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

Abstract

To provide a work vehicle control method, a work vehicle control program, a work vehicle control system, and a work vehicle capable of facilitating work with improved appropriateness.SOLUTION: A control method for a work vehicle 1 provided with a detachable work machine 400 comprises determining whether first information matches second information and notifying a determination result. The first information relates to a first work machine attached to the work vehicle 1 as the work machine 400 at a past first time. The second information relates to a second work machine attached to the work vehicle 1 as the work machine 400 at a present time.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present invention relates to a control method for a work vehicle that performs work using a work implement, a work vehicle control program, a work vehicle control system, and a work vehicle. [Background technology]

[0002] As a related technology, a work vehicle control system (automatic driving system) has been proposed that automatically drives a work vehicle along a target route on a work site (see, for example, Patent Document 1). According to the work vehicle control system of the related technology, the work vehicle automatically drives in a predetermined row order while performing a predetermined task on work objects arranged in multiple rows on the work site. As the predetermined task, the work vehicle performs spraying work in which a chemical solution, water, or other spray material is sprayed on work objects planted in a field (work site).

[0003] In the above-mentioned related technology, the obstacle detection device mounted on the work vehicle has a lidar sensor provided on the front left side of the body (car body) of the work vehicle, and a lidar sensor provided on the front right side of the body.The work vehicle control system executes an avoidance process to avoid the obstacle when there is a possibility that the work vehicle will collide with the obstacle, based on measurement information about the obstacle obtained from the obstacle detection device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-183962 Summary of the Invention [Problem to be solved by the invention]

[0005] In the related art described above, when a work implement attached to a work vehicle is replaced with another work implement, various adjustments to match the replaced work implement are required, and there is a possibility that the operator may perform work without realizing that the work implement has been replaced. In such cases, the work vehicle may not be able to perform the work appropriately.

[0006] An object of the present invention is to provide a work vehicle control method, a work vehicle control program, a work vehicle control system, and a work vehicle that facilitate more appropriate work. [Means for solving the problem]

[0007] A control method for a work vehicle according to one aspect of the present invention is a control method for a work vehicle to which a work implement can be attached or detached, and includes determining whether first information relating to a first work implement that was attached to the work vehicle as the work implement at a first point in time in the past matches or mismatches second information relating to a second work implement that is currently attached to the work vehicle as the work implement, and reporting the result of the determination.

[0008] A work vehicle control program according to one aspect of the present invention is a work vehicle control program for causing one or more processors to execute the work vehicle control method.

[0009] A work vehicle control system according to one aspect of the present invention is used to control a work vehicle to which a work implement can be attached or detached, and includes a determination processing unit and a notification processing unit that notifies the result of the determination. The determination processing unit determines whether first information related to a first work implement that was attached to the work vehicle as the work implement at a first point in time in the past matches or does not match second information related to a second work implement that is currently attached to the work vehicle as the work implement. The notification processing unit notifies the result of the determination.

[0010] A work vehicle according to one aspect of the present invention includes the work vehicle control system and a vehicle body to which the work implement can be attached or detached. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a work vehicle control method, a work vehicle control program, a work vehicle control system, and a work vehicle that make it easier to perform work more appropriately. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is an external view of a work vehicle according to a first embodiment, as viewed from the left front side. [Figure 2] FIG. 2 is an external view of the rear of the work vehicle according to the first embodiment, as viewed from the rear side. [Figure 3] FIG. 3 is a diagram showing an example of a crop row in which the work vehicle according to the first embodiment is used. [Figure 4] FIG. 4 is a schematic diagram showing the overall configuration of an automated working system using a work vehicle according to the first embodiment. [Figure 5] FIG. 5 is a schematic block diagram showing the main configuration of the automated operation system according to the first embodiment. [Figure 6] FIG. 6 is an external view of the left side of the work vehicle according to the first embodiment as viewed from the left side. [Figure 7] FIG. 7 is an external view of the right side of the work vehicle according to the first embodiment as viewed from the right side. [Figure 8] FIG. 8 is an external view of the top surface of the work vehicle according to the first embodiment as viewed from above. [Figure 9] FIG. 9 is an external view of the rear of the work vehicle according to the first embodiment as viewed from the rear side. [Figure 10] FIG. 10 is a schematic view showing the work vehicle according to the first embodiment as viewed obliquely from behind. [Figure 11] FIG. 11 is an external view of the right side of the work vehicle according to the first embodiment with the weeder in the unfolded position attached thereto, as viewed from the right side. [Figure 12] FIG. 12 is an external view of the top surface of the work vehicle according to the first embodiment with the weeder in the unfolded position attached thereto, as viewed from above. [Figure 13] FIG. 13 is an external view of the right side of the work vehicle according to the first embodiment with the weeder in the stored attitude attached thereto, as viewed from the right side. [Figure 14] FIG. 14 is an external view of the top surface of the work vehicle according to the first embodiment, with the weeder in the stored attitude attached thereto, as viewed from above. [Figure 15] FIG. 15 is a schematic diagram illustrating the operation of the automatic traveling of the work vehicle according to the first embodiment. [Figure 16] FIG. 16 is a schematic diagram showing an example of a display of a start-up screen used in the work vehicle according to the first embodiment. [Figure 17] FIG. 17 is a schematic diagram showing an example of a display of a start-up screen used in the work vehicle according to the first embodiment. [Figure 18] FIG. 18 is a schematic diagram showing an example of a display of a sensor check screen used in the work vehicle according to the first embodiment. [Figure 19] FIG. 19 is a schematic diagram showing a display example of a preparation screen used in the work vehicle according to the first embodiment. [Figure 20] FIG. 20 is a schematic diagram showing an example of a selection screen and a selection confirmation screen used in the work vehicle according to the first embodiment. [Figure 21] FIG. 21 is a schematic diagram showing an example of a selection screen and a selection confirmation screen used in the work vehicle according to the first embodiment. [Figure 22] FIG. 22 is a schematic diagram showing a display example of a preparation screen used in the work vehicle according to the first embodiment. [Figure 23] FIG. 23 is a schematic diagram showing an example of a display of a status screen used in the work vehicle according to the first embodiment. [Figure 24] FIG. 24 is a schematic diagram showing an automatic stopping position of the work vehicle according to the first embodiment. [Figure 25] FIG. 25 is a schematic diagram showing an obstacle determination range of the work vehicle according to the first embodiment. [Figure 26] FIG. 26 is a schematic diagram showing the lifting and lowering operation of the weeder when the work vehicle according to the first embodiment moves from a work area to a non-work area. [Figure 27] FIG. 27 is a schematic diagram showing the lifting and lowering operation of the weeder when the work vehicle according to the first embodiment moves from a non-work area to a work area. DETAILED DESCRIPTION OF THE INVENTION

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following description will discuss preferred embodiments of the present invention with reference to the accompanying drawings. The preferred embodiments are merely examples of the present invention and are not intended to limit the technical scope of the present invention.

[0014] (Embodiment 1) [1] Overall structure First, the overall configuration of a work vehicle 1 according to this embodiment will be described with reference to Figures 1 to 5. In this embodiment, the work vehicle 1 performs spraying work to spray a chemical solution, water, fertilizer, or other such spray material on a crop V1 (see Figure 2) grown in a field F1, or weeding work to remove weeds around the crop V1. This work vehicle 1 performs various tasks while automatically traveling along a target route in a work area such as the field F1.

[0015] In other words, the work vehicle 1 is configured to be able to perform spraying or weeding as work. A work implement 400 can be attached and detached to the work vehicle 1 (machine body 10 thereof), and the work that can be performed by the work vehicle 1 varies depending on the type of work implement 400 attached to the work vehicle 1. In other words, a work implement 400 corresponding to the work to be performed by the work vehicle 1 is attached to the work vehicle 1 (machine body 10 thereof).

[0016] In this embodiment, there are at least two types of work implements 400 that can be attached to the work vehicle 1: a spreader 401 and a weeder 402 (see FIG. 11). When the spreader 401 is attached to the machine body 10 as the work implement 400, the work vehicle 1 can perform spraying work. On the other hand, when the weeder 402 is attached to the machine body 10 as the work implement 400, the work vehicle 1 can perform spraying work.

[0017] The term "work vehicle" as used in this disclosure includes work vehicles that perform spraying or weeding work, as well as work vehicles that perform various other tasks, such as tractors, rice transplanters, sprayers, sowing machines, transplanters, and combine harvesters. Furthermore, the term "work vehicle" as used in this disclosure is not limited to agricultural machinery (agricultural machines), but may also include, for example, construction machinery (construction machines).

[0018] Furthermore, the term "field" in this disclosure refers to an example of a work site where the work vehicle 1 travels and performs various tasks, such as spraying, and includes orchards, pastures, rice paddies, and fields where agricultural products are grown. In this case, the crop V1 grown in the field F1 is the agricultural product. Furthermore, if plants are grown in a nursery, the nursery becomes the field F1, and if trees to be used as lumber are grown in a forest, as in forestry, the forest becomes the field F1. In this case, the crop V1 grown in the field F1 is a nursery or tree. However, the work site where the work vehicle 1 works is not limited to the field F1 and may be a site other than the field F1. For example, if the work vehicle 1 is a construction machine, the work site is the site where the construction machine works.

[0019] In this embodiment, as an example, the work vehicle 1 travels through a field F1, which may be a vineyard, an apple orchard, or other fruit orchard, and performs work on a crop V1 grown in the field F1. The crop V1 is an example of a work object on which work such as spraying is performed by the work vehicle 1, and may be, for example, a grape tree.

[0020] Crop V1 is arranged in multiple rows at a predetermined interval in field F1. Specifically, as shown in FIG. 3, a plurality of crops V1 are planted linearly side by side in the vertical direction A1 in plan view. The plurality of crops V1 arranged linearly in the vertical direction A1 constitute crop row Vr1. FIG. 3 exemplifies three crop rows Vr1 each including six crops V1 arranged in the vertical direction A1. Each crop row Vr1 is arranged at a predetermined pitch W1 in the width direction A2. As a result, a working passage having a width W2 (<W1) corresponding to the interval between adjacent crop rows Vr1 is formed along the vertical direction A1. The work vehicle 1 moves (travels) in the vertical direction A1 through this working passage while spraying a spraying material (chemical solution) on the crop V1. The crop row Vr1 consists of a plurality of crops V1 (objects to be worked on) and is an example of a plurality of work target rows arranged with respect to the field F1.

[0021] When the work vehicle 1 has the sprayer 401 mounted as the work implement 400, it sprays a chemical solution on the crop V1. In this case, the chemical solution is an example of the spraying material, and the crop V1 on which the spraying material (chemical solution) is sprayed is an example of the object to be sprayed. The "chemical solution" as the spraying material mentioned here is a pesticide used for improving agricultural efficiency or preserving agricultural crops, and includes herbicides, fungicides, mold inhibitors, insecticides, herbicides, rodenticides, growth promoters and germination inhibitors of crop V1, etc.

[0022] In addition, when the work vehicle 1 has the weeding machine 402 mounted as the work implement 400, it weeds the weeds around the crop V1. For the weeding work, there are "inter-row weeding" for weeding the weeds between the plurality of crops V1 constituting one crop row Vr1 and "inter-row weeding" for weeding the weeds between a pair of adjacent crop rows Vr1. In this embodiment, it is assumed that both the inter-row weeding and the inter-row weeding are performed by the common weeding machine 402.

[0023] As will be described in more detail below, the work vehicle 1 that travels through the field F1 is equipped with a gate-shaped machine body 10. That is, the machine body 10 has a first block 10L and a second block 10R that are arranged side by side in the left-right direction D2, and a connecting portion 10C that connects the upper ends of the first block 10L and the second block 10R. As a result, the machine body 10 forms a gate-shaped structure with the first block 10L, the second block 10R, and the connecting portion 10C surrounding a space Sp1 on three sides (left, right, and top). That is, a space Sp1 that is open in the front-rear direction D3 is formed inside the machine body 10.

[0024] Furthermore, the work vehicle 1 is equipped with a traveling unit 11 including a pair of crawlers 111L, 111R aligned in the left-right direction D2. The pair of crawlers 111L, 111R are provided at the bottom of the first block 10L and the second block 10R, respectively, and are located on both sides of the space Sp1 in the left-right direction D2.

[0025] As shown in Fig. 2, the work vehicle 1 travels with its gate-shaped body 10 straddling one crop row Vr1, and is able to perform work (spraying or weeding) on the crops V1 in this crop row Vr1 and on the crops V1 in the crop row Vr1 adjacent to this crop row Vr1. In other words, the work vehicle 1 can travel such that the crop V1, which is the work target, passes through the space Sp1 inside the gate-shaped body 10. That is, as shown in Fig. 2, if there are three crop rows Vr11, Vr12, and Vr13 lined up in the left-right direction D2 as work target rows, the work vehicle 1 can travel with its body 10 straddling any one of these three crop rows Vr1.

[0026] Here, if the vehicle body 10 straddles the central crop row Vr12, the first block 10L travels along the work path between the leftmost crop row Vr11 and the crop row Vr12, and the second block 10R travels along the work path between the rightmost crop row Vr13 and the crop row Vr12. At this time, when the sprayer 401 is attached as the work implement 400, the work vehicle 1 can simultaneously spray the spraying material (chemical solution) on the crop V11 in the crop row Vr11, the crop V12 in the crop row Vr12, and the crop V13 in the crop row Vr13. In this way, the work vehicle 1 according to this embodiment can simultaneously spray the spraying material (chemical solution) on three rows of spray targets (crops V1) while traveling, which makes spraying more efficient than a configuration that sprays one row at a time.

[0027] Furthermore, in this embodiment, as an example, the work vehicle 1 is an unmanned vehicle that operates by autonomous driving without being operated (including remotely) by a person (operator). Therefore, as shown in FIGS. 4 and 5 , the work vehicle 1, together with a first operation terminal 210, a second operation terminal 220, a server 201, a base station 202, a satellite 203, and the like, constitutes an automated operation system 200. In other words, the automated operation system 200 includes the work vehicle 1, the first operation terminal 210, the second operation terminal 220, the server 201, the base station 202, and the satellite 203. However, at least one of the first operation terminal 210, the second operation terminal 220, the server 201, the base station 202, and the satellite 203 may not be included as a component of the automated operation system 200; for example, the automated operation system 200 may not include the server 201, the base station 202, or the satellite 203.

[0028] The work vehicle 1, the first operation terminal 210, the second operation terminal 220, and the server 201 are capable of communicating with each other. In this disclosure, "capable of communication" means that information can be exchanged directly or indirectly via a communication network N1 or a repeater, using an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). For example, the work vehicle 1 and the first operation terminal 210 can communicate via a communication network N1 such as the Internet, a local area network (LAN), a wide area network (WAN), a public telephone line, a mobile phone network, a packet network, or a wireless LAN. Here, the work vehicle 1 and the first operation terminal 210 are each wirelessly connected to the communication network N1. Therefore, communication between the work vehicle 1 and the first operation terminal 210 includes at least wireless communication. Furthermore, the work vehicle 1 and the first operation terminal 210 can also communicate wirelessly with the server 201 via the communication network N1.

[0029] Satellite 203 is a positioning satellite that constitutes a satellite positioning system such as GNSS (Global Navigation Satellite System), and transmits GNSS signals (satellite signals). Base station 202 is a reference point (reference station) that constitutes the satellite positioning system. Base station 202 transmits correction information to work vehicle 1 for calculating the current position of work vehicle 1, etc.

[0030] The work vehicle 1 according to this embodiment is equipped with a positioning device 2 that detects the current position (latitude, longitude, altitude, etc.) and current orientation of the vehicle 10. The positioning device 2 executes positioning processing to identify (calculate) the current position and current orientation of the vehicle 10 using GNSS signals transmitted from a satellite 203. The positioning device 2 employs a relatively high-precision positioning method such as RTK (Real Time Kinematic) positioning that performs positioning based on positioning information (GNSS signals, etc.) received by two receivers (a base station 202 and an antenna 21) and correction information generated by the base station 202.

[0031] The first operation terminal 210 is a general-purpose information processing device that can be carried by an operator, such as a smartphone or tablet terminal. The first operation terminal 210 is configured to be able to remotely operate the work vehicle 1 by outputting (transmitting) to the work vehicle 1 a stop instruction (temporary stop instruction) for at least stopping the automatic traveling of the work vehicle 1 in response to operation by the operator. Here, the first operation terminal 210 wirelessly communicates with the work vehicle 1 via the communication network N1, and so can control the work vehicle 1 even at a distance from the work vehicle 1, i.e., in a remote location in the field F1, as long as the environment is one in which it can connect to (communicate with) the communication network N1.

[0032] 5, the first operation terminal 210 includes a display unit 211 that displays various types of information, and an operation unit 212 that accepts operations. The display unit 211 includes, for example, a liquid crystal display or an organic EL display. The operation unit 212 includes, for example, a touch panel, a physical switch, a mouse, or a keyboard. In this embodiment, as an example, the display unit 211 made up of a liquid crystal display and the operation unit 212 made up of a touch panel are integrated to form a touch panel display. Therefore, the operator can output, for example, a stop instruction (temporary stop instruction) to the work vehicle 1 from the first operation terminal 210 by operating the operation unit 212 on the operation screen displayed on the display unit 211.

