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

Abstract

To provide a work vehicle control method, a work vehicle control program, a work vehicle control system, and a work system that can easily achieve more stable automated traveling.SOLUTION: A work vehicle control method is a control method for a work vehicle that can perform work while traveling in a work field, and includes: execution of traveling control on automated traveling of the work vehicle 10; and automatic setting of steering sensitivity of the work vehicle 10 in the automated traveling on the basis of a specific condition. The specific condition is a condition related to at least one of a speed range being selected in a speed change gear of the work vehicle 10 out of a plurality of speed ranges including a low gear stage and a high gear stage higher than the low gear stage, a state of the work field, and crops harvested by the work vehicle 10.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] As a related technology, there is known a system for automatically driving (autonomously driving) a work vehicle along a driving route, the system including a steering actuator for operating a steering device, a transmission, and a control device for controlling these (see, for example, Patent Document 1). In the related technology, the front wheels are steerable wheels that can be turned by turning the steering handle, and the front wheels can be steered left and right by a steering actuator. The steering actuator is connected to a control device and is driven under automatic driving control. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2015 / 119266 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned related technologies, during automatic driving, there is a possibility that the steering response of the steering actuator will be delayed, causing the work vehicle to deviate significantly from the driving route, or conversely, sudden steering may cause the work vehicle to become unstable.

[0005] An object of the present invention is to provide a control method for a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system that make it easier to achieve more stable automated driving. [Means for solving the problem]

[0006] A control method for a work vehicle according to one aspect of the present invention is a control method for a work vehicle capable of performing work while traveling on a work site, and includes performing travel control for the automatic travel of the work vehicle, and automatically setting the steering sensitivity of the work vehicle during automatic travel based on specific conditions. The specific conditions are conditions related to at least one of the speed range currently selected by the transmission of the work vehicle from a plurality of speed ranges including a low gear and a high gear that is faster than the low gear, the condition of the work site, and the crops to be harvested by the work vehicle.

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

[0008] A work vehicle control system according to one aspect of the present invention is used in a work vehicle capable of performing work while traveling on a work site. The work vehicle control system includes a travel processing unit and a setting processing unit. The travel processing unit performs travel control related to the automatic traveling of the work vehicle. The setting processing unit automatically sets the steering sensitivity of the work vehicle during automatic traveling based on specific conditions. The specific conditions are conditions related to at least one of the speed range currently selected by the transmission of the work vehicle from among a plurality of speed ranges including a low gear and a high gear that is faster than the low gear, the condition of the work site, and the crops to be harvested by the work vehicle.

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

[0010] According to the present invention, it is possible to provide a control method for a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system that can easily achieve more stable automated driving. [Brief explanation of the drawings]

[0011] [Figure 1]FIG. 1 is a schematic side view showing the appearance of a work vehicle according to a first embodiment. [Figure 2] FIG. 2 is a schematic block diagram of the operation system according to the first embodiment. [Figure 3] FIG. 3 is a schematic plan view showing the appearance of the work vehicle according to the first embodiment. [Figure 4] FIG. 4 is a schematic plan view showing an example of operation of the work vehicle according to the first embodiment. [Figure 5] FIG. 5 is a schematic explanatory diagram showing the procedure for assisting the work vehicle in moving straight according to the first embodiment. [Figure 6] FIG. 6 is a schematic explanatory diagram illustrating the steering sensitivity of the work vehicle according to the first embodiment. [Figure 7] FIG. 7 is a flowchart showing an example of the operation of the work vehicle control system according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] 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.

[0013] (Embodiment 1) [1] Overall structure First, the overall configuration of a work system 100 according to this embodiment will be described with reference to Figures 1 to 3. A work vehicle control system 1 according to this embodiment (hereinafter also simply referred to as "control system 1") constitutes the work system 100 together with the body 11 of the work vehicle 10. In other words, the work system 100 comprises the work vehicle control system 1 and the body 11 of the work vehicle 10.

[0014] In this embodiment, the control system 1 includes a control device 3 (see FIG. 2 ) mounted on the vehicle body 11 of the work vehicle 10, and a terminal device 20. The work vehicle 10 and the terminal device 20 are capable of communicating with each other. 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). The work vehicle 10 and the terminal device 20 can communicate with each other 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. The communication means between the work vehicle 10 and the terminal device 20 is not limited to the above examples and can be realized by any appropriate communication means. Furthermore, it is not essential for the control system 1 that the work vehicle 10 and the terminal device 20 be capable of communicating with each other.

