history that prohibits crossing (for example, the work history of paddy field farming), the ridge height is high, and there are problems such as the work vehicle 1 colliding with the ridge when crossing the boundary line BD, so the crossable area AR2 is not set.

[0171] (Item A18) The setting unit 51a is the driving support system 100 according to any one of Items A2 to A9 for setting the crossable area AR2 based on the work type of the field H.

[0172] According to this configuration, since the cross-border allowable area AR2 is set based on the type of work in the field H, the user only needs to check the cross-border allowable area AR2 set based on the type of work, and there is no need for the user to set the cross-border allowable area AR2 of the field H, so the setting burden on the user can be reduced. For example, if the current type of work in the field H is the first type of work that allows crossing (for example, upland farming), the height of the ridge is low, and there is no problem even if the work vehicle 1 crosses the boundary line BD, so the cross-border allowable area AR2 is set. On the other hand, if the current type of work in the field H is the second type of work that prohibits crossing (for example, paddy field farming), the height of the ridge is high, and there are problems such as the work vehicle 1 colliding with the ridge when crossing the boundary line BD, so the cross-border allowable area AR2 is set.

[0173] As described above, the present invention has been explained, but it should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and it is intended that all modifications within the meaning and scope equivalent to the claims are included.

Explanation of Signs

[0174] 1 Work vehicle 2 Working device 50 Portable terminal 51a Setting unit 51b Area setting unit 51c Route creation unit 52 Display device 55 Storage device 56 Notification device 60 Control device 100 Driving support system AR1 Non-crossing area AR2 Cross-border allowable area BD Boundary line D Depth H Field MP2 Field map W Width

Claims

1. A work vehicle capable of automatic operation including performing work on a field with a work device, a setting unit that sets border crossing permission information indicating whether border crossing of the work vehicle with respect to the boundary line of the field is possible or not, a control device that performs border crossing travel in which the work vehicle crosses the boundary line and prohibits the border crossing travel based on the border crossing permission information, A travel support system comprising:

2. The setting unit sets an area where border crossing travel is impossible outside the boundary line as a non-border crossing area, and sets a range specified within the non-border crossing area as a border crossing permitted area, The border crossing permission information includes information indicating the non-border crossing area and the border crossing permitted area, The control device prohibits border crossing travel of the work vehicle in the non-border crossing area and permits border crossing travel in the border crossing permitted area. The travel support system according to claim 1.

3. The border crossing travel includes a first border crossing travel in which only the work device mounted on or towed by the work vehicle crosses the border, and a second border crossing travel in which the work vehicle and the work device cross the border, The setting unit sets the border crossing travel selected from among the first border crossing travel and the second border crossing travel. The travel support system according to claim 2.

4. The setting unit sets a width along the boundary line of the border crossing permitted area. The travel support system according to claim 2.

5. The setting unit sets a depth in a direction orthogonal to the boundary line of the border crossing permitted area. The travel support system according to claim 4.

6. The setting unit sets the height of the work vehicle and the work device that permit border crossing travel in the border crossing permitted area. The travel support system according to claim 4.

7. The setting unit sets the height of the work vehicle and the work device that permit border crossing travel in the border crossing permitted area. The travel support system according to claim 5.

8. The setting unit sets at least one or more of a plurality of unit widths obtained by dividing the length direction of the boundary line of the non-border crossing area at predetermined widths as the width of the border crossing permitted area. The travel support system according to claim 4.

9. The setting unit sets at least one or more of the unit depths from the boundary line among a plurality of unit depths obtained by dividing the depth direction of the border crossing permitted area at predetermined lengths as the depth of the border crossing permitted area. The travel support system according to claim 5.

10. A storage device that stores in advance a field map including position information of the field and the boundary line, A route creation unit that creates a driving route for automatically driving the work vehicle on the field map based on the field map, the information of the work device, and the cross-border permission information. The driving support system according to any one of claims 1 to 9, comprising the above.

11. An area setting unit that sets a headland area set on the inner periphery of the boundary line of the field and a central area located inside the headland area on the field map. The setting unit sets a range specified from among the non-crossable areas set outside the boundary line of the field as a crossable area. The cross-border permission information includes information indicating the non-crossable area and the crossable area. The route creation unit is based on the field map, the information of the work device, the non-crossable area, and the The driving support system according to claim 10, wherein a driving route in the headland area is created based on the above-mentioned crossable area.

12. The route creation unit creates a plurality of straight driving routes in the central area, creates a turning route that connects the ends of the straight driving routes in the headland area, and when creating the turning route, if it has the crossable area, it creates a first turning route that enters the crossable area and changes direction, and if it does not have the crossable area, it creates a second turning route that changes direction without entering the non-crossable area. The driving support system according to claim 11.

13. The driving support system according to claim 10, comprising a display device that displays the cross-border permission information on the field map during automatic driving of the work vehicle.

14. The driving support system according to claim 13, comprising a notification device that notifies that the vehicle turns across the boundary line when turning across the boundary line of the field during automatic driving of the work vehicle.

15. A storage device that stores in advance a field map including the position information of the field and the boundary line and an image of the field. The driving support system according to any one of claims 2 to 9, wherein the setting unit sets a range specified by the user from among the non-crossable areas located on the outer periphery of the field in the field map as the crossable area.

16. A storage device that stores in advance a field map including the position information of the field and the boundary line and an image of the field. The setting unit determines the presence or absence of a crossable area based on the image of the farmland in the farmland map and the position information of the boundary line, and when it is determined that there is a crossable area, sets the crossable area as the crossable area. The driving support system according to any one of claims 2 to 9.

17. The setting unit sets the crossable area based on the work history of the farmland. The driving support system according to any one of claims 2 to 9.

18. The setting unit sets the crossable area based on the work type of the farmland. The driving support system according to any one of claims 2 to 9.

Images