[0033] Furthermore, the first operation terminal 210 has a function to set (register) various information related to the control of the work vehicle 1, such as a target route for the automatic driving of the work vehicle 1. In other words, the operator can set the target route, etc. by operating the operation unit 212 on the operation screen displayed on the display unit 211. The information such as the target route set here is transmitted to the work vehicle 1 directly or indirectly via the server 201, etc., and is used for the automatic driving of the work vehicle 1.

[0034] Furthermore, while the work vehicle 1 is traveling automatically, the first operation terminal 210 can display on the display unit 211 various information related to the operation of the work vehicle 1, such as the current position, current orientation, and work status of the work vehicle 1. As an example, the first operation terminal 210 can display on the display unit 211 a monitoring screen that displays the current position of the work vehicle 1, etc., along with a target route on a map that resembles the field F1, making it easier for the operator to visually grasp the status of the work vehicle 1. Here, it is preferable that the monitoring screen also display information such as the remaining amount of chemical solution to be sprayed, the remaining amount of fuel, and the remaining battery charge, for example.

[0035] The second operation terminal 220 is a dedicated wireless communication terminal that can be carried by the operator. The second operation terminal 220 is configured to be able to remotely operate the work vehicle 1 by outputting (transmitting) to the work vehicle 1 a stop instruction (temporary stop instruction) for at least stopping the automatic traveling of the work vehicle 1 in response to operation by the operator. Here, the second operation terminal 220 is configured to be able to communicate with the work vehicle 1 by a communication system separate from that of the first operation terminal 210.

[0036] Specifically, the second operation terminal 220 can wirelessly communicate directly with the work vehicle 1 without going through the communication network N1, and so can operate the work vehicle 1 even from a location far from the work vehicle 1, as long as it is in an environment where it can connect (communicate) with the work vehicle 1. However, the range in which the second operation terminal 220 can connect with the work vehicle 1 is limited to a range that is closer to the work vehicle 1 than the first operation terminal 210, such as within the field F1 or the periphery of the field F1. Therefore, the operator can basically control the work vehicle 1 by operating the second operation terminal 220, as long as he is in a location where the work vehicle 1 is visible.

[0037] 4 and 5, the second operation terminal 220 includes a first operation unit 221, a second operation unit 222, and a third operation unit 223, each of which individually accepts operations. Each of the first operation unit 221, the second operation unit 222, and the third operation unit 223 includes, for example, a physical switch, a touch panel, a mouse, or a keyboard. In the present embodiment, as an example, the first operation unit 221, the second operation unit 222, and the third operation unit 223 are each configured as a momentary push button switch, which is a physical switch (mechanical switch). Therefore, by operating each of the first operation unit 221, the second operation unit 222, and the third operation unit 223, the operator can output, for example, a stop instruction (a temporary stop instruction and an emergency stop instruction) to the work vehicle 1 from the second operation terminal 220.

[0038] Here, different functions are assigned to the first operation unit 221, the second operation unit 222, and the third operation unit 223. Therefore, depending on which of the first operation unit 221, the second operation unit 222, and the third operation unit 223 the operator presses (operates), the second operation terminal 220 outputs (transmits) a different instruction to the work vehicle 1. Specifically, "pause" is assigned to the first operation unit 221, "emergency stop" is assigned to the second operation unit 222, and "start traveling" is assigned to the third operation unit 223. Therefore, for example, when the operator operates the first operation unit 221, the second operation terminal 220 outputs a pause instruction, which is a type of stop instruction for halting the automatic traveling of the work vehicle 1.

[0039] Thus, in this embodiment, the work vehicle 1 is capable of wireless communication with multiple types of operation terminals including at least the first operation terminal 210 and the second operation terminal 220, and is controlled according to instructions from each of these multiple types of operation terminals. In other words, the first operation terminal 210 and the second operation terminal 220 each constitute a remote operation device (remote controller) that can remotely operate the work vehicle 1, and the operator can stop the automatic traveling of the work vehicle 1 even when in a location away from the work vehicle 1.

[0040] The server 201 is an information processing device such as a server device, etc. The server 201 transmits to the work vehicle 1 information such as a target route along which the work vehicle 1 is to travel automatically.

[0041] Also, in this embodiment, for ease of explanation, the vertical direction when the work vehicle 1 is in a usable state is defined as the up-down direction D1, as shown in Figure 1. Furthermore, the left-right direction D2 and the front-rear direction D3 are defined based on the direction seen from the center point of the work vehicle 1 in a plan view. In other words, the traveling direction of the work vehicle 1 when moving forward is the forward direction of the front-rear direction D3, and the traveling direction of the work vehicle 1 when moving backward is the rearward direction of the front-rear direction D3. However, these directions are not intended to limit the direction of use of the work vehicle 1 (direction during use).

[0042] [2] Details of the work vehicle Next, the configuration of the work vehicle 1 will be described in more detail with reference to Figures 1, 2, and 5 to 14. Figure 1 is an external view of the work vehicle 1 as seen from the front left side, and Figure 2 is an external view of the rear of the work vehicle 1 as seen from the rear side (rear). Figure 5 is a schematic block diagram showing the main configuration of the work vehicle 1. Figure 6 is an external view of the left side of the work vehicle 1 as seen from the left side, Figure 7 is an external view of the right side of the work vehicle 1 as seen from the right side, and Figure 8 is an external view of the top of the work vehicle 1 as seen from above. Figure 9 is an external view of the rear of the work vehicle 1 as seen from the rear side (rear). Figure 10 is a schematic view of the work vehicle 1 as seen diagonally from the rear, with a partially enlarged view shown within the opening.

[0043] The work vehicle 1 comprises a machine body 10, a traveling section 11, a support frame 3, and a work implement 400. The work implement 400 is removably attached to the machine body 10, and the work vehicle 1 can detachably mount the work implement 400. In this embodiment, as described above, there are two types of work implements that can be mounted on the machine body 10: a spreader 401 (see FIG. 1, etc.) and a weeder 402 (see FIG. 11, etc.).

[0044] In this embodiment, as shown in Fig. 5, the work vehicle 1 further comprises a positioning device 2, a control device 7, a manual operation device 8, a communication device 60, a user interface 61, an obstacle detection device 62, a power source 63, a tank 64 (see Fig. 7), a display 65, and a sensor device 66. The work vehicle 1 also further comprises a fuel tank, a battery, etc. In this embodiment, the structures of the work vehicle 1, such as the body 10 and support frame 3, are basically made of metal, with the material being selected according to the required strength, weather resistance, etc. However, the structures of the work vehicle 1 are not limited to being made of metal, and for example, resin, wood, etc. may be used as appropriate.

[0045] [2.1] Specific configuration other than the work equipment First, the specific configuration of the work vehicle 1 excluding the work implement 400 will be described.

[0046] The machine body 10 is the main body of the work vehicle 1, and supports most of the components of the work vehicle 1, such as the positioning device 2 and the support frame 3. The machine body 10 has a frame 101 (see FIG. 2 ) and a cover 102. The frame 101 is a member that forms the skeleton of the machine body 10, and supports heavy objects such as the power source 63 and the tank 64. The cover 102 is a member that forms the outer shell of the machine body 10, and is attached to the frame 101 so as to cover at least a portion of the frame 101 and the components mounted on the frame 101. Parts of the rear (back) and right side of the machine body 10 are not covered by the cover 102, and the frame 101 is exposed. The cover 102 is divided into multiple sections, and these multiple sections are configured to be individually removable from the frame 101. Therefore, it is possible to remove only the portions of the cover 102 that correspond to certain devices (components), such as the power source 63, thereby exposing certain devices (components).

[0047] As described above, the airframe 10 has a first block 10L and a second block 10R arranged side by side in the left-right direction D2. The first block 10L and the second block 10R face each other in the left-right direction D2 with a certain distance between them. In the present embodiment, as an example, the first block 10L is located on the left side, and the second block 10R is located on the right side. Therefore, the left side of the airframe 10 is formed by the first block 10L, and the right side of the airframe 10 is formed by the second block 10R. Furthermore, the airframe 10 has a connecting portion 10C connecting the first block 10L and the second block 10R. In a front view (viewed from the front), the connecting portion 10C has a length along the left-right direction D2, and the first block 10L and the second block 10R each have a length along the up-down direction D1.

[0048] Here, the connecting portion 10C connects the upper ends of the first block 10L and the second block 10R. In other words, the first block 10L and the second block 10R protrude downward from both ends (in the left-right direction D2) of the connecting portion 10C. As a result, the first block 10L, the second block 10R, and the connecting portion 10C form a gate-like shape in the airframe 10 that is open downward as well as on both sides in the front-to-rear direction D3. Inside the airframe 10, a space Sp1 is formed that is surrounded on three sides by the first block 10L, the second block 10R, and the connecting portion 10C and is open in the front-to-rear direction D3.

[0049] In other words, as shown in FIG. 2 , the machine body 10 forms a space Sp1 between the first block 10L and the second block 10R, allowing passage of the crop V1 (work object) that is the target of work (spraying work) by the work implement 400 (here, the sprayer 401). Specifically, the dimensions of each part of the machine body 10 are set based on the standard size of the crop V1, which is the target of work (spraying work), so as to form a space Sp1 with a height and width greater than or equal to the standard size of the crop V1. Therefore, for a standard-sized crop V1, the machine body 10 can allow the crop V1 to pass through the space Sp1 while straddling the crop V1 and leaving a gap of at least a predetermined value so that the crop V1 does not come into contact with the machine body 10. When the crop V1 is passing through the space Sp1, the first block 10L is located to the left of the crop V1, the second block 10R is located to the right of the crop V1, and the connecting part 10C is located above the crop V1.

[0050] More specifically, in this embodiment, the aircraft 10 is configured to be approximately symmetrical in the left-right direction D2. The first block 10L and the second block 10R are formed in rectangular shapes of approximately the same size and shape in a side view. The first block 10L and the second block 10R each have a flat shape in the left-right direction D2, with the dimension in the left-right direction D2 being the smallest among the up-down direction D1, the left-right direction D2, and the front-back direction D3. Furthermore, the first block 10L and the second block 10R each have a tapered shape in the up-down direction D1, with the dimension in the left-right direction D2 decreasing toward the upper end from the center. The connecting portion 10C is formed in a rectangular shape in a plan view, with the dimension in the front-back direction D3 being larger than the dimension in the left-right direction D2. The connecting portion 10C has a flat shape in the up-down direction D1, with the dimension in the up-down direction D1 being the smallest among the up-down direction D1, the left-right direction D2, and the front-back direction D3.

[0051] As such, the machine body 10 can be roughly divided into three sections (blocks): the first block 10L, the second block 10R, and the connecting section 10C. The first block 10L, the second block 10R, and the connecting section 10C each have a frame 101 and a cover 102. In other words, the first block 10L and the second block 10R each have a frame 101 and a cover 102. Furthermore, most of the components of the work vehicle 1, such as the positioning device 2 and the support frame 3, are provided dispersedly in the first block 10L, the second block 10R, and the connecting section 10C.

[0052] The travelling unit 11 is a travelling device (vehicle body) that allows the work vehicle 1 to travel, and is provided on the bottom of the machine body 10. The travelling unit 11 allows the machine body 10 to travel (including turning) on the ground, thereby enabling it to move in the left-right direction D2 and the front-back direction D3 within the field F1. By providing such a travelling unit 11 on the machine body 10, the work vehicle 1 can perform work while moving within the field F1.

[0053] The traveling unit 11 includes a pair of crawlers (tracks) 111L, 111R aligned in the left-right direction D2 (see FIG. 1). The pair of crawlers 111L, 111R are arranged at a fixed interval in the left-right direction D2, and a space Sp1 is formed between the pair of crawlers 111L, 111R to allow the work target, i.e., the crop V1, to pass through. That is, the left crawler 111L located to the left of the space Sp1 and the right crawler 111R located to the right of the space Sp1 face each other across the space Sp1. When there is no particular distinction between the left crawler 111L and the right crawler 111R, each crawler 111L, 111R will also be simply referred to as the "crawler 111." The traveling unit 11 also includes a motor 112 (see FIG. 1) that drives the crawler 111. In other words, the traveling unit 11 is a crawler type (crawler type) traveling device that drives endless belt-shaped crawlers 111 with a motor 112 to cause the work vehicle 1 to travel.

[0054] Here, at least two motors 112 are provided corresponding to the pair of crawlers 111L, 111R. The left motor 112 that drives the left crawler 111L and the right motor 112 that drives the right crawler 111R can drive the crawlers 111 individually. In this embodiment, as an example, the motor 112 is a hydraulic motor (hydraulic actuator) that drives the crawlers 111 by being supplied with hydraulic oil from a hydraulic pump. With this configuration, the machine body 10 can travel relatively stably even when the road surface condition of the field F1 is rough.

[0055] Here, the crawler 111 and the motor 112 are provided at the bottom of the first block 10L and the second block 10R, respectively. That is, the first block 10L has a left crawler 111L and a motor 112 that drives the crawler 111L, and the second block 10R has a right crawler 111R and a motor 112 that drives the crawler 111R. In this embodiment, the pair of crawlers 111L, 111R and the pair of motors 112 are configured to be approximately symmetrical in the left-right direction D2. In this way, by arranging the pair of traveling units 11 apart in the left-right direction D2 by the space Sp1, the work vehicle 1 can travel in a relatively stable posture on various road surface conditions in the field F1, including a laterally inclined slope where either the left or right direction D2 is lower.

[0056] Here, the pair of crawlers 111L, 111R are driven by power from the power source 63 in a state where independent speed changes are possible using a hydrostatic continuously variable transmission. Therefore, the machine body 10 is in a forward state where it moves straight forward in the forward direction when the pair of crawlers 111L, 111R are driven at a constant speed in the forward direction, and in a reverse state where it moves straight backward in the reverse direction when the pair of crawlers 111L, 111R are driven at a constant speed in the reverse direction. Also, the machine body 10 is in a forward turning state where it turns while moving forward when the pair of crawlers 111L, 111R are driven at unequal speeds in the forward direction, and in a reverse turning state where it turns while moving backward when the pair of crawlers 111L, 111R are driven at unequal speeds in the reverse direction. The machine body 10 is placed in a pivot turning (pivot turning) state by driving one of the pair of crawlers 111L, 111R while the other is stopped, and is placed in a spin turning (pivot turning) state by driving the pair of crawlers 111L, 111R at a constant speed in the forward and backward directions. The machine body 10 is placed in a travel stop state by stopping the driving of the pair of crawlers 111L, 111R.

[0057] Furthermore, the first block 10L is equipped with a power source 63 and the like, and the second block 10R is equipped with a tank 64 and the like. In this way, by distributing and arranging the components of the work vehicle 1 between the first block 10L and the second block 10R of the machine body 10, the work vehicle 1 is balanced in the left-right direction D2 and has a low center of gravity. As a result, the work vehicle 1 can travel stably on slopes and the like of the field F1.

[0058] As described above, the positioning device 2 is a device that detects the current position, current orientation, etc. of the aircraft 10. The positioning device 2 has at least an antenna 21. The antenna 21 receives GNSS signals, etc. transmitted from satellites 203. In other words, the antenna 21 includes a position identification antenna for identifying the position of the aircraft 10. Here, the antenna 21 is disposed on the top surface (top surface) of the aircraft 10 so as to facilitate reception of signals (GNSS signals) from satellites 203. In other words, the antenna 21 is disposed at a position even higher than the highest position of the aircraft 10. Furthermore, the positioning device 2 includes an attitude detection unit, etc. that detects the attitude of the aircraft 10.

[0059] In this embodiment, the positioning device 2 further includes a second antenna, antenna 22, in addition to the first antenna, antenna 21. The positioning device 2 receives GNSS signals and the like using each of these two antennas 21, 22. Here, antenna 22 (second antenna) is arranged to be aligned with antenna 21 (first antenna) in the front-to-rear direction D3. This allows the positioning device 2 to transmit and receive signals (GNSS signals and the like) using each of antennas 21, 22. In particular, when antennas 21, 22 are position identification antennas, the current position can be identified at each of the front and rear of the aircraft 10, and therefore the orientation (current heading) of the aircraft 10 can also be identified.

[0060] The support frame 3 is attached to one end of the machine body 10 in the fore-and-aft direction D3 and is a member that supports the work implement 400 (the sprayer 401 or the weeder 402). In this embodiment, the support frame 3 is attached to the rear end of the machine body 10. Like the machine body 10, the support frame 3 has a gate-like shape and is disposed in a position that overlaps with the machine body 10 in a rear view (viewed from behind). That is, the support frame 3 has vertical frames 3L (first vertical frames) and vertical frames 3R (second vertical frames) that are disposed side by side in the left-right direction D2, and a horizontal frame 3C that connects the upper ends of the vertical frames 3L and 3R. As a result, the support frame 3 forms a gate-like shape that surrounds the space Sp1 on three sides: the left, right, and upper sides, with the vertical frames 3L, the vertical frames 3R, and the horizontal frames 3C.