[0015] The work vehicle 10 travels through a work site F1 (see FIG. 1 ) and performs some kind of work within the work site F1 using the work implement 12. In this disclosure, "work" refers to a job that the work implement 12 performs on the work site F1, and includes a variety of tasks, such as reaping, harvesting, planting (rice planting), sowing, fertilizing, spraying pesticides or various agricultural tasks such as leveling, and construction work. In this embodiment, as an example, the work performed by the work vehicle 10 is reaping (and harvesting) crops in a farm field serving as the work site F1.

[0016] The work vehicle 10 performs work within the work land F1 when moving through the work land F1. In this embodiment, as an example, the term "work vehicle" used in the present disclosure refers to a machine that performs various tasks in the work land F1, such as a farm field, and examples include agricultural machines (farm machinery) such as combine harvesters, harvesters, rice transplanters, tractors, seed sowers, spreaders, sprayers, and transplanters. The work vehicle 10 may also be, for example, a construction machine (construction machinery). Unless otherwise specified, this embodiment will be described taking as an example a case where the work vehicle 10 is a combine harvester that performs threshing and sorting in addition to reaping and harvesting. This work vehicle 10 performs work (reaping and harvesting) in the work land F1 by traveling the machine body 11 through the work land F1, such as a farm field.

[0017] The combine harvester as the work vehicle 10 is primarily used for grain harvesting work, and cuts crops while moving (traveling) within the work field F1, and harvests the cut crops. In particular, there are normal (general-purpose) combine harvesters that feed the entire cut crop into a thresher, and head-feeding combine harvesters that feed only the tips of the cut crop into the thresher. In this embodiment, a head-feeding combine harvester will be described as an example of the work vehicle 10.

[0018] In addition, in this embodiment, as an example, the work vehicle 10 is an automated machine that can operate by automatic driving (autonomous traveling and autonomous work) while allowing a person (operator) to ride in. However, the work vehicle 10 is not limited to this, and may be an unmanned machine that operates by automatic driving, or may be operated by operation (including remote operation) by a person (operator).

[0019] In the present disclosure, a "work site" refers to an area where the work vehicle 10 travels and performs various tasks, such as reaping, harvesting, planting (rice planting), sowing, fertilizing, spraying pesticides, or leveling, and includes paddy fields, fields, orchards, pastures, and the like. For example, if the work site F1 is a paddy field or field where crops (agricultural products) such as rice, wheat, soybeans, or buckwheat are grown, the crops grown in the work site F1 are agricultural products. Furthermore, if plants are grown in a nursery, the nursery becomes the work site F1, and if trees for lumber are grown in a forest, as in forestry, the forest becomes the work site F1. In this case, the crops grown in the work site F1 are nursery trees, trees, or the like. In this embodiment, unless otherwise specified, the work vehicle 10 is used for rice reaping (and harvesting) in a field (work site F1), and the description will be given taking as an example a case where the work site F1 is a rice paddy (field) for growing rice. Furthermore, the work site F1 is not limited to a farm field. For example, if the work vehicle 10 is a construction machine, the work site F1 is the site where the construction machine performs work.

[0020] Furthermore, the work vehicle 10 can move by automatic driving not only within the work site F1 (here, a field), but also on roads outside the work site F1, such as roads outside the work site F1, for example. The work vehicle 10 is configured to be able to automatically drive (move) along target routes (including roads outside the field) set in advance within and outside the work site F1, based on position information of the current position of the work vehicle 10 measured by a positioning device 16 (see FIG. 2). An outside-field route is, for example, an inter-field connecting road that connects a plurality of work sites F1 (fields). An inter-field connecting road may be a farm road, forest road, public road, private road, or highway, and may be a road exclusively for the work vehicle 10, or a road that is passable by general vehicles (passenger cars, etc.).

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

[0022] In this embodiment, for ease of explanation, the vertical direction when the work vehicle 10 is in a usable state is defined as the up-down direction D1. The front-to-rear direction D2 and the left-to-right direction D3 (see FIG. 3) are defined based on the direction as seen by a person (operator) riding on the body 11 (of the driving section 111) of the work vehicle 10. The left side of the left-to-right direction D3 refers to the left side when the body 11 is traveling forward (advancing), and the right side of the left-to-right direction D3 refers to the right side when the body 11 is traveling forward (advancing). However, these directions are not intended to limit the direction of use of the work vehicle 10 (direction during use).

[0023] As shown in Fig. 2, the work vehicle 10 is equipped with a work implement 12, a traveling device 13, a threshing device 14, a detection device 15, a positioning device 16, a communication device 17, a display device 18, a transmission 19, an operation device 4, etc., on a body 11 which is the main body of the work vehicle 10. The work vehicle 10 also is equipped with a driving section 111, a grain tank 112 for storing grain, a transport device 113, a discharge device 114, etc., on the body 11. The work vehicle 10 also is equipped with a power source, a straw treatment device, a fuel tank, a battery, etc.

[0024] The work implement 12 is a reaper that harvests crops (rice, as an example in this embodiment) in the work area F1. The work implement 12 is capable of harvesting multiple rows (for example, six, seven, or eight rows), and has a working width W2 (see FIG. 3) in the width direction (left-right direction D3) that corresponds to the number of rows it can harvest. In other words, for example, a work implement 12 that is capable of harvesting six rows can simultaneously harvest up to six rows of stalks in the width direction (left-right direction D3). In this embodiment, as an example, it is assumed that the work vehicle 10 is a six-row combine harvester (six-row harvesting) equipped with a work implement 12 that is capable of harvesting six rows.

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

[0026] The traveling device 13 can move the work vehicle 10 in the forward / backward direction D2 and the left / right direction D3. The work vehicle 10 moves within a work area F1, such as a rice paddy or a field, from the outside to the inside while turning right (or left), and in this case, the movement trajectory of the work vehicle 10 forms a spiral path.

[0027] The traveling device 13 has a pair of crawlers (tracks) aligned in the left-right direction D3 and a motor that drives each crawler. In other words, the traveling device 13 is a crawler-type (crawler-type) traveling device that drives endless belt-shaped crawlers with a motor to cause the body 11 of the work vehicle 10 to travel.

[0028] Here, the pair of crawlers are driven by power from a power source in a state where independent speed changes are possible using a hydrostatic continuously variable transmission. Therefore, the machine body 11 is in a forward state where it moves straight forward in the forward direction when the pair of crawlers 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 are driven at a constant speed in the reverse direction. The machine body 11 is in a forward turning state where it turns while moving forward when the pair of crawlers are driven at a unequal speed in the forward direction, and in a reverse turning state where it turns while moving backward when the pair of crawlers are driven at a unequal speed in the reverse direction. The machine body 11 is in a pivot turning state (pivot turning) when one of the pair of crawlers is stopped while the other is driven, and in a spin turning state (pivot turning) when the pair of crawlers are driven at a constant speed in the forward and reverse directions. The machine body 11 is in a stopped state where it stops traveling when the pair of crawlers are stopped. This allows the machine body 11 to travel within the work site F1 in the forward / backward direction D2 and the left / right direction D3.

[0029] The threshing device 14 performs a threshing process on the stalks harvested by the working machine 12. In the threshing process, threshed grains containing grains are separated from the stalks. The threshing device 14 performs a threshing process on the stalks, for example, while transporting the stalks from the front to the rear of the threshing device 14. Furthermore, the threshing device 14 performs a sorting process on the threshed grains while transporting them from the front to the rear.

[0030] The conveying device 113 conveys grains from the threshing device 14 to the grain tank 112 and deposits the grains into the grain tank 112. The grain tank 112 is a tank (container) that stores threshed grains (grains, etc.) obtained by the threshing and sorting processes in the threshing device 14. The discharge device 114 discharges the grains in the grain tank 112 to any location around the work vehicle 10.

[0031] The driving section 111 is provided with a driver's seat where an operator sits, various operation switches operated by the operator, etc. Therefore, the work vehicle 10 can be manually driven by the operator and automatically driven by the control device 3.

[0032] In this way, the work vehicle 10 according to this embodiment is capable of working on multiple work rows lined up in a direction (left-right direction D3) that intersects with the direction of travel (forward-backward direction D2) while traveling through work land F1. As an example in this embodiment, the work vehicle 10 is a combine harvester for six rows (six-row harvesting), so it can harvest up to six work rows (crop rows) simultaneously while moving forward.

[0033] At least during autonomous driving, the work vehicle 10 operates the traveling device 13 in accordance with operation of the control device 3 of the steering device, transmission 19, etc. For example, in the traveling device 13, the traveling direction of the machine body 11 is changed by a hydraulic power steering mechanism or the like in accordance with operation of the steering device by the control device 3. Also, the traveling mode of the machine body 11 is switched to forward, reverse, etc. in accordance with operation of the transmission 19 by the control device 3. The control device 3 also operates the accelerator or brake of the operating device to control the rotation speed of the power source, or brakes the traveling device 13 using an electromagnetic brake.

[0034] The detection device 15 detects detection targets (obstacles) in a detection area around the aircraft 11. In this embodiment, as an example, the detection targets include people and other animals, moving objects such as vehicles (including other work vehicles), structures such as walls and pillars, plants, steps, or other obstacles. The detection device 15 may include various sensors, such as radar, sonar sensors, LiDAR (Light Detection and Ranging), motion sensors, or cameras (image sensors). The detection device 15 is preferably a three-dimensional sensor capable of measuring the distance and direction to the detection target using a time-of-flight (TOF) 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, or a stereo camera method. This allows the detection device 15 to output measurement information, including the position of the detection target in a planar view, to the control device 3. In this embodiment, as an example, the detection device 15 is assumed to be a radar using millimeter waves (millimeter-wave radar) or a sonar sensor using ultrasonic waves (or sound waves).