[0061] Specifically, the support frame 3 has vertical frames 3L and 3R arranged side by side in the left-right direction D2. The vertical frames 3L and 3R face each other in the left-right direction D2 with a gap of at least a certain value between them. In this embodiment, as an example, the vertical frame 3L is located on the left side, and the vertical frame 3R is located on the right side. Therefore, the vertical frame 3L is located behind the first block 10L of the body 10, and the vertical frame 3R is located behind the second block 10R of the body 10. In a rear view (viewed from behind), the horizontal frame 3C has a length along the left-right direction D2, and the vertical frames 3L and 3R each have a length along the up-down direction D1.

[0062] Here, the horizontal frame 3C connects the upper ends of the vertical frame 3L and the vertical frame 3R. In other words, the vertical frame 3L and the vertical frame 3R each protrude downward from both ends (in the left-right direction D2) of the horizontal frame 3C. Thus, the support frame 3 includes the horizontal frame 3C, which has a length along the left-right direction D2, and a pair of vertical frames 3L, 3R, each having a length along the up-down direction D1 and protruding downward from both ends of the horizontal frame 3C. As a result, the support frame 3 is configured with the vertical frame 3L, the vertical frame 3R, and the horizontal frame 3C to form a gate-like shape that is open on both sides in the front-to-back direction D3 as well as downward. Inside the support frame 3, a space Sp1 is formed that is surrounded on three sides by the vertical frame 3L, the vertical frame 3R, and the horizontal frame 3C and is open in the front-to-back direction D3.

[0063] In other words, the support frame 3 forms a space Sp1 between the pair of vertical frames 3L, 3R, through which the crop V1 (work object) to be worked on passes. Specifically, the dimensions of each part of the support frame 3 are set based on the standard size of the work object, the crop V1, to form a space Sp1 with a height and width equal to or greater than the standard size. Therefore, for a standard-sized crop V1, the support frame 3 can allow the crop V1 to pass through the space Sp1 while straddling the crop V1 and leaving a predetermined distance or more so that the crop V1 does not come into contact with the support frame 3. When the crop V1 is passing through the space Sp1, the vertical frame 3L is located to the left of the crop V1, the vertical frame 3R is located to the right of the crop V1, and the horizontal frame 3C is located above the crop V1.

[0064] More specifically, in this embodiment, the support frame 3 is configured approximately symmetrically in the left-right direction D2. The vertical frames 3L and 3R have a cylindrical shape with a circular cross section. As an example, in this embodiment, the vertical frames 3L and 3R are each configured by two cylindrical members arranged side by side. The horizontal frame 3C has a square tubular shape with a rectangular cross section. Here, the vertical frames 3L and 3R are firmly fixed to the horizontal frames 3C by appropriate fixing means such as connecting metal fittings, diagonal braces, or welding. Therefore, the vertical frames 3L and 3R maintain a perpendicular state to the horizontal frames 3C. In other words, in a rear view, the corners between the vertical frames 3L and the horizontal frames 3C and the corners between the vertical frames 3R and the horizontal frames 3C are each right angles.

[0065] In this embodiment, the support frame 3 is supported by the machine body 10 so as to be rotatable about a rotation axis Ax1 (see FIGS. 8 and 9) while maintaining the relative positional relationship between the pair of vertical frames 3L, 3R and the horizontal frame 3C. The rotation axis Ax1 is an axis that passes through a fulcrum portion 31 provided on the horizontal frame 3C and extends along the front-to-rear direction D3. In other words, the support frame 3 that supports the work implement 400 is supported by the machine body 10 so as to be rotatable about the rotation axis Ax1 that extends along the front-to-rear direction D3. Here, the "rotation axis" referred to in this disclosure means a virtual axis (straight line) that serves as the center of rotational motion of a rotating body. In other words, the rotation axis Ax1 is a virtual axis that does not have a physical entity. However, the rotation axis Ax1 may also be a physical member, such as a pivot pin.

[0066] 5, the communication device 60 has a first communication unit 601 and a second communication unit 602. The first communication unit 601 and the second communication unit 602 are each operable independently and perform communication using different protocols, thereby serving as a communication interface for executing data communication in accordance with a predetermined communication protocol with external devices such as the server 201, the first operation terminal 210, and the second operation terminal 220. In other words, the communication device 60 is configured to be capable of communication over a plurality of communication channels (such as frequency bands) including communication by the first communication unit 601 and communication by the second communication unit 602.

[0067] The user interface 61 is a device that outputs information to a user and / or accepts operations. Here, as shown in FIG. 7 , the user interface 61 has a display unit 611 such as a liquid crystal display or organic EL display that displays various information, and an operation unit 612 such as a touch panel, knob, or push button switch that accepts operations. An operator, as an example of a user, can operate the operation unit 612 in accordance with the operation screen displayed on the display unit 611 to make various settings. Specifically, the operator operates the operation unit 612 of the user interface 61 to set operating conditions, etc., of the work machine 400. Examples of operating conditions of the work machine 400 include the pressure (spray pressure) and flow rate when spraying a material from the spray nozzle 41 of the sprayer 401.

[0068] The obstacle detection device 62 includes a first detection unit 621 and a second detection unit 622. The first detection unit 621 and the second detection unit 622 are both arranged facing forward of the vehicle body 10. The first detection unit 621 is arranged at the front left end of the top surface of the vehicle body 10, and the second detection unit 622 is arranged at the front right end of the top surface of the vehicle body 10. In other words, the obstacle detection device 62 is mounted on the vehicle body 10 of the work vehicle 1, and includes a plurality of detection units (first detection unit 621 and second detection unit 622) that are arranged spaced apart in a width direction (left-right direction D2) perpendicular to the traveling direction (front-rear direction D3) of the work vehicle 1 in a plan view.

[0069] Each of the first detection unit 621 and the second detection unit 622 includes a sensor such as LiDAR (Light Detection and Ranging) and detects the surrounding conditions of the airframe 10. In the present embodiment, as an example, each of the first detection unit 621 and the second detection unit 622 is a three-dimensional sensor that measures the distance to each ranging point (measurement target) within the measurement range using a TOF (Time Of Flight) method that measures the distance to a ranging point based on the round-trip time it takes for light or sound to reach the ranging point and return. The surrounding conditions of the airframe 10 include, for example, the presence or absence of an object (obstacle, etc.) present ahead in the traveling direction of the airframe 10, and the position (distance and direction) of the object.

[0070] The obstacle detection device 62 further includes a first sensor 623 (see FIG. 1), a second sensor 624 (see FIG. 1), a third sensor 625 (see FIG. 6), and a fourth sensor 626 (see FIG. 7). The first sensor 623 and the second sensor 624 are both arranged facing forward of the airframe 10, and the third sensor 625 and the fourth sensor 626 are both arranged facing rearward of the airframe 10. The first sensor 623 is arranged on the front side of the first block 10L, and the second sensor 624 is arranged on the front side of the second block 10R. The third sensor 625 is attached to the vertical frame 3L, and the fourth sensor 626 is attached to the vertical frame 3R.

[0071] Each of the first sensor 623 to the fourth sensor 626 includes, for example, a sonar sensor, radar, or LiDAR sensor, and detects the surrounding conditions of the airframe 10. In the present embodiment, as an example, each of the first sensor 623 to the fourth sensor 626 is a three-dimensional sensor that measures the distance to each ranging point (measurement target) within the measurement range using a TOF (Time Of Flight) method, which measures the distance to a ranging point based on the round-trip time it takes for light or sound to reach the ranging point and return. The surrounding conditions of the airframe 10 include, for example, the presence or absence of an object (obstacle, etc.) present ahead in the traveling direction of the airframe 10, and the position (distance and direction) of the object.

[0072] The obstacle detection device 62 further includes a front contact sensor 627 and a rear contact sensor 628. The front contact sensors 627 are arranged as a pair on the left and right sides on the front side of the aircraft 10, and the rear contact sensors 628 are arranged as a pair on the left and right sides on the rear side of the aircraft 10. Each of the front contact sensors 627 and the rear contact sensors 628 detects an obstacle when it comes into contact with the obstacle. Each sensor transmits a detection signal to the control device 7 when it detects an obstacle.

[0073] The power source 63 is a drive source that supplies power to at least the traveling unit 11. The power source 63 has an engine such as a diesel engine. The power source 63 drives a hydraulic pump, and supplies hydraulic oil from the hydraulic pump to the motor 112 of the traveling unit 11, thereby driving the traveling unit 11, etc. Electronic devices such as the positioning device 2, the control device 7, and the communication device 60 are connected to a battery and can operate even when the power source 63 is stopped.

[0074] Tank 64 stores a spray material such as a chemical solution. The spray material stored in tank 64 is supplied to sprayer 401 and sprayed from spray nozzle 41 of sprayer 401. Tank 64 can be replenished with the chemical solution to be sprayed from the outside. The capacity of tank 64 is, for example, approximately 200 L.

[0075] The display 65 is disposed on the top surface of the machine body 10. As an example, the display 65 is formed in a cylindrical shape having a length in the vertical direction D1. The lighting state of the display 65 changes depending on the operating state of the work vehicle 1 (traveling state, spraying work execution state, etc.). This makes the operating state of the work vehicle 1 visible even from around the work vehicle 1.

[0076] The sensor device 66 includes, for example, a remaining amount sensor that detects the remaining amount of chemical solution to be sprayed and the remaining amount of fuel. As an example, the sensor device 66 detects the remaining amount of chemical solution from the amount of chemical solution in the tank 64. Similarly, the sensor device 66 detects the remaining amount of fuel from the amount of fuel in the fuel tank.

[0077] The control device 7 mainly comprises a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and executes various processes (information processing). In this embodiment, the control device 7 is an integrated controller that controls the entire work vehicle 1, and is composed of, for example, an electronic control unit (ECU). However, the control device 7 may be provided separately from the integrated controller, or may be mainly composed of one processor or multiple processors.

[0078] As shown in Fig. 5, the control device 7 includes an acquisition processing unit 71, a travel processing unit 72, a dispersion processing unit 73, a determination processing unit 74, a notification processing unit 75, a change processing unit 76, a selection processing unit 77, a selection check processing unit 78, and an elevation processing unit 79. In this embodiment, as an example, the control device 7 is mainly configured as a computer system having one or more processors, and these multiple functional units (such as the acquisition processing unit 71) are realized by the one or more processors executing a control program. These multiple functional units included in the control device 7 may be provided in a distributed manner across multiple housings, or may be provided in a single housing.

[0079] The control device 7 is configured to be able to communicate with devices provided in each part of the machine body 10. That is, at least the traveling unit 11, the positioning device 2, the work implement 400 (the sprayer 401 or the weeder 402), the communication device 60, the user interface 61, the obstacle detection device 62, the power source 63, the display 65, etc. are connected to the control device 7. This enables the control device 7 to control the traveling unit 11 and the work implement 400, etc., and to acquire electrical signals from the positioning device 2, the communication device 60, the obstacle detection device 62, etc. The control device 7 may exchange various types of information (data) with each device directly, or indirectly via a repeater, etc.

[0080] Specifically, the control device 7 can communicate with, for example, the first operation terminal 210 via the communication device 60. This allows the control device 7 to display various information on the display unit 211 of the first operation terminal 210 and to receive operation information from the operation unit 212 of the first operation terminal 210. In other words, the control device 7 has at least the function of a display control unit that displays a display screen on the display unit 211 of the first operation terminal 210.

[0081] In addition to the above functional units, the control device 7 further includes an engine control unit, an HST (Hydro-Static Transmission) control unit that controls the hydrostatic continuously variable transmission, etc. The engine control unit controls the engine (power source 63), and the HST control unit controls the hydrostatic continuously variable transmission.

[0082] The acquisition processing unit 71 executes an acquisition process to acquire electrical signals (including data) from each device. In this embodiment, the acquisition processing unit 71 periodically or irregularly acquires information (data) such as the output of each sensor of the obstacle detection device 62, and the remaining amount of chemical solution and fuel to be sprayed from the sensor device 66. The acquisition processing unit 71 may acquire various types of data directly from the various sensors or indirectly via an electronic control unit or the like. The data acquired by the acquisition processing unit 71 is stored, for example, in a memory or the like.

[0083] The driving processing unit 72 performs automatic driving processing to cause the machine body 10 to automatically drive along a target route in the field F1 based on positioning information acquired from the positioning device 2, etc. Specifically, the driving processing unit 72 causes the driving unit 11 to automatically drive along the target route based on positioning information including the position and orientation of the machine body 10 measured by the positioning device 2. For example, when the positioning information becomes available for RTK positioning and the operator operates (e.g., presses and holds) the third operation unit 223 of the second operation terminal 220, the second operation terminal 220 outputs a driving start instruction (work start instruction) to the work vehicle 1. When the driving processing unit 72 acquires the driving start instruction from the second operation terminal 220, it causes the work vehicle 1 to start automatic driving based on the positioning information of the machine body 10 measured by the positioning device 2. As a result, the work vehicle 1 starts automatic driving along the target route and starts work by the work implement 400.

[0084] Furthermore, the driving processing unit 72 controls the traveling unit 11 in accordance with an operation signal from the manual operation device 8. In other words, by controlling the traveling unit 11 with the driving processing unit 72, the control device 7 can control the traveling unit 11 in accordance with the operation of the manual operation device 8 by the operator, that is, the traveling unit 11 can be manually operated.

[0085] The spraying processing unit 73 performs spraying control processing related to the work (spraying work) of the sprayer 401. Specifically, when the work vehicle 1 starts autonomous traveling at the work start position, the spraying processing unit 73 outputs a switching signal to the sprayer 401 to switch the spraying pattern based on control information included in a predetermined target route. When the sprayer 401 receives the switching signal, it carries out the spraying work using the predetermined spraying pattern.

[0086] The determination processing unit 74 performs a determination process to determine whether the first information regarding the first work implement and the second information regarding the second work implement match or mismatch. The first work implement is the work implement 400 that was attached to the work vehicle 1 at a first point in time in the past. The second work implement is the work implement 400 that is currently attached to the work vehicle 1.

[0087] The notification processing unit 75 performs notification processing to notify the result of the determination made by the determination processing unit 74. That is, the notification processing unit 75 notifies, for example, an operator of the determination result of whether the first information and the second information match or mismatch made by the determination processing unit 74.

[0088] The change processing unit 76 performs change processing to change setting items related to the automatic driving of the work vehicle 1 in accordance with the state of the work implement 400 attached to the work vehicle 1 .

[0089] The selection processing unit 77 performs a selection process that allows the user (operator) to select automatic driving information from multiple pieces of candidate information. The "automatic driving information" here is information that is set in association with the work machine 400, and is information that is used by the driving processing unit 72 to cause the work vehicle 1 to drive automatically.

[0090] The selection restraint processing unit 78 performs selection restraint processing that restrains the selection of incompatible information from among multiple candidate information that does not correspond to the type of work implement 400 attached to the work vehicle 1. Here, "restraint" refers to processing that acts in some way to restrict (suppress) the target of restraint (selection of incompatible information). For example, the selection restraint processing includes processing that directly restricts the selection of incompatible information by making it impossible to select incompatible information, such as by removing incompatible information from the options. Furthermore, the selection restraint processing includes processing that indirectly restricts the selection of incompatible information by warning the operator by sound or light (including display).

[0091] The lifting / lowering processing unit 79 performs lifting / lowering control processing to raise and lower the weeder 402. Specifically, when the work vehicle 1 starts automatic traveling at the work start position, the lifting / lowering processing unit 79 controls the lifting / lowering unit 46 so as to switch weeding patterns based on control information included in a predetermined target route. In this embodiment, the lifting / lowering processing unit 79 controls the lifting / lowering of the work implement 400 (weeder 402) while the work vehicle 1 is automatically traveling, at a timing determined based on at least the arrangement of crop rows Vr1 (rows to be worked on) in the field F1 (work site) and the work content.

[0092] The manual operation device 8 is a device for manually controlling the work vehicle 1. The work vehicle 1 acquires, at the control device 7 (acquisition processing unit 71), an operation signal output by the manual operation device 8 in response to operation by the operator.

[0093] In this embodiment, the manual operation device 8 is connected to the control device 7 of the work vehicle 1 by a cable of sufficient length, and communicates with the control device 7 via a wired connection. Therefore, the operator can manually operate the work vehicle 1 using the manual operation device 8 while standing, for example, near the machine body 10, without having to board the machine body 10 of the work vehicle 1. Here, the manual operation device 8 may communicate with the work vehicle 1 (control device 7) via wireless communication using radio waves or light. Even in this case, the operator can manually operate the work vehicle 1 using the manual operation device 8 from outside the machine body 10. In other words, the manual operation device 8 can be operated outside the machine body 10. Therefore, for example, when loading or unloading the work vehicle 1 onto a transporter, the operator can manually operate the work vehicle 1 in a safe location outside the machine body 10.

[0094] [2.2] Specific configuration of the sprayer Next, a specific configuration of the spreader 401 attached to the machine body 10 as the work machine 400 will be described.

[0095] The sprayer 401 performs spraying work by spraying a chemical solution as a spraying material onto a crop V1 as a spraying target. As shown in FIG. 10 etc., the sprayer 401 has a nozzle unit 4 and an air current generating unit 5. The nozzle unit 4 has a spray nozzle 41 etc., and discharges the chemical solution as a spraying material stored in a tank 64. The air current generating unit 5 generates an air current that carries the chemical solution as a spraying material discharged from the nozzle unit 4.

[0096] The nozzle unit 4 and the airflow generation unit 5 are supported by the support frame 3. Since the support frame 3 is supported by the airframe 10, the sprayer 401 including the nozzle unit 4 and the airflow generation unit 5 is indirectly supported by the airframe 10. In this embodiment, since the support frame 3 is disposed at the rear end of the airframe 10, the nozzle unit 4 and the airflow generation unit 5 supported by the support frame 3 are also disposed at the rear end of the airframe 10.

[0097] The spray nozzle 41 of the nozzle unit 4 is supported by the support frame 3 and is the part that discharges (sprays) the substance to be sprayed. In this embodiment, as an example, the spray nozzle 41 is a discharge port (spraying part) that actually serves as the outlet for the substance to be sprayed (chemical solution). The sprayer 401 has multiple spray nozzles 41 (12 in this embodiment, as an example).

[0098] The nozzle unit 4 includes, in addition to the spray nozzle 41, a spray pipe 42, a pump 43 (see FIG. 7), a valve 44 (see FIG. 7), and spray piping. In this embodiment, the spray nozzle 41 is attached to the spray pipe 42. The spray pipe 42 is connected to the pump 43 via the spray piping and the valve 44. The pump 43 pressure-feeds the substance to be sprayed (chemical solution) stored in the tank 64 to the spray pipe 42. The valve 44 is an electronically controlled valve unit such as an electromagnetic valve, and changes the pressure (spray pressure) and spray pattern when spraying the substance to be sprayed. As a result, the chemical solution in the tank 64 is supplied by the pump 43 via the valve 44 and the spray pipe 42 to the spray nozzle 41, and is discharged from the spray nozzle 41. Here, the chemical solution is discharged (sprayed) in the form of a mist from the spray nozzle 41.

[0099] More specifically, as shown in Figures 9 and 10, the spray pipes 42 are pipes having a length in the up-down direction D1, and two are attached to each of the vertical frames 3L and 3R of the support frame 3. That is, in this embodiment, the nozzle unit 4 has a total of four spray pipes 42. The two (pair) spray pipes 42 attached to each of the vertical frames 3L and 3R are arranged side by side in the left-right direction D2. Each spray pipe 42 injects the chemical solution as a spray material from its upper end, causing it to flow downward through the pipe and be discharged from the three spray nozzles 41. Three spray nozzles 41 are attached to each spray pipe 42, and the nozzle unit 4 therefore has a total of 12 spray nozzles 41.

[0100] Each spray nozzle 41 is attached to the corresponding spray tube 42 so that its position can be changed in the up-down direction D1. This allows the spacing between adjacent spray nozzles 41 and the height position of each spray nozzle 41 relative to the spray tube 42 to be changed depending on the object to be sprayed (crop V1). Furthermore, each spray nozzle 41 is attached so that its position in the up-down direction D1 and left-right direction D2 relative to the machine body 10 and its orientation (angle) can be changed depending on the object to be sprayed. However, in the sprayer 401, the number of spray nozzles 41 provided on each spray tube 42 can be changed as appropriate depending on the type of object to be sprayed (crop V1) or the length of each spray tube 42, etc.

[0101] The airflow generating unit 5 generates an airflow that carries the spray material (chemical solution) discharged from the spray nozzle 41. The airflow generating unit 5 is supported on the support frame 3 together with the spray nozzle 41. That is, in this embodiment, the sprayer 401 is an air-assisted sprayer that sprays the spray material (chemical solution) by utilizing the airflow generated by the airflow generating unit 5. This enables the work vehicle 1 to efficiently spray the spray material (chemical solution) even on spray target objects (crops V1) that are located relatively far from the spray nozzle 41.

[0102] The airflow generating unit 5 includes a duct 51 and a blower 52. The duct 51 forms a flow path for air to flow in the vertical direction D1. The blower 52 blows air through the duct 51. The airflow generating unit 5 generates an airflow by blowing air from outlet holes 511 (see FIG. 10) formed in the duct 51. In short, the airflow generating unit 5 generates an airflow (airflow) that flows outward from the outlet holes 511 by blowing air sent by the blower 52 into the duct 51 through a flow path within the duct 51. This configuration allows for the generation of a stable airflow over a relatively wide area. Furthermore, the airflow generating unit 5 can adjust the airflow volume by controlling the blower 52. The airflow generating unit 5 can adjust the transport distance of the target by adjusting the airflow volume; the greater the airflow volume, the farther the target can be transported. Therefore, in the work vehicle 1 according to this embodiment, the range over which the material is spread by the spreader 401 can be adjusted.

[0103] More specifically, the ducts 51 are pipes having a length in the vertical direction D1, and one duct 51 is attached to each of the vertical frames 3L and 3R of the support frame 3. That is, in this embodiment, the airflow generation unit 5 has a total of two ducts 51. Each duct 51 has a plurality of outlet holes 511 formed on the left and right sides thereof so as to be aligned in a row along the vertical direction D1. Furthermore, two diffusion pipes 42 of the nozzle unit 4 are fixed to the rear side of each duct 51.

[0104] Here, the duct 51, the two spray pipes 42 attached thereto, and the six spray nozzles 41 attached to these two spray pipes 42 are arranged symmetrically in the left-right direction D2. Of the two spray pipes 42, the three spray nozzles 41 attached to the left spray pipe 42 discharge the spray material (chemical solution) toward the left front, and the three spray nozzles 41 attached to the right spray pipe 42 discharge the spray material (chemical solution) toward the right front. Therefore, the mist-like spray material discharged from the left spray nozzle 41 is carried leftward by the airflow blown out to the left from the duct 51, and the mist-like spray material discharged from the right spray nozzle 41 is carried rightward by the airflow blown out to the right from the duct 51.

[0105] Therefore, of the multiple (12) spray nozzles 41, the three spray nozzles 41 provided on the leftmost spray pipe 42 spray the chemical solution leftward toward the crops V1 located on the outer left side of the machine body 10. Of the multiple spray nozzles 41, the three spray nozzles 41 provided on the left inner spray pipe 42 adjacent to the leftmost spray pipe 42 spray the chemical solution rightward toward the crops V1 located in the inner space Sp1 of the machine body 10. Of the multiple spray nozzles 41, the three spray nozzles 41 provided on the rightmost spray pipe 42 spray the chemical solution rightward toward the crops V1 located on the outer right side of the machine body 10. Of the multiple spray nozzles 41, the three spray nozzles 41 provided on the right inner spray pipe 42 adjacent to the rightmost spray pipe 42 spray the chemical solution leftward toward the crops V1 located in the inner space Sp1 of the machine body 10.

[0106] With the above-described configuration, in the sprayer 401, the two spray pipes 42 and six spray nozzles 41 provided on the vertical frame 3L of the support frame 3 function as a left-side spray unit. Also, the two spray pipes 42 and six spray nozzles 41 provided on the vertical frame 3R of the support frame 3 function as a right-side spray unit. The pair of left and right spray units are arranged at the rear of the machine body 10, capable of spraying in the left-right direction D2, with a gap (space Sp1) between them that allows the crops V1 to pass through.

[0107] Further, the sprayer 401 has a plurality of (12) spray nozzles 41 divided into a plurality of systems, and is configured to be controllable for each system. As an example in this embodiment, the six spray nozzles 41 provided on the two inner spray pipes 42 in the left-right direction D2 of the four spray pipes 42 are classified as a first system, the three spray nozzles 41 provided on the leftmost spray pipe 42 are classified as a second system, and the three spray nozzles 41 provided on the rightmost spray pipe 42 are classified as a third system. Therefore, the spray patterns by the sprayer 401 include a full spray pattern in which the spray material (chemical solution) is sprayed from all spray nozzles 41, and a limited spray pattern in which the spray direction is limited. The limited spray patterns include a first spray pattern in which only the six spray nozzles 41 of the first system spray, a second spray pattern in which only the three spray nozzles 41 of the second system spray, and a third spray pattern in which only the three spray nozzles 41 of the third system spray. Furthermore, the limited spray patterns include a fourth spray pattern in which only the nine spray nozzles 41 of the first and second systems spray, a fifth spray pattern in which only the nine spray nozzles 41 of the first and third systems spray, and a sixth spray pattern in which only the six spray nozzles 41 of the second and third systems spray.

[0108] The sprayer 401 is controlled by the control device 7, and can switch between the multiple spray patterns described above (a total of six patterns: the full spray pattern and six limited spray patterns) as needed. At least one valve 44 of the nozzle unit 4 is provided for each system of the multiple spray nozzles 41. In this embodiment, three valves 44 are provided to accommodate three systems (system 1, system 2, and system 3). These multiple (here, three) valves 44 are individually controlled by the control device 7 to change the spray pattern. The sprayer 401 can also change the spray range of the sprayed product by changing the pressure (spray pressure) when spraying the product for each system. Furthermore, in this embodiment, the spray range of the sprayed product can be adjusted by adjusting the air volume of the airflow generating unit 5, thereby achieving a wider variety of spray ranges depending on the target object (crop V1) or the sprayed product (chemical solution).

[0109] In this embodiment, as described above, the support frame 3 is configured to be rotatable about the rotation axis Ax1 rather than being fixed relatively to the machine body 10. When the support frame 3 rotates, the sprayer 401 supported by the support frame 3 also rotates about the rotation axis Ax1.

[0110] Furthermore, the work vehicle 1 according to this embodiment is not equipped with an actuator or the like that actively rotates the support frame 3. Therefore, the support frame 3 will not rotate until an external force acts on the support frame 3. For example, when the machine body 10 travels on a laterally inclined slope, the support frame 3 will rotate due to its own weight, that is, gravity acting on the support frame 3. Here, if the weight balance of the support frame 3 and the members supported by the support frame 3 (such as the spreader 401) is symmetrical in the left-right direction D2, the support frame 3 will be maintained in a neutral position as long as the machine body 10 is kept horizontal.

[0111] With the rotatable support frame 3 as described above, for example, when the vehicle 10 is traveling on a horizontally inclined slope, the rotation of the support frame 3 reduces the likelihood of unevenness in the amount of sprayed material (chemical solution) by the sprayer 401. In other words, if the support frame 3 were fixedly supported on the vehicle 10, the vehicle 10 would tilt when traveling on a horizontally inclined slope. In this case, the distance from the spray nozzle 41 to the top and bottom of the crop V1 (target object) extending vertically from the ground (field F1) would be different, potentially resulting in unevenness in the amount of sprayed material. In contrast, in the work vehicle 1 according to this embodiment, the rotation of the support frame 3 allows the support frame 3 and the spray nozzle 41 supported by the support frame 3 to maintain the same posture as when traveling on a horizontal surface. Therefore, even for a crop V1 (target object) that extends vertically straight from the ground (field F1), the distance from the spraying nozzle 41 at its top and bottom is less likely to vary, making it easier to suppress unevenness in the amount of sprayed material.

[0112] [2.3] Specific configuration of the weeder Next, a specific configuration of the weeder 402 attached to the machine body 10 as the work implement 400 will be described.

[0113] The weeder 402 performs weeding work to remove weeds around the crop V1, which is the work object in the field F1. As shown in Figures 11 and 12, the weeder 402 has a weeding unit 45 and a lifting unit 46. The weeding unit 45 has a cultivator 451 and the like, and is towed by the work vehicle 1 when it is traveling to weed the field F1. The lifting unit 46 raises and lowers the weeding unit 45.

[0114] The weeding unit 45 is supported on the support frame 3 via the lifting unit 46. Since the support frame 3 is supported on the machine body 10, the weeding machine 402 including the weeding unit 45 and the lifting unit 46 is indirectly supported on the machine body 10. In this embodiment, since the support frame 3 is arranged at the rear end of the machine body 10, the weeding unit 45 and the lifting unit 46 supported on the support frame 3 are also arranged at the rear end of the machine body 10.

[0115] The weeding unit 45 has, in addition to the cultivator 451, an arm 452, wheels 453, and the like. In this embodiment, the cultivator 451 and the wheels 453 are attached to the arm 452. The weeding unit 45 is configured to be able to change its position between an "extended position" in which the arm 452 extends in the front-to-rear direction D3 as shown in Figures 11 and 12, and a "stored position" in which the arm 452 extends in the up-down direction D1 as shown in Figures 13 and 14. When the weeding unit 45 is in the extended position, the cultivator 451 and wheels 453 are in contact with the field F1, and when the weeding unit 45 is in the stored position, the cultivator 451 and wheels 453 are away from the field F1.

[0116] The lifting unit 46 raises and lowers the weeding unit 45 between the deployed position and the stored position. Specifically, the lifting unit 46 has a link 461, a lifting cylinder 462, a connecting portion 463, etc. The lifting cylinder 462 is connected to the link 461 at the connecting portion 463, and rotates the arm 452 of the weeding unit 45 via the link 461. The lifting unit 46 raises the arm 452 of the weeding unit 45 using the link 461, thereby lifting the weeding unit 45 and switching it from the deployed position to the stored position. On the other hand, the lifting unit 46 lowers the arm 452 of the weeding unit 45 using the link 461, thereby lowering the weeding unit 45 and switching it from the stored position to the deployed position.

[0117] As a result, the weeder 402 performs weeding work by being towed by the work vehicle 1 when the weeding unit 45 is in the deployed position (the position shown in Figures 11 and 12). On the other hand, when the weeding unit 45 is in the stored position (the position shown in Figures 13 and 14), the weeder 402 cannot perform weeding work, but the amount of protrusion of the weeder 402 (rearward) from the work vehicle 1 can be kept small.

[0118] More specifically, the weeding unit 45 and the lifting unit 46 are attached to the vertical frames 3L and 3R of the support frame 3, respectively. That is, in this embodiment, the weeding machine 402 as the work implement 400 has a pair (two) of weeding units 45 and lifting units 46. The pair of weeding units 45 are arranged symmetrically in the left-right direction D2. Similarly, the pair of lifting units 46 are arranged symmetrically in the left-right direction D2.

[0119] Here, the pair of lifting units 46 can operate independently, with the left lifting unit 46 lifting and lowering the left weeding unit 45, and the right lifting unit 46 lifting and lowering the right weeding unit 45. That is, the work implement 400 (weeder 402) has a first working unit (left weeding unit 45) located on one side of the work target row (crop row Vr1), and a second working unit (right weeding unit 45) located on the other side of the work target row. The first working unit (right weeding unit 45) and the second working unit (right weeding unit 45) can be individually controlled to be raised and lowered.

[0120] The weeder 402 is controlled by the control device 7, and can be switched appropriately between four weeding patterns: a state in which the pair of weeding units 45 are in an deployed position, a state in which the pair of weeding units 45 are in a stored position, a state in which only the right weeding unit 45 is in a stored position, and a state in which only the left weeding unit 45 is in a stored position.

[0121] In this embodiment, the weeder 402 further has a lifting operation unit 47 for manual operation. The lifting operation unit 47 is installed on the body 10 of the work vehicle 1 and is a device for manually controlling the lifting unit 46. The work vehicle 1 acquires, with the control device 7 (acquisition processing unit 71), an operation signal output by the lifting operation unit 47 in response to operation by the operator.

[0122] In this embodiment, the lifting / lowering operation unit 47 is disposed at the rear end of the right side of the machine body 10 and is connected to the control device 7 of the work vehicle 1. Therefore, the operator can manually operate the lifting units 46 using the lifting / lowering operation unit 47 while standing on the right side of the machine body 10, for example, without getting on the machine body 10 of the work vehicle 1. Here, the lifting / lowering operation unit 47 allows the pair of lifting / lowering units 46 to be manually operated individually. Therefore, the operator can lift and lower the left weeding unit 45 by manually operating the left lifting unit 46 using the lifting / lowering operation unit 47, and can lift and lower the right weeding unit 45 by manually operating the right lifting unit 46 using the lifting / lowering operation unit 47.

[0123] Furthermore, when a weeder 402 is attached as the work implement 400 to the work vehicle 1 (machine body 10 thereof), the arrangement of the various sensors of the obstacle detection device 62 differs from when a spreader 401 is attached as the work implement 400 to the work vehicle 1. Specifically, when the weeder 402 is attached, the third sensor 625 and the fourth sensor 626 are positioned so as to protrude rearward from the machine body 10 so as not to interfere with the weeding unit 45. Furthermore, when the weeder 402 is attached, the rear contact sensor 628 is omitted.

[0124] [3] Control method for work vehicles Below, a control method for the work vehicle 1 (hereinafter simply referred to as the "control method") that is executed mainly by the control device 7 will be described with reference to FIGS.

[0125] The control method according to this embodiment is executed by the control device 7, which is primarily composed of a computer system, and in other words is embodied in a work vehicle control program (hereinafter simply referred to as the "control program"). In other words, the control program according to this embodiment is a computer program for causing one or more processors to execute each process related to the control method. Such a control program may be executed, for example, by the control device 7 and the first operation terminal 210 in cooperation with each other.

[0126] The control device 7 that executes the control method constitutes a work vehicle control system (hereinafter simply referred to as the "control system") 100, as shown in Figure 5. The control system 100 is a system that executes processes related to the control of a work vehicle 1 to which a work implement 400 can be attached or detached. In other words, the control system 100 according to this embodiment is used to control a work vehicle 1 that is equipped with a work implement 400 and that performs work while moving through a farm field F1 (work site) in which multiple crop rows Vr1 (work target rows) consisting of multiple crops V1 (work targets) are arranged.

[0127] As described above, the control system 100 according to this embodiment is equipped with a control device 7 that includes an acquisition processing unit 71, a travel processing unit 72, a dispersion processing unit 73, a judgment processing unit 74, a notification processing unit 75, a change processing unit 76, a selection processing unit 77, a selection and restraint processing unit 78, and an elevation processing unit 79. The control device 7 is mounted on the machine body 10 of the work vehicle 1 and is one of the components of the work vehicle 1. Therefore, the control system 100, together with the machine body 10, constitutes the work vehicle 1. In other words, the work vehicle 1 according to this embodiment is equipped with the control system 100 and the machine body 10. The machine body 10 is configured so that the work implement 400 can be attached and detached. In other words, the machine body 10 is configured so that the work implement 400 can be attached.

[0128] [3.1] Basic operation First, we will explain the basic operations when the work vehicle 1 automatically travels within the field F1 serving as the work site as a result of the travel processing unit 72 executing the automatic travel processing. Here, we will assume that the body 10 of the work vehicle 1 is equipped with a sprayer 401 as the work implement 400, and that the work vehicle 1 is performing spraying work.

[0129] The driving processing unit 72 starts the automatic driving of the work vehicle 1 when the acquisition processing unit 71 acquires an automatic driving start instruction while predetermined automatic driving conditions are satisfied. The automatic driving conditions include, for example, that a target route R10 (see FIG. 15) is set, that the key switch (engine key switch) that starts the engine (power source 63) of the work vehicle 1 is in the ON state, and that the work vehicle 1 is located at a work start position Ps1 (see FIG. 15). In other words, when the target route R10 is set and the engine is running, the automatic driving conditions are satisfied when the work vehicle 1 is moved to the work start position Ps1 on the target route R10 by manual operation using the manual operation device 8. In this state, for example, the operator operates the third operation unit 223 of the second operation terminal 220, and an automatic driving start instruction is output from the second operation terminal 220 to the work vehicle 1, whereby the driving processing unit 72 starts the automatic driving of the work vehicle 1.

[0130] As an example, let us assume that the work site is a field F1 containing seven crop rows Vr11-Vr17, as shown in Figure 15. This field F1 includes a work area F11 (the shaded area in Figure 15) in which the crop rows Vr11-Vr17 are formed, and a non-work area F12 which serves as a headland area formed around the work area F11 so as to surround it. The work area F11 is an area of the field F1 where work (spraying work in this case) is carried out by the work vehicle 1. The non-work area F12 is an area where work (spraying work in this case) is not carried out by the work vehicle 1. In other words, the work site (field F1) includes the work area F11 in which work is carried out by the work vehicle 1, and the non-work area F12 in which work is not carried out by the work vehicle 1.

[0131] The work vehicle 1 is capable of automatically traveling (autonomous traveling) within such a field F1 along a preset target route R10. For example, the work vehicle 1 automatically travels from a work start position Ps1 to a work end position Pg1 along a target route R10 that includes multiple work routes R1 and multiple movement routes R2. Each of the multiple work routes R1 is a linear route along which the work vehicle 1 performs work (spraying work) on a crop V1, which is a work object (object to be sprayed), and each of the multiple movement routes R2 is a route (non-work route) along which the work vehicle 1 moves between crop rows Vr1 without performing spraying work, and may include a turning route and a straight route.

[0132] In the example of FIG. 15, the target path R10 includes four work paths R11-R14 that are formed in the work area F11, each extending along the vertical direction A1, which is the longitudinal direction of the crop row Vr1 (i.e., the direction in which the multiple crops V1 are lined up). Here, as an example, work path R11 is set above the crop row Vr11, work path R12 is set above the crop row Vr13, work path R13 is set above the crop row Vr15, and work path R14 is set above the crop row Vr17. Movement path R2 is formed in the non-working areas F12, located on both sides of the work area F11 in the vertical direction A1, to connect the work paths R11-R14 that are adjacent in the width direction A2. In other words, of the target path R10, work path R1 is basically formed in the work area F11 of the work land (field F1), and movement path R2 is formed in the non-working area F12.

[0133] According to the target route R10, the work vehicle 1 travels through the work area F11 from the work start position Ps1 along the work route R11 toward one side of the longitudinal direction A1 (upward in FIG. 15), then travels through the non-work area F12 along the movement route R2 toward the start of the next work route R12. The work vehicle 1 then travels through the work area F11 along the work route R12 toward the other side of the longitudinal direction A1 (downward in FIG. 15), then travels through the non-work area F12 along the movement route R2 toward the start of the next work route R13. The work vehicle 1 then travels through the work area F11 along the work route R13 toward one side of the longitudinal direction A1, then travels through the non-work area F12 along the movement route R2 toward the start of the next work route R14. Finally, the work vehicle 1 travels through the work area F11 along the work route R14 toward the other side of the longitudinal direction A1 to the work end position Pg1.

[0134] Here, the current position of the work vehicle 1 is determined by the position of the antenna 21, which is located at the center of the rear of the vehicle body 10 in the left-right direction D2 in a plan view. Therefore, when the work vehicle 1 automatically travels along the target route R10, the center of the rear of the vehicle body 10 in the left-right direction D2 passes through the target route R10. Furthermore, as described above, the work vehicle 1 travels with the gate-shaped vehicle body 10 in a position straddling one crop row Vr1, and sprays a spraying substance (chemical solution) from the sprayer 401 to the crops V1 in this crop row Vr1 and the crops V1 in the crop row Vr1 adjacent to this crop row Vr1. The current position of the work vehicle 1 may be determined from the position of the antenna 22 located at the front of the vehicle body 10, or may be determined from the positions of both the antennas 21 and 22.

[0135] Therefore, for example, as shown in Figure 15, when the work vehicle 1 is traveling along a work route R13 set above the crop row Vr15, the machine body 10 travels across the crop row Vr15. At this time, the first block 10L travels along the work path between the crop row Vr14 and the crop row Vr15, and the second block 10R travels along the work path between the crop row Vr15 and the crop row Vr16. Furthermore, at this time, the work vehicle 1 can simultaneously spray a chemical (chemical solution) on the crop V1 in the crop row Vr15, the crop V1 in the crop row Vr14 located on the left, and the crop V1 in the crop row Vr16 located on the right.

[0136] The work vehicle 1 also automatically travels through a predetermined row sequence. In the example of FIG. 15, the work path R1 is set up so that every other row is in the order in which the crop rows Vr1 are arranged, such as crop rows Vr11, Vr13, Vr15, and Vr17. Therefore, the work vehicle 1 automatically travels through the multiple crop rows Vr1 every other row. While traveling through the multiple crop rows Vr1 every other row, the work vehicle 1 can simultaneously spray the spraying substance (chemical solution) on three rows of spraying targets (crops V1) adjacent in the width direction A2, thereby spraying all of the spraying targets. However, setting the work path R1 in this manner is merely one example, and the work vehicle 1 may travel through every other row in the order in which the crop rows Vr1 are arranged, or every several rows.

[0137] Here, the work vehicle 1 performs spraying work while traveling along the work route R1, and does not perform spraying work while traveling along the travel route R2. Therefore, the work vehicle 1 starts spraying work when it starts traveling along the work route R1, and stops spraying when it has traveled to the end of the work route R1. The work vehicle 1 then travels along the travel route R2 with spraying stopped, and resumes spraying work when it reaches the start of the next work route R1. As a result, the work vehicle 1 performs spraying work while traveling through the work area F11, and does not perform spraying work while traveling through the non-work area F12.

[0138] 15, the travel route R2 includes a turning route for a gentle right turn or left turn, but the turning manner for changing the heading of the work vehicle 1 is not limited to a "gentle turn" and may include, for example, a "pivot turn" and a "super pivot turn", etc. Furthermore, the turning manner of the work vehicle 1 may include a turning manner in which the machine body 10 turns while switching between forward and reverse travel, such as a so-called "fishtail turn", in order to enable the machine body 10 to turn in a limited space.

[0139] Furthermore, the target route R10 is generated based on information such as work vehicle information about the work vehicle 1, field information about the field F1, and work information about the work (here, spraying work). The work vehicle information includes information such as the model of the work vehicle 1, the position of the antenna 21 of the work vehicle 1, the type of work implement 400 (here, the sprayer 401), the size and shape of the work implement 400, the position of the work implement 400 relative to the machine body 10, the vehicle speed and engine RPM of the machine body 10 while working, etc. The field information includes information such as the position and shape of the field F1, the work start position Ps1, the work end position Pg1, and the work direction. The work direction here refers to the direction in which the work vehicle 1 will travel while performing spraying work in the work area F11, which is the area of the field F1 excluding the non-work area F12, such as the headland. The work information includes information such as the skip number, which is the number of work routes R1 that the work vehicle 1 skips when turning in the non-working area F12, and the width of the non-working area F12.

[0140] This work vehicle information, field information, work information, etc. may be set manually by, for example, an operator performing a registration operation on the first operation terminal 210. Alternatively, information such as the position and shape of the field F1 may be obtained automatically by, for example, having the operator manually operate the work vehicle 1 to travel around the perimeter of the field F1 and record the changes in the position information of the antenna 21 at that time.

[0141] The generated target route R10 is stored in the memory (storage unit) of the control device of the work vehicle 1 and is used for automatic traveling by the traveling processing unit 72. In addition, the target route R10 can also be displayed on the display unit 211 of the first operation terminal 210, etc.

[0142] [3.2] Operation when changing work equipment Next, the operation of the control system 100 (mainly the control device 7) associated with the replacement of the work implement 400 attached to the work vehicle 1 (machine body 10 thereof) will be described. That is, a sprayer 401 or a weeder 402 is attached as the work implement 400 to the machine body 10 of the work vehicle 1, and the work implement 400 is replaced on the machine body 10 depending on the work (spraying or weeding) to be performed by the work vehicle 1. The replacement of the work implement 400 is performed manually by a person (for example, an operator).

[0143] First, in this embodiment, the determination processing unit 74 of the control device 7 has a function of identifying the attached work implement 400. Specifically, the determination processing unit 74 identifies the type of work implement 400 attached to the machine body 10, for example, by using an electrical signal (or a voltage value, etc.). In this embodiment, a sprayer 401 or a weeder 402 is attached as the work implement 400, and therefore the determination processing unit 74 can identify at least whether the sprayer 401 or the weeder 402 is attached as the work implement 400, that is, the type of work implement 400 attached. As a result, when the work implement 400 is replaced, the determination processing unit 74 can automatically identify the replaced work implement 400 (i.e., the currently attached work implement 400).

[0144] The determination processing unit 74 stores information about the identified work machine 400 in a storage unit (memory). Here, the information about the work machine 400 may include at least one piece of information such as the type of work machine 400 (sprayer 401 or weeder 402), identification information unique to the work machine 400 (such as a serial number), model, size, shape, and the position of the work machine 400 relative to the machine body 10.

[0145] Furthermore, in this embodiment, the determination processing unit 74 determines whether or not first information related to a first work implement that was attached to the work vehicle 1 as the work implement 400 at a first point in time in the past matches or mismatches second information related to a second work implement that is currently attached to the work vehicle 1 as the work implement 400. That is, the determination processing unit 74 compares information (first information) about the work implement 400 (first work implement) identified as being attached to the work vehicle 1 at a first point in time in the past with information (second information) about the work implement 400 (second work implement) identified as being currently attached to the work vehicle 1 as the work implement 400. Then, the determination processing unit 74 determines whether or not the first information and second information match.

[0146] Specifically, the determination processing unit 74 defines information on the work implement 400 that was identified and stored in the memory unit the last time the work vehicle 1 was used as first information, and information on the work implement 400 that was identified as being currently attached to the work vehicle 1 as second information, and compares the first information with the second information. If the work implement 400 attached at the first point in time (for example, the last time the work vehicle 1 was used) is the same as at the current time, the first information and the second information match, but if the attached work implement 400 is different, the first information and the second information do not match. In other words, if the work implement 400 has been replaced between the first point in time (for example, the last time the work vehicle 1 was used) and the current time, the determination processing unit 74 determines that the first information and the second information do not match.

[0147] The notification processing unit 75 then notifies the result of the determination of whether the first information and the second information match or do not match, performed by the determination processing unit 74. "Notification" here means notifying a person (an operator, etc.) by an appropriate method. In other words, the notification processing unit 75 notifies the operator, etc. of the result of the determination of whether the first information and the second information match or do not match, by an appropriate method.

[0148] According to the configuration described above, when the work implement 400 attached to the work vehicle 1 is replaced with another work implement 400, it becomes easier to avoid the operator performing work without realizing that the work implement 400 has been replaced. This has the advantage that it becomes easier to make various adjustments etc. to suit the replaced work implement 400, making it easier to perform appropriate work using the work vehicle 1.

[0149] Moreover, in this embodiment, the determination processing unit 74 determines whether the first information and the second information match for each type of work machine 400. In other words, as long as the types of work machine 400 match between the first information and the second information, the determination processing unit 74 determines that the first information and the second information match, even if other information (e.g., identification information unique to the work machine 400) differs. Conversely, if the types of work machine 400 do not match between the first information and the second information, the determination processing unit 74 determines that the first information and the second information do not match, regardless of the other information. As a result, for example, in cases where the work machine 400 has been replaced with another work machine 400 of the same type due to a malfunction or the like, the first information and the second information will match, and it is possible to avoid erroneously determining that the work machine 400 has been replaced.

[0150] Furthermore, in this embodiment, the determination processing unit 74 identifies the type of work implement 400 attached to the work vehicle 1. In other words, the type of work implement 400 is automatically identified. This can, for example, save the operator or the like the trouble of manually inputting the type of work implement 400, and can also prevent erroneous determinations due to the operator or the like forgetting to input the type.

[0151] Furthermore, the determination processing unit 74 identifies the first information and the second information at the timing when a specific condition related to the operation of the work vehicle 1 is satisfied. The "specific condition" here refers to various conditions set in relation to the operation of the work vehicle 1, such as when at least one of the work vehicle 1 and the first operation terminal 210 is powered on. This allows the first information and the second information to be identified at the appropriate timing, such as when both the work vehicle 1 and the first operation terminal 210 are powered on, and makes it possible to determine whether the first information and the second information at this time match or do not match.

[0152] More specifically, in this embodiment, the notification processing unit 75 notifies the determination result of the determination processing unit 74 by displaying a pop-up on a display screen (start-up screen Dp1) displayed on the display unit 211 of the first operating terminal 210, as shown in Fig. 16. The start-up screen Dp1 shown as an example in Fig. 16 is the screen that is first displayed on the display unit 211 of the first operating terminal 210 when both the work vehicle 1 and the first operating terminal 210 are powered on.

[0153] The example in Figure 16 assumes a situation in which a sprayer 401 was attached during the previous work (first time point), but during the current work (current time point), the work implement 400 has been replaced with a weeder 402. In this case, the first information regarding the first work implement (here, the sprayer 401) and the second information regarding the second work implement (here, the weeder 402) do not match, so a message indicating that the first information and the second information do not match, such as "An attachment different from that used during the previous work has been detected," is displayed on the start-up screen Dp1.

[0154] Furthermore, the start-up screen Dp1 displays a message identifying the currently attached work implement 400 (here, the weeder 402), such as "Detected attachment: weeder." In short, in this embodiment, the result of the determination is notified by displaying the display screen (start-up screen Dp1). The display screen (start-up screen Dp1) includes information about at least the second work implement. This allows the operator to visually recognize information about the currently attached work implement 400 (the second work implement) along with the determination result of whether the first information and the second information match / mismatch.

[0155] The upper part of FIG. 17 shows a startup screen Dp1 in a case where a weeder 402 was attached during the previous work (first time point) but the work implement 400 has been replaced with a spreader 401 during the current work (current time point). The lower part of FIG. 17 shows a startup screen Dp1 in a case where a spreader 401 was attached during the previous work (first time point) but the work implement 400 has been replaced with an undefined (unregistered) work implement 400 during the current work (current time point). In other words, even when the work implement 400 has been replaced with an undefined work implement 400, the determination processing unit 74 determines that the first information and the second information do not match. However, in this case, a message such as "Unknown Attachment" is displayed to indicate that the currently attached work implement 400 (second work implement) is undefined. In this case, the subsequent display screens and vehicle control treat the work implement 400 as being attached as the default work implement, preventing inappropriate display and unintended operation.

[0156] On the other hand, if the work implement 400 has not been replaced, such as when the spreader 401 was attached during the previous work (first time point) and is still attached during the current work (current time), it is preferable to notify this. In other words, if the first information about the first work implement and the second information about the second work implement match, a message indicating that the first information and the second information match, such as "The same attachment as during the previous work has been detected," is displayed on the start-up screen Dp1.

[0157] In this manner, in this embodiment, it is possible to notify the operator that at least the first information and the second information match as a result of the determination, which makes it easier for the operator to recognize whether the first information and the second information match or not.

[0158] Incidentally, in this embodiment, as described above, the arrangement of the various sensors of the obstacle detection device 62 differs depending on the type of work implement 400 (spreader 401 or weeder 402) attached to the work vehicle 1 (machine body 10 thereof). Therefore, in this embodiment, items related to sensors that are not required for the currently attached work implement 400 are automatically hidden on the sensor check screen Dp2 (see FIG. 18).

[0159] Specifically, when the work vehicle 1 is made to travel automatically, prior preparation is made to check the operation of the various sensors of the obstacle detection device 62. When checking the operation of the sensors, the operator displays a sensor check screen Dp2, such as the example shown in Fig. 18, on the display unit 211 of the first operation terminal 210, and checks the operation of the various sensors on the sensor check screen Dp2.

[0160] The upper part of FIG. 18 shows a sensor check screen Dp2 when a sprayer 401 is attached as the work implement 400. In addition to images of the work vehicle 1 viewed from the front and rear, this sensor check screen Dp2 displays check boxes corresponding to the various sensors (first detection unit 621, second detection unit 622, first sensor 623 to fourth sensor 626, front contact sensor 627, and rear contact sensor 628). The control device 7 performs test operations on the various sensors of the obstacle detection device 62 and checks the check boxes corresponding to sensors that have been confirmed to be operating normally. In the example of FIG. 18, a message such as "All sensors have been checked" is displayed, indicating that it has been confirmed that all sensors of the obstacle detection device 62 are operating normally.

[0161] Meanwhile, the lower part of Fig. 18 shows a sensor check screen Dp2 when a weeder 402 is attached as the work implement 400. In addition to images simulating the work vehicle 1 as seen from the front and rear, this sensor check screen Dp2 displays check boxes corresponding to each of the various sensors (first detection unit 621, second detection unit 622, first sensor 623 to fourth sensor 626, front contact sensor 627). Here, when the weeder 402 is attached, the rear contact sensor 628 is detached, and therefore the check box corresponding to the rear contact sensor 628 is not displayed on the sensor check screen Dp2.

[0162] The control device 7 performs test operations on the various sensors of the obstacle detection device 62 and checks the checkboxes corresponding to the sensors that are confirmed to be operating normally. In the example at the bottom of Fig. 18, in addition to the message "All sensors checked," a message indicating that the rear contact sensor 628 is not installed, such as "Rear bumper not installed," is displayed.

[0163] In this way, sensors (first detection unit 621, second detection unit 622, first sensor 623 to fourth sensor 626, front contact sensor 627, rear contact sensor 628, etc.) can be attached to the work vehicle 1 according to the type of work implement 400. The notification processing unit 75 then notifies the attachment status of the sensors according to the type of work implement 400. In short, for example, on the sensor check screen Dp2, the display of the sensors to be checked is switched according to the type of attached work implement 400, thereby notifying the attachment status of the sensors according to the type of work implement 400. This makes it possible to prevent the operator from attempting to check the operation of sensors that are not actually necessary.

[0164] Furthermore, in this embodiment, when the sensor mounting state does not correspond to the type of work implement 400, the notification processor 75 notifies the operator of sensor setting information related to the sensor settings in addition to the sensor mounting state. For example, when the sprayer 401 is mounted as the work implement 400 and the rear contact sensor 628 remains detached, the notification processor 75 displays a message indicating sensor setting information related to the rear contact sensor 628 on the sensor check screen Dp2, such as "Please attach the rear bumper." This makes it possible to prompt the operator to correctly mount the sensor when, for example, a necessary sensor has not been replaced when the work implement 400 is replaced.

[0165] Furthermore, in this embodiment, when the first information and the second information do not match, the notification processing unit 75 notifies the result of the determination, and also notifies setting information related to the settings of at least one of the work vehicle 1 and the work implement 400. For example, if the first information and the second information do not match, a preparation screen Dp3 or the like as shown in FIG. 19 displays a message urging the user to set up the work implement 400 (attachment) and the work vehicle 1 (sensors), such as "The attachment attached is different from the attachment attached during the previous work" or "Do not forget to perform the initial settings for the attachment and sensor." The preparation screen Dp3 is a screen that is always displayed on the display unit 211 of the first operation terminal 210 when the work vehicle 1 is caused to travel autonomously, and various settings and confirmations are made on this preparation screen Dp3.

[0166] As a result, if the work implement 400 has been replaced since the previous work, the operator is prompted to set up the work vehicle 1 and work implement 400, making it easier for the operator to remember to make the necessary settings (adjustments) when the work implement 400 is replaced. As an example, if a sprayer 401 is installed, the amount of sprayed will not be appropriate unless initial settings (adjustments) such as pressure are made before work, and if a weeder 402 is installed, the lifting and lowering operation of the weeding unit 45 by the lifting and lowering unit 46 cannot be performed correctly unless initial settings (adjustments) are made to the lift angle sensor of the lifting and lowering unit 46. By having the operator make the necessary initial settings in this way, correct operation of the work vehicle 1 can be achieved.

[0167] Items that require initial setting (adjustment) for the work implement 400 include, for example, in the case of the spreader 401, adjustment of the spray flow rate, adjustment of the return valve, operation check of each spray-related actuator, adjustment of the nozzle direction, etc., and in the case of the weeder 402, adjustment of the highest / lowest position of the lift angle sensor (potentiometer), operation check of the lifting unit 46, adjustment of the height of the cultivator 451 and wheels 453, etc. Therefore, the notification processing unit 75 may notify, as setting information, what specifically should be adjusted as initial setting according to the work implement 400 currently attached.

[0168] Furthermore, in this embodiment, the notification processing unit 75 notifies information relating to at least one of the time and content of work performed by the work vehicle 1 at the first time point. The "time of work" here includes at least one of the season, year, date, and time when the work was performed. The "contents of work" here includes at least one of the type of work (spraying, inter-plant weeding, inter-row weeding, etc.), the range (location) where the work was performed, and the worker (operator). Information relating to at least one of the time and content of work performed by the work vehicle 1 at the first time point is notified by being displayed on, for example, the start-up screen Dp1 or the preparation screen Dp3. This allows the operator to check information relating to the time and / or content of the previous work (at the first time point), improving convenience.

[0169] [3.3] Route selection for automated driving Next, the operation of the control system 100 (mainly the control device 7) related to the selection of a route (target route R10) for the work vehicle 1 to travel automatically will be described.

[0170] In this embodiment, it is assumed that a route (target route R10) for the work vehicle 1 to travel automatically is set for each field F1 and for each task. That is, even for the same field F1, different target routes R10 are generated depending on the type of task, such as spraying, inter-crop weeding, or inter-row weeding. Furthermore, since the work implement 400 attached to the work differs depending on the task, the target route R10 is set in association with at least the work implement 400.

[0171] The driving processing unit 72 of the control device 7 causes the work vehicle 1 to automatically drive based on the automatic driving information including the target route R10 thus set in association with the work implement 400. In this embodiment, before causing the work vehicle 1 to automatically drive, the operator is prompted to specify which target route R10 the work vehicle 1 will automatically drive along.

[0172] Specifically, the selection processing unit 77 of the control device 7 displays a selection screen Dp4 on the display unit 211 of the first operation terminal 210, as shown in the upper part of FIG. 20. The selection screen Dp4 is a screen that displays a list of multiple candidate information, each of which is composed of automatic driving information, and allows the operator to select any candidate information from the multiple candidate information. In the example of FIG. 20, multiple candidate information including "Okayama 1," "Maibara 1," "Maibara 2," "Maibara 3," and "Maibara 4" is displayed on the selection screen Dp4. At this time, it is assumed that a sprayer 401 is attached as the work implement 400.

[0173] For example, when the operator selects "Maibara 1" for which the work is "interplant weeding" on the selection screen Dp4, the selection processing unit 77 displays a selection confirmation screen Dp5 on the display unit 211 of the first operation terminal 210, as shown in the lower part of FIG. 20. The selection confirmation screen Dp5 is a screen that displays details of the selected candidate information. When the confirmation button B1 labeled "Perform this work" is operated on this selection confirmation screen Dp5, the selection processing unit 77 sets (selects) the candidate information (Maibara 1) selected on the selection screen Dp4 as the automatic driving information.

[0174] However, in the example of FIG. 20 , when a spreader 401 is attached as the work implement 400, the candidate information of “Maibara 1” corresponding to the weeder 402 is selected. Therefore, the selection restraint processing unit 78 restrains the selection of the candidate information (Maibara 1). Specifically, the selection restraint processing unit 78 renders the Confirm button B1 inactive (e.g., grayed out) on the selection confirmation screen Dp5 in the lower part of FIG. 20 , thereby rendering the Confirm button B1 inoperable. As a result, the operator cannot operate the Confirm button B1 on the selection confirmation screen Dp5, and therefore the selection processing unit 77 cannot set (select) the candidate information (Maibara 1) selected on the selection screen Dp4 as the automatic driving information. As a result, the selection restraint processing unit 78 restrains the selection of candidate information (incompatible information) that does not correspond to the attached work implement 400 (here, the spreader 401).

[0175] As described above, the control method according to this embodiment includes causing the work vehicle 1 to automatically travel based on automatic travel information set in association with the work implement 400, and having the user select automatic travel information from among a plurality of pieces of candidate information. The control method further includes preventing the selection of incompatible information from among the plurality of pieces of candidate information that does not correspond to the type of work implement 400 attached to the work vehicle 1. In this embodiment, as described above, the work implement 400 attached to the work vehicle 1 is automatically identified by the determination processing unit 74.

[0176] This configuration makes it easier to avoid the erroneous selection of incompatible information that does not correspond to the type of work implement 400 attached to the work vehicle 1. Furthermore, when it is necessary to automatically drive the work vehicle 1 according to automatic driving information that matches the work implement 400 attached to the work vehicle 1, it becomes easier to avoid automatic driving being performed in a state where automatic driving information (incompatible information) that does not correspond to that work implement 400 has been erroneously selected. As a result, there is an advantage in that it becomes easier to perform more appropriate work.

[0177] Furthermore, in this embodiment, the automatic travel information includes the target route R10. That is, it becomes easier to avoid selecting a target route R10 that does not correspond to the work implement 400 attached to the work vehicle 1.

[0178] Furthermore, in this embodiment, the selection processing unit 77 displays multiple candidate pieces of information on the selection screen Dp4 when selecting automatic driving information. Here, the selection screen Dp4 includes non-compatible information. That is, the selection screen Dp4 shown in the upper part of FIG. 20 lists not only automatic driving information corresponding to the type of work implement 400 attached to the work vehicle 1, but also automatic driving information (non-compatible information) that does not correspond to the type of work implement 400. Specifically, in the example of FIG. 20, the selection screen Dp4 displays all automatic driving information for work scheduled for that day (e.g., August 9th) regardless of the currently attached work implement 400, and displays all work names and work types (spraying work, inter-plant weeding, or inter-row weeding) like a work list. Therefore, the operator can confirm all work scheduled for that day and the need to change the work implement 400.

[0179] Furthermore, the control method according to this embodiment presents the type of work implement 400 that corresponds to the selected automatic travel information. Specifically, the selection confirmation screen Dp5 shown in the lower part of FIG. 20 displays the type of work implement 400 (here, "weeder") that corresponds to the selected automatic travel information (here, "Maibara 1"). This allows the operator to confirm the need to change the work implement 400.

[0180] Furthermore, when the selection restraint processing unit 78 restrains the selection of incompatible information, it may notify the operator that the incompatible information does not correspond to the type of work implement 400 attached to the work vehicle 1. As an example, not only is the Confirm button B1 made inoperable (inactive) on the selection confirmation screen Dp5, but a message indicating that an attempt is being made to select candidate information (incompatible information) that does not correspond to the type of work implement 400 currently attached, such as "This task is not compatible with the currently attached work implement," is displayed on the selection confirmation screen Dp5. This not only restrains the operator from selecting incompatible information, but also allows the operator to know the reason why the selection of incompatible information is being restrained (the incompatible information does not correspond to the type of work implement 400 currently attached), and therefore the need to change the work implement 400 can be confirmed.

[0181] Furthermore, the manner in which the selection restraint processing unit 78 restrains the selection of candidate information (incompatible information) that does not correspond to the currently attached work implement 400 (here, the spreader 401) is not limited to the manner described above. For example, as shown in the upper part of FIG. 21 , the selection restraint processing unit 78 may make candidate information that does not correspond to the type of currently attached work implement 400 inactive (e.g., grayed out) on the selection screen Dp4, thereby making the candidate information inactive. In the example of FIG. 21 , it is assumed that a weeder 402 is attached as the work implement 400, and the candidate information for work (spraying or other) that does not correspond to the weeder 402, "Okayama 1," "Maibara 3," and "Maibara 4," are inactive. In this case, since only candidate information that corresponds to the type of currently attached work implement 400 is selected, the confirm button B1 can be activated on the selection confirmation screen Dp5, as shown in the lower part of FIG. 21 , making the confirm button B1 operable.

[0182] Incidentally, if the work implement 400 attached to the work vehicle 1 is replaced between the selection of the automatic driving information and the start of automatic driving, the selection restraint processing unit 78 will restrain the start of automatic driving if the type of the replaced work implement 400 does not correspond to the selected automatic driving information. In this embodiment, as described above, if the work implement 400 is replaced, the determination processing unit 74 automatically identifies the replaced work implement 400 (i.e., the work implement 400 currently attached).

[0183] In other words, if the work implement 400 is replaced after automatic driving information corresponding to the attached work implement 400 has been selected, automatic driving information such as the target route R10 has already been selected, so the selection restraint processing unit 78 restrains the start of automatic driving instead of restraining the selection of automatic driving information. This makes it easier to avoid the work vehicle 1 starting automatic driving based on automatic driving information that does not correspond to the attached work implement 400.

[0184] In other words, after the automatic driving information is selected, the automatic driving information (target route R10, etc.) is loaded into the work vehicle 1, and the automatic driving information is retained even when the power to the work vehicle 1 is turned off (so that work can be interrupted and resumed). Therefore, even in such cases, the work implement 400 may be replaced while the power to the work vehicle 1 is cut off, but even in such cases, it is possible to avoid the work vehicle 1 starting automatic driving based on automatic driving information that does not correspond to the work implement 400 currently attached.

[0185] For example, as shown in Fig. 22, the selective restraint processing unit 78 restrains the start of automatic driving on a preparation screen Dp3 displayed on the display unit 211 of the first operating terminal 210. Specifically, the preparation screen Dp3 is a screen that is displayed before automatic driving starts. When the start button B21 marked "SET" on this preparation screen Dp3 is operated, the driving processing unit 72 starts automatic driving.

[0186] However, in the example of FIG. 22, the work implement 400 has been replaced with the sprayer 401 while the automatic travel information for "Maibara 1" corresponding to the weeder 402 has been selected. Therefore, the selection restraint processing unit 78 renders the start button B21 inactive (for example, grayed out) on the preparation screen Dp3, thereby rendering the start button B21 inoperable. As a result, the operator cannot operate the start button B21 on the preparation screen Dp3, and the travel processing unit 72 cannot start automatic travel of the work vehicle 1. As a result, the selection restraint processing unit 78 restrains the start of automatic travel based on automatic travel information that does not correspond to the currently attached work implement 400 (here, the sprayer 401).

[0187] In this way, even if the work implement 400 is replaced after selecting the automatic travel information, the automatic travel information already selected at that time is not canceled, but the automatic travel cannot be started, so automatic travel can be started by, for example, returning the work implement 400 to its original position. Alternatively, the operator can cancel the selected automatic travel information and reselect the automatic travel information corresponding to the attached work implement 400.

[0188] Furthermore, when the status button B23 labeled "STETUS" is operated on the preparation screen Dp3 shown in Fig. 22, a status screen Dp6 as shown in Fig. 23 is displayed on the display unit 211 of the first operation terminal 210. On the status screen Dp6, the "Attachment" column indicating the work implement 400 attached to the machine body 10 is not checked, which clearly indicates that a work implement 400 (attachment) that does not correspond to the selected automatic driving information is attached.

[0189] In this way, when the selective restraint processing unit 78 restrains the start of automatic driving, it notifies the operator that the automatic driving information does not correspond to the type of work implement 400 attached to the work vehicle 1. This allows the operator to confirm the reason why automatic driving cannot be started. Then, in this state (a state in which the start of automatic driving is restrained), the operator can start automatic driving by replacing the work implement 400 attached to the work vehicle 1 with an appropriate work implement 400.

[0190] Alternatively, by operating the cancel button B22 marked "QUIT" on the preparation screen Dp3 shown in FIG. 22, the operator can cancel the selected autonomous driving information and reselect the autonomous driving information corresponding to the currently attached work implement 400. In other words, when the start of autonomous driving is inhibited, the selection processing unit 77 has the user (operator) reselect the autonomous driving information from among multiple candidate information. This allows autonomous driving to be started without further changing the attachment of the work implement 400.

[0191] In addition, although the automatic driving information here includes the target route R10, the automatic driving information may include, in addition to or instead of the target route R10, for example, the vehicle speed, maximum vehicle speed, minimum vehicle speed, work start position Ps1 or work end position Pg1 of the work vehicle 1.

[0192] [3.4] Various settings during automatic driving Next, the operation of the control system 100 (mainly the control device 7) relating to various settings during automatic traveling of the work vehicle 1 will be described.

[0193] In this embodiment, the optimal values for various settings related to the operation of the work vehicle 1 during autonomous driving (such as obstacle detection operation) differ depending on the state of the work implement 400. Therefore, the change processing unit 76 according to this embodiment changes the setting items related to the autonomous driving of the work vehicle 1 according to the state of the work implement 400 attached to the work vehicle 1. The "state" of the work implement 400 here includes the type of work implement 400 (sprayer 401 or weeder 402) and / or the position of the work implement 400 (deployed position or stored position in the case of a weeder 402), etc.

[0194] Specifically, as illustrated in Figure 24, the field departure determination ranges C1, C2, C3 of the work vehicle 1 during autonomous driving differ depending on the state of the work implement 400 attached to the work vehicle 1 (machine body 10 thereof). The field departure determination ranges C1, C2, C3 are ranges that are set based on the external shape of the machine body 10 in a planar view in order to determine whether the work vehicle 1 has departed from the field F1. In this embodiment, as an example, the field departure determination ranges C1, C2, C3 are circular ranges that are one size larger than the circumscribed circle that passes through the four corners of the machine body 10 in a planar view. Figure 24 is a schematic plan view showing the automatic stopping position at the edge of the field E1 (i.e., the boundary line between the inside and outside of the field F1) when reversing in each of the following cases: when the sprayer 401 is attached; when the weeder 402 is attached and the weeder 402 is in a stored position; and when the weeder 402 is attached and the weeder 402 is in an deployed position.

[0195] For example, when the weeder 402 is attached, the rear end position of the work implement 400 shifts rearward as seen from the machine body 10 compared to when the sprayer 401 is attached, so if the field deviation judgment range C1 is the same when the weeder 402 is attached as when the sprayer 401 is attached, the work implement 400 will protrude beyond the field edge E1 when the work vehicle 1 is backing up. Therefore, when the weeder 402 is attached, a field deviation judgment range C2 that is larger than when the sprayer 401 is attached is adopted, thereby preventing the work implement 400 from protruding beyond the field edge E1 when the work vehicle 1 is backing up.

[0196] Furthermore, when the weeder 402 is attached, the lifting unit 46 raises and lowers the weeder 402 while the vehicle is automatically traveling, switching the weeder 402 between the stored position and the deployed position as needed. When the weeder 402 is in the deployed position, the rear end position of the work implement 400 shifts rearward compared to when it is in the stored position. Therefore, by adopting a field departure judgment range C3 that is larger in the deployed position than when it is in the stored position, the work implement 400 is prevented from protruding from the field edge E1 when the work vehicle 1 is backing up. Specifically, the field departure judgment range is expanded in an area where the weeder 402 is in the deployed position in accordance with a work instruction associated with the target route R10. The field departure judgment ranges C1, C2, and C3 are not limited to being circular and may be, for example, rectangular or other polygonal shapes. Even in such cases, the field departure judgment ranges C1, C2, and C3 change depending on the type and / or position of the attached work implement 400.

[0197] Furthermore, in this embodiment, as shown in FIG. 25, different obstacle determination ranges C11, C12, and C13 are set at least when the sprayer 401 is attached, when the weeder 402 is attached and the weeder 402 is in the stored position, and when the weeder 402 is attached and the weeder 402 is in the deployed position. FIG. 25 shows, as an example, the obstacle determination ranges C11, C12, and C13 when the machine body 10 performs a spin turn (spin turn) or moves backward. The obstacle determination ranges C11, C12, and C13 here are ranges that are set so that, if an obstacle is detected within the obstacle determination ranges C11, C12, and C13 by the obstacle detection device 62, the work vehicle 1 performs an operation (such as stopping, decelerating, or detouring) to avoid contact with the obstacle. In other words, when the weeder 402 is attached, the obstacle determination range C12, which is larger than the obstacle determination range C11 when the sprayer 401 is attached, is adopted, thereby preventing the work implement 400 from contacting the obstacle.

[0198] Furthermore, when the weeder 402 is attached, the third sensor 625 and the fourth sensor 626, which are directed toward the rear of the machine body 10, may erroneously detect the weeder 402 depending on the attitude of the weeder 402. Therefore, when the weeder 402 is attached, the third sensor 625 and the fourth sensor 626 are disabled if the weeder 402 is in the deployed attitude, and the third sensor 625 and the fourth sensor 626 are enabled only when the weeder 402 is in the stored attitude. Therefore, the obstacle determination range C13 when the weeder 402 is in the deployed attitude is reduced behind the machine body 10, and even if an obstacle is present behind the machine body 10, the obstacle will not be detected, and no processing to avoid the obstacle will be performed.

[0199] In short, when the sprayer 401 is attached, all sensors of the obstacle detection device 62 are enabled, whereas when the weeder 402 is attached, some of the sensors of the obstacle detection device 62 are enabled / disabled depending on the posture of the weeder 402.

[0200] Furthermore, in this embodiment, a maximum vehicle speed during automatic driving is set (stored) for each type of work implement 400, and the change processing unit 76 switches the maximum vehicle speed during automatic driving of the work vehicle 1 depending on the type of attached work implement 400. In other words, by storing the optimum value for the maximum vehicle speed of the work vehicle 1 in advance in memory (storage unit) depending on the type of work implement 400, when the work implement 400 is replaced, the optimum maximum vehicle speed is automatically applied without the operator having to reset the maximum vehicle speed.

[0201] Furthermore, depending on the type of work implement 400, the maximum vehicle speed may be changeable by an operator's operation. For example, in spraying work, a certain amount of spraying is required relative to the travel distance, so it is preferable that the maximum vehicle speed during automatic driving of the work vehicle 1 when the sprayer 401 is attached is a constant value. On the other hand, in weeding work, flexible vehicle speed control is required in response to work constraints, so it is preferable that the maximum vehicle speed during automatic driving of the work vehicle 1 when the weeder 402 is attached is changeable. Therefore, in this embodiment, when the weeder 402 is attached, the maximum vehicle speed adjustment function is enabled, allowing the operator to adjust the maximum vehicle speed. Specifically, the maximum vehicle speed is adjusted in response to an operation by the operator on a change screen or the like displayed on the display unit 211 of the first operation terminal 210. The adjusted maximum vehicle speed is retained (stored) even when the work vehicle 1 is powered off or the maximum vehicle speed adjustment function is disabled, and is read out when the work vehicle 1 is powered on or the maximum vehicle speed adjustment function is enabled, eliminating the need for resetting.

[0202] As explained above, the control method according to this embodiment comprises causing the work vehicle 1 to automatically travel along the target route R10, and changing setting items related to the automatic travel of the work vehicle 1 in accordance with the state of the work implement 400 attached to the work vehicle 1. In this embodiment, as mentioned above, the work implement 400 attached to the work vehicle 1 is automatically identified by the determination processing unit 74.

[0203] With this configuration, when the work implement 400 attached to the work vehicle 1 is replaced with another work implement 400, for example, it becomes easier to avoid the operator performing work without noticing that the work implement 400 has been replaced. In other words, the setting items related to the automatic driving of the work vehicle 1 are changed according to the state of the work implement 400 attached to the work vehicle 1, so the work vehicle 1 can be made to automatically drive appropriately according to the state of the work implement 400. Specifically, it becomes possible to make appropriate obstacle judgments and field departure judgments, etc., and unnecessary stop control can be suppressed. As a result, there is an advantage that it becomes easier to perform more appropriate work.

[0204] Here, the setting items include obstacle determination ranges C11, C12, and C13, which will perform processing to avoid an obstacle if an obstacle is present around the work vehicle 1. In this embodiment, the setting items further include field departure determination ranges C1, C2, and C3. In other words, the obstacle determination ranges C11, C12, C13, etc. are changed depending on the state of the work implement 400 attached to the work vehicle 1, making it possible to avoid processing to avoid obstacles more than necessary.

[0205] Furthermore, in this embodiment, the state of the work implement 400 includes at least the type of work implement 400. In short, the setting items are changed depending on the type of work implement 400 (sprayer 401 or weeder 402) attached to the work vehicle 1, making it easier to perform work appropriate to the type of work implement 400.

[0206] Furthermore, the state of the work implement 400 includes whether the attitude of the work implement 400 is the stored attitude or the deployed attitude. In other words, when a weeder 402 is attached to the work vehicle 1 as the work implement 400, the setting items are changed according to the attitude (stored attitude or deployed attitude), making it easier to perform appropriate work according to the attitude of the work implement 400.

[0207] Furthermore, in this embodiment, the setting items include enabling / disabling of obstacle detection around the work vehicle 1. For example, depending on the attitude of the weed cutter 402, the enabling / disabling of the third sensor 625 and the fourth sensor 626 directed toward the rear of the machine body 10 is changed. This makes it easier to perform appropriate obstacle detection according to the attitude of the work implement 400 while avoiding erroneous detection of obstacles.

[0208] Furthermore, sensors that detect obstacles can be attached to the work vehicle 1 according to the type of work implement 400. For example, the third sensor 625 and fourth sensor 626, which are directed toward the rear of the machine body 10, are placed in different positions on the work vehicle 1 depending on whether the work implement 400 is a spreader 401 or a weeder 402. In this way, by placing sensors according to the type of work implement 400, it becomes easier to detect obstacles while avoiding interference with the work implement 400.

[0209] Furthermore, the setting items include the vehicle speed during automatic driving of the work vehicle 1. In short, the speed (including maximum vehicle speed) during automatic driving of the work vehicle 1 is changed depending on the type of work implement 400 (sprayer 401 or weeder 402) attached to the work vehicle 1, making it easier to perform appropriate work according to the type of work implement 400.

[0210] Meanwhile, the target route R10 includes a work route R1 and a travel route R2, and the vehicle speed of the work vehicle 1 during automatic travel is set separately for the work route R1 and the travel route R2. Specifically, the vehicle speed when traveling along the work route R1 is set to 4 km / h when the sprayer 401 is attached, as an example, and is adjustable within a range of 1.5 km / h to 4 km / h when the weeder 402 is attached. The vehicle speed when traveling along the work route R1 is the maximum vehicle speed during automatic travel. On the other hand, the vehicle speed when traveling along the travel route R2 is set regardless of the work implement 400. As an example, on the turning route of the travel route R2, the vehicle speed is set to 1.5 km / h or 1.0 km / h depending on the turning radius, and on the straight route of the travel route R2, the vehicle speed is set to 1.5 km / h. Therefore, when the weed cutter 402 is attached, the maximum vehicle speed is adjusted to 1.5 km / h, so that the vehicle speed of the work vehicle 1 during automatic driving can be set to a common vehicle speed (for example, 1.5 km / h) for both the work route R1 and the travel route R2.

[0211] In short, the target route R10 includes a work route R1 along which the work vehicle 1 performs work on the work object, and a travel route R2 that connects the work routes R1 together. If the state of the work implement 400 is in a first state (e.g., weeder 402), a common setting item (e.g., vehicle speed) is used for the work route R1 and the travel route R2. On the other hand, if the state of the work implement 400 is in a second state (e.g., sprayer 401), a different setting item (e.g., vehicle speed) is used for the work route R1 and the travel route R2. This enables appropriate automatic driving according to the state of the work implement 400.

[0212] [3.5] Controlling the lifting and lowering of work equipment Next, the operation of the control system 100 (mainly the control device 7) relating to the lifting and lowering control of the work implement 400 in the work vehicle 1 will be described.

[0213] As described above, the weeder 402 serving as the work implement 400 is configured to be able to rise and fall between an unfolded position and a stored position. During automatic travel of the work vehicle 1, the lifting / lowering processing unit 79 of the control device 7 controls the lifting / lowering units 46 to switch weeding patterns based on control information included in the target route R10, thereby automatically raising and lowering the weeder 402. Furthermore, by individually controlling the pair of left and right lifting / lowering units 46, the lifting / lowering processing unit 79 can individually control the lifting and lowering of a first working unit (left weeding unit 45) located on one side of the work target row (crop row Vr1) and a second working unit (right weeding unit 45) located on the other side of the work target row.

[0214] The control method according to this embodiment includes automatically driving the work vehicle 1 and controlling the elevation of the work implement 400 (weeder 402) while the work vehicle 1 is automatically driving, at a timing determined based on the arrangement of work target rows (crop rows Vr1) in the work area (field F1) and the work content. The elevation processing unit 79 basically raises and lowers the weeder 402 based on the current position of the work vehicle 1 and (control information contained in) the target route R10. In addition, the elevation processing unit 79 determines the timing for controlling the elevation of the weeder 402 based on the arrangement of the crop rows Vr1 and the work content.

[0215] Here, "arrangement" refers to, for example, the arrangement of work target rows (crop rows Vr1) in the work area (field F1), and includes, for example, "flat rows" and "diagonal rows" as shown in Figure 26. A "flat row" is an arrangement in which the ends of multiple work target rows (crop rows Vr1) are aligned on an imaginary line perpendicular to the work target row (crop row Vr1) in a planar view. A "diagonal row" is an arrangement in which the ends of multiple work target rows (crop rows Vr1) are not aligned on an imaginary line perpendicular to the work target row (crop row Vr1) in a planar view, i.e., are inclined relative to the imaginary line. Here, "work content" includes the type of work, and for example, in the case of weeding, includes "inter-plant weeding" or "inter-row weeding," etc.

[0216] Specifically, the lifting / lowering processing unit 79 controls the lifting / lowering of the weeder 402 at the timings shown in Figures 26 and 27. Figure 26 is a schematic plan view that shows a model of the lifting / lowering control of the weeder 402 when the work vehicle 1 moves from the work area F11 to the non-work area F12. Figure 27 is a schematic plan view that shows a model of the lifting / lowering control of the weeder 402 when the work vehicle 1 moves from the non-work area F12 to the work area F11.

[0217] First, as shown in Figure 26, if the arrangement of the crop rows Vr1 is a flat row, in either inter-crop weeding or inter-row weeding, the lifting processing section 79 simultaneously lifts the first working section (the left weeding unit 45) and the second working section (the right weeding unit 45) when the rear end of the weeder 402 crosses the boundary between the working area F11 and the non-working area F12. As a result, immediately after the weeder 402 leaves the working area F11, the pair of weeding units 45 change from the deployed position to the stored position.

[0218] If the crop rows Vr1 are arranged in a diagonal row, the timing at which the lifting processing unit 79 controls the lifting and lowering of the weeder 402 differs between inter-crop weeding and inter-row weeding. In inter-crop weeding, when the rear end of the weeder 402 reaches the end of the crop row Vr1 located below the machine body 10, the lifting processing unit 79 simultaneously lifts the first working unit (the left weeding unit 45) and the second working unit (the right weeding unit 45). As a result, immediately after the weeder 402 leaves the crop row Vr1 located below the machine body 10, the pair of weeding units 45 change from the deployed position to the stored position.

[0219] On the other hand, in the case of diagonal row and inter-row weeding, the lifting processing unit 79 raises only the first working unit (the left weeding unit 45) when the rear end of the weeder 402 passes the end of the crop row Vr1 located below the machine body 10. Therefore, after the weeder 402 leaves the crop row Vr1 located below the machine body 10, the work vehicle 1 travels for a while with only the first working unit (the left weeding unit 45) in the stored position and the second working unit (the right weeding unit 45) in the deployed position. Then, when the rear end of the weeder 402 reaches the imaginary line L1 where the crop row Vr1 ends on the right side of the work vehicle 1, the lifting processing unit 79 raises the second working unit (the right weeding unit 45). As a result, immediately after the weeder 402 moves outside the imaginary line L1, both of the pair of weeding units 45 assume the stored position.

[0220] 27, if the arrangement of the crop rows Vr1 is a flat row, in either inter-crop weeding or inter-row weeding, the lifting processing unit 79 simultaneously lowers the first working unit (the left weeding unit 45) and the second working unit (the right weeding unit 45) when the front end of the weeder 402 crosses the boundary between the working area F11 and the non-working area F12. As a result, immediately after the weeder 402 enters the working area F11, the pair of weeding units 45 change from the stored position to the deployed position.

[0221] If the crop rows Vr1 are arranged in diagonal rows, the timing at which the lifting processing unit 79 controls the lifting and lowering of the weeder 402 differs between inter-crop weeding and inter-row weeding. In inter-crop weeding, when the front end of the weeder 402 reaches the start of the crop row Vr1 located below the machine body 10, the lifting processing unit 79 simultaneously lowers the first working unit (the left weeding unit 45) and the second working unit (the right weeding unit 45). As a result, immediately after the weeder 402 reaches the start of the crop row Vr1 located below the machine body 10, the pair of weeding units 45 change from the stored position to the deployed position.

[0222] On the other hand, in the case of diagonal row and inter-row weeding, when the front end of the weeder 402 reaches the start point (imaginary line L1) of the crop row Vr1 on the right side of the work vehicle 1, the lifting processing unit 79 lowers only the second working unit (the right weeding unit 45). Therefore, after the weeder 402 reaches the start point of the crop row Vr1 on the right side of the work vehicle 1, the work vehicle 1 travels for a while with only the second working unit (the right weeding unit 45) in the deployed position and the first working unit (the left weeding unit 45) in the stored position. Then, when the front end of the weeder 402 reaches the start point of the crop row Vr1 located below the machine body 10, the lifting processing unit 79 lowers the first working unit (the left weeding unit 45). As a result, immediately after the weeder 402 reaches the start point of the crop row Vr1 located below the machine body 10, both of the pair of weeding units 45 assume the deployed position.

[0223] As explained above, by controlling the elevation of the work implement 400 while the work vehicle 1 is traveling automatically, at a timing determined based on the arrangement of the rows of work targets at the work site and the work content, the work implement 400 can be raised and lowered at a more appropriate timing. Therefore, compared to when an operator manually raises and lowers the work implement 400, for example, the operator is less likely to misjudge the timing to raise and lower the work implement 400, making it easier for the work vehicle 1 to perform appropriate work. As a result, there is an advantage in that it is easier to perform appropriate work.

[0224] In particular, in this embodiment, the work vehicle 1 can travel in a position straddling the work target row (crop row Vr1). Therefore, by controlling the lifting and lowering of the work implement 400 at the appropriate timing, it is easier to perform more appropriate work on the work target row (crop row Vr1) that is in a position to be straddled by the work vehicle 1.

[0225] Furthermore, as described above, in this embodiment, it is determined based on the arrangement of the rows to be worked on and the work content whether the first and second working units are raised and lowered at the same time or at different times. That is, when weeding diagonal rows and between rows, the first and second working units are raised and lowered at different times, and in other cases, the first and second working units are raised and lowered at the same time. This allows for flexible lifting and lowering control, making it easier to perform more appropriate work.

[0226] The arrangement of the work target rows (crop rows Vr1) also includes whether the ends of multiple work target rows (crop rows Vr1) are aligned on an imaginary line perpendicular to the work target row (crop row Vr1) in a plan view. In other words, the arrangement of the work target rows includes whether they are flat rows or diagonal rows. Therefore, even if, for example, flat rows and diagonal rows are mixed due to constraints such as the topography of the work area (field F1), the work implement 400 can be controlled to lift and lower at the appropriate time, making it less likely that unworked areas will occur.

[0227] In this embodiment, the weeder 402 has a lifting operation unit 47 for manual operation, and in addition to the lifting control that is automatically performed by the lifting processing unit 79 during automatic traveling, an operator can manually operate the weeder 402 to lift and lower the weeder 402. Here, if the lifting operation unit 47 is operated while the work vehicle 1 is automatically traveling, the traveling processing unit 72 of the control device 7 stops the automatic traveling.

[0228] That is, when the lifting / lowering operation unit 47, which is installed on the work vehicle 1 and used to raise and lower the work implement 400, is operated, the driving processing unit 72 stops the automatic driving of the work vehicle 1. Specifically, the driving processing unit 72 stops the automatic driving of the work vehicle 1 and stops the work vehicle 1 on the spot or at a predetermined location. The lifting / lowering operation unit 47 is designed to be operated while visually checking the work implement 400, and is therefore located near the work implement 400 (at the rear of the work vehicle 1). In other words, when the lifting / lowering operation unit 47 is operated, an operator is likely to be near the work vehicle 1, and stopping automatic driving in such a case can prevent contact between the operator and the work vehicle 1. In this case, in order to prompt the operator to check for safety around the work vehicle 1, it is preferable to end automatic driving rather than temporarily stop the operation, and not resume automatic driving until the resumption conditions are met again.

[0229] Here, the control method according to this embodiment further includes controlling the lifting and lowering of the work implement 400 to a specific height when the work vehicle 1 resumes autonomous driving after having stopped the autonomous driving. That is, while the work vehicle 1 is stopped, the operator may operate the lifting and lowering operation unit 47 to change the height of the work implement 400. In such a case, the work implement 400 is raised to at least a height suitable for autonomous driving, and then autonomous driving is resumed, thereby achieving appropriate work.

[0230] Furthermore, in the control method according to this embodiment, an alarm is issued when an abnormality occurs in the automatic lifting / lowering function that automatically raises and lowers the work implement 400 while the work vehicle 1 is automatically traveling. In other words, if the lifting / lowering processing unit 79, which automatically raises and lowers the work implement 400 while the work vehicle 1 is automatically traveling, is unable to raise or lower the work implement 400 due to some kind of abnormality, an error alarm is issued. This makes it possible to prevent work from being continued when there is a malfunction in the automatic lifting / lowering function, and ensures appropriate work.

[0231] Furthermore, in the control method according to this embodiment, the automatic traveling of the work vehicle 1 is stopped when an abnormality occurs in the automatic lifting function. In other words, the traveling processing unit 72 halts the automatic traveling of the work vehicle 1 and stops the work vehicle 1 not only when the lifting operation unit 47 is operated, but also when an abnormality occurs in the automatic lifting function. This makes it possible to prevent work from being continued when there is a malfunction in the automatic lifting function, and allows for appropriate work to be performed.

[0232] The restart conditions for restarting automatic driving of the work vehicle 1 after it has been stopped due to an abnormality in the automatic lifting function include the abnormality in the automatic lifting function being resolved. Therefore, if automatic driving of the work vehicle 1 is stopped due to an abnormality in the automatic lifting function, automatic driving will not be resumed unless the abnormality in the automatic lifting function is resolved. This makes it possible to prevent work from being continued while there is a malfunction in the automatic lifting function, and to achieve appropriate work.

[0233] For example, if an abnormality occurs in the automatic lifting function because the work implement 400 gets caught on the ground (soil) or a root, the operator can often resolve the abnormality by operating the lifting operation unit 47 to lift or lower the work implement 400. If the abnormality is due to a malfunction or the like, the abnormality cannot be resolved by manually operating the lifting operation unit 47, and therefore the automatic traveling of the work vehicle 1 cannot be resumed.

[0234] Specifically, if the output (lift angle) of the lift angle sensor of the lift unit 46 does not change even though the lift processing unit 79 has issued an instruction for lift control, it is determined that there is an abnormality in the automatic lift function. However, if the lift angle is near the upper or lower limit of the movable range, it is not determined that there is an abnormality even if the output (lift angle) of the lift angle sensor does not change.

[0235] Here, the presence or absence of an abnormality is individually determined and managed for each of the pair of lifting units 46. When the lifting operation unit 47 operates the lifting unit 46 on the abnormal side, the abnormality of that lifting unit 46 is resolved, and the abnormality of the automatic lifting function is resolved.

[0236] Furthermore, in this embodiment, when the work implement 400 is raised or lowered, it is preferable to issue a warning to those around the work vehicle 1 by emitting a sound from a sound output unit such as a buzzer or speaker. Here, it is preferable that the warning during the raising or lowering operation of the work implement 400 is issued either by operation of the lifting operation unit 47 or by the automatic lifting function of the lifting processing unit 79.

[0237] Furthermore, when the work vehicle 1 starts or resumes autonomous driving, it is preferable to emit a sound from the sound output unit in advance before the work implement 400 starts its lifting or lowering operation. When autonomous driving starts or resumes, the work implement 400 may suddenly start its lifting or lowering operation, so by issuing a sound before the lifting or lowering operation starts, it is possible to alert those in the vicinity in advance.

[0238] [4] Variation Below, we will list some modified examples of embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0239] The control device 7 in the present disclosure includes a computer system. The computer system mainly comprises one or more processors and one or more memories as hardware. The functions of the control device 7 in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided by being recorded on a non-transitory recording medium such as a memory card, optical disk, or hard disk drive that is readable by the computer system. In addition, some or all of the functional units included in the control device 7 may be configured with electronic circuits.

[0240] Furthermore, it is not essential for the control device 7 that at least some of the functions of the control device 7 are concentrated in one housing, and the components of the control device 7 may be distributed across multiple housings. Conversely, in the control device 7, functions that are distributed across multiple devices (for example, the control device 7 and the first operation terminal 210) may be concentrated in one housing. Furthermore, at least some of the functions of the control device 7 may be realized by the cloud (cloud computing) or the like.

[0241] The work vehicle 1 is not limited to orchards such as vineyards or apple orchards, and may be used for work in other fields F1 or work sites other than the field F1. Furthermore, the substance sprayed by the work vehicle 1 is not limited to chemical solutions, but may be, for example, water, fertilizer, disinfectant, or other liquids, or powders. Similarly, the object onto which the substance is sprayed is not limited to grape trees, but may be other crops or objects other than crops (including inorganic substances). Furthermore, the work vehicle 1 is not limited to unmanned aircraft that operate by autonomous driving, but may be configured to operate by operation (including remote operation) by a person (operator), for example, a passenger type (manned aircraft) on which an operator can ride. Even in this case, the work vehicle 1 is provided with an antenna 21 or the like to determine its current location.

[0242] Furthermore, the support frame 3 only needs to be attached to one end of the machine body 10 in the fore-and-aft direction D3, and may be attached to the front of the machine body 10. In this case, the work implement 400 supported by the support frame 3 will also be disposed in front of the machine body 10, not behind it.

[0243] Furthermore, the work implement 400 (sprayer 401 or weeder 402) only needs to be attached to the machine body 10 of the work vehicle 1, and does not necessarily need to be supported by the support frame 3. In other words, at least one of the spreader 401 and weeder 402 may be supported directly on the machine body 10 without the support frame 3 being interposed therebetween.

[0244] Furthermore, the specific means of notification and presentation is not limited to display on the display unit 211 of the first operating terminal 210, but may also be display on another display unit, sound, transmission to an external terminal, other means, or a combination of these. For example, the notification processing unit 75 may notify the result of the determination of whether the first information and the second information match / mismatch performed by the determination processing unit 74 by sound such as a buzzer.

[0245] Furthermore, the identification of (the type of) work implement 400 attached to the work vehicle 1 does not necessarily have to be performed automatically by the determination processing unit 74, but may also be performed in response to an operation by the operator, for example.

[0246] The work vehicle 1 may also be equipped with a pair of work implements 400 lined up in the fore-and-aft direction D3. This allows the work vehicle 1 to perform work using each of the pair of work implements 400 lined up in the fore-and-aft direction D3, improving work efficiency compared to when work is performed using only one of the work implements 400. The work vehicle 1 may also be equipped with a rotation drive device that generates a rotational force that rotates the support frame 3 relative to the machine body 10 about the rotation axis Ax1.

[0247] Furthermore, the machine body 10 only needs to have the first block 10L and the second block 10R aligned in the left-right direction D2, and the first block 10L and the second block 10R may be reversed left-right. That is, the first block 10L, which includes the power source 63 and the like, may be located on the right side, and the second block 10R, which includes the user interface 61 and the like, may be located on the left side.

[0248] Furthermore, the traveling unit 11 is not limited to a crawler-type traveling device, but may have one or more wheels and travel by rotating the wheels. Furthermore, the traveling unit 11 is not limited to a configuration driven by a hydraulic motor, but may be a configuration driven by an electric motor, for example.

[0249] Furthermore, the sprayer 401 as the work machine 400 is not limited to an air-assisted sprayer as in embodiment 1, but may also be, for example, an electrostatic sprayer, or a sprayer that combines air-assisted and electrostatic spraying methods.

[0250] Furthermore, the power source 63 is not limited to an engine, and may have, for example, a motor (electric motor), or may be a hybrid power source including an engine and a motor.

[0251] Furthermore, the work vehicle 1 may have a configuration in which the machine body 10 is not gate-shaped, but the entire machine body 10 travels between a pair of adjacent crop rows Vr1 (work passage). In this case, the work vehicle 1 travels along each work passage without straddling the crop rows Vr1. In this case, the sprayer 401 performs spraying work by switching between a spraying pattern in which the chemical solution is sprayed in both the left and right directions D2, a spraying pattern in which the chemical solution is sprayed only to the left, and a spraying pattern in which the chemical solution is sprayed only to the right.

[0252] [Appendix to the invention] The following is a summary of the invention extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0253] <Appendix 1> A control method for a work vehicle to which a work implement can be attached or detached, comprising: determining whether or not first information relating to a first work implement that was attached to the work vehicle as the work implement at a first point in time in the past matches with second information relating to a second work implement that is currently attached to the work vehicle as the work implement; and notifying the result of the determination. A method for controlling a work vehicle.

[0254] <Appendix 2> The determination is made for each type of the work machine. 2. A method for controlling a work vehicle as set forth in claim 1.

[0255] <Appendix 3> The method further includes identifying the type of the work machine. 3. A method for controlling a work vehicle according to claim 1 or 2.

[0256] <Appendix 4> The first information and the second information are identified at a timing when a specific condition related to the operation of the work vehicle is satisfied. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 3.

[0257] <Appendix 5> The result of the determination is notified by a display on a display screen, The display screen includes information about at least the second work machine. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 4.

[0258] <Appendix 6> As a result of the determination, it is possible to notify that at least the first information and the second information match. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 5.

[0259] <Appendix 7> When the first information and the second information do not match, in addition to notifying the result of the determination, setting information related to settings of at least one of the work vehicle and the work machine is notified. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 6.

[0260] <Appendix 8> A sensor can be attached to the work vehicle depending on the type of the work machine, The method further includes notifying the mounting state of the sensor according to the type of the work machine. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 7.

[0261] <Appendix 9> When the mounting state of the sensor does not correspond to the type of the work machine, in addition to notifying the mounting state of the sensor, sensor setting information related to the setting of the sensor is also notified. 9. A method for controlling a work vehicle as set forth in claim 8.

[0262] <Appendix 10> The method further includes notifying information regarding at least one of the time and content of the work performed by the work vehicle at the first time point. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 9.

[0263] <Appendix 11> A method for controlling a work vehicle according to any one of appendices 1 to 10, A work vehicle control program to be executed by one or more processors. [Explanation of symbols]

[0264] 1 Work vehicle 10 aircraft 74 Judgment processing unit 75 Notification processing section 100 Work vehicle control system 400 Work Equipment 621 First detection unit (sensor) 622 Second detection unit (sensor) 623~626 1st sensor~4th sensor 627 Front Contact Sensor 628 Rear Contact Sensor

Claims

1. A control method for a work vehicle to which a work implement can be attached or detached, comprising: determining whether or not first information relating to a first work implement that was attached to the work vehicle as the work implement at a first point in time in the past matches with second information relating to a second work implement that is currently attached to the work vehicle as the work implement; and notifying the result of the determination. A method for controlling a work vehicle.

2. The determination is made for each type of the work machine. A method for controlling a work vehicle according to claim 1.

3. The method further includes identifying the type of the work machine. A method for controlling a work vehicle according to claim 1 or 2.

4. The first information and the second information are identified at a timing when a specific condition related to the operation of the work vehicle is satisfied. A method for controlling a work vehicle according to claim 1 or 2.

5. The result of the determination is notified by a display on a display screen, The display screen includes information about at least the second work machine. A method for controlling a work vehicle according to claim 1 or 2.

6. As a result of the determination, it is possible to notify that at least the first information and the second information match. A method for controlling a work vehicle according to claim 1 or 2.

7. When the first information and the second information do not match, in addition to notifying the result of the determination, setting information related to settings of at least one of the work vehicle and the work machine is notified. A method for controlling a work vehicle according to claim 1 or 2.

8. A sensor can be attached to the work vehicle depending on the type of the work machine, The method further includes notifying the mounting state of the sensor according to the type of the work machine. A method for controlling a work vehicle according to claim 1 or 2.

9. When the mounting state of the sensor does not correspond to the type of the work machine, in addition to notifying the mounting state of the sensor, sensor setting information related to the setting of the sensor is also notified. The method for controlling a work vehicle according to claim 8.

10. The method further includes notifying information regarding at least one of the time and content of the work performed by the work vehicle at the first time point. A method for controlling a work vehicle according to claim 1 or 2.

11. A method for controlling a work vehicle according to claim 1 or 2, A work vehicle control program to be executed by one or more processors.

12. Used to control a work vehicle to which a work implement can be attached or detached, a determination processing unit that determines whether first information related to a first work implement that was attached to the work vehicle as the work implement at a first point in time in the past matches or does not match second information related to a second work implement that is currently attached to the work vehicle as the work implement; and a notification processing unit that notifies the result of the determination. Work vehicle control system.

13. The work vehicle control system according to claim 12; and a machine body to which the work machine can be attached and detached. Work vehicle.

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