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

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

[0037] The communication device 17 is a communication interface for connecting the work vehicle 10 (control device 3, positioning device 16, etc.) to external devices via a wired or wireless connection and for executing data communication with the external devices in accordance with a predetermined communication protocol. In this embodiment, the communication device 17 is capable of mutual communication with at least the external device, terminal device 20, via the communication network N1. Furthermore, the communication device 17 is capable of connecting to the communication network N1 at least wirelessly, and is capable of communicating with the terminal device 20 at any time even while the work vehicle 10 is moving (traveling) in the work site F1. For example, a mobile phone terminal, a smartphone, a tablet terminal, etc. may be used as the communication device 17.

[0038] The display device 18 is a user interface for presenting information to a user (operator), such as a liquid crystal display or organic EL display that displays various types of information. The display device 18 is disposed, for example, in the driving unit 111, and presents various types of information to the operator by displaying a screen containing the various types of information. In this disclosure, the term "screen" refers to a video (image) displayed on the display device 18 or the like, and includes icons, figures, photographs, text, and videos. The screen displayed on the display device 18 includes not only still images but also videos (videos) that change from moment to moment. Furthermore, the display device 18 has a function for outputting sounds (including voice) to the user (operator) and a function for accepting operations from the user (operator).

[0039] The transmission 19 drives the pair of crawlers by transmitting power from the power source of the traveling device 13 to the pair of crawlers in a state where independent speed changes are possible. In other words, the transmission 19 is a transmission that switches the speed range of the work vehicle 10 between a plurality of speed ranges. As an example, the transmission 19 (auxiliary transmission) has four speed ranges: "neutral (N)," "low gear (L)," "working gear," and "driving gear," and each time the speed range of the transmission 19 switches between "low gear (L)," "working gear," and "driving gear" in that order, the speed range of the work vehicle 10 becomes higher (higher speed). Generally, the "low gear (L)" and "working gear" are used for work such as harvesting, and the "driving gear" is used for traveling when not working.

[0040] The operation device 4 is a user interface for receiving operations from a user (operator). The operation device 4 is disposed in, for example, the driving section 111, and includes a main speed change lever 41, an auxiliary speed change lever 42, a steering operation section 43, and the like.

[0041] The main shift lever 41 accepts operations to continuously increase or decrease the vehicle speed of the work vehicle 10 (speed increase operation and speed decrease operation). The sub-shift lever 42 accepts operations to switch the speed range of the work vehicle 10 to the transmission 19. Furthermore, in this embodiment, the main shift lever 41 is also capable of switching the speed range from the "working stage" to the "traveling stage", and from the "traveling stage" to the "working stage".

[0042] The steering operation unit 43 is, for example, a steering wheel operated by an operator, and during manual traveling, the steering control of the traveling device 13 is performed by the operator's steering operation of the steering operation unit 43. The steering operation unit 43 is not limited to a steering wheel, and may be, for example, a lever or the like.

[0043] The control device 3 is primarily configured as 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 performs various processes (information processing). In this embodiment, the control device 3 is primarily configured as a computer system having one or more processors, and the control device 3 is realized by the one or more processors executing a work vehicle control program. In this embodiment, the control device 3 is an integrated controller that controls the entire work vehicle 10, and is made up of, for example, an electronic control unit (ECU). However, the control device 3 may be provided separately from the integrated controller.

[0044] The control device 3 is configured to be able to communicate with devices provided in each part of the machine body 11. In other words, the control device 3 is electrically connected to the work implement 12, traveling device 13, threshing device 14, detection device 15, positioning device 16, communication device 17, display device 18, etc. This allows the control device 3 to control the work implement 12, traveling device 13, display device 18, etc., and to obtain detection results from the detection device 15 and positioning device 16. Here, the control device 3 may exchange various types of information (data) with each device directly, or indirectly via a repeater or the like.

[0045] In this embodiment, the control device 3 includes an acquisition processing unit 31, a setting processing unit 32, a driving processing unit 33, a steering control unit 34, and a storage unit 35, as shown in FIG.

[0046] The acquisition processing unit 31 executes acquisition processing to acquire various information related to the work vehicle 10, such as various operations by the operator, the current position of the work vehicle 10, the work status of the work vehicle 10, the speed range selected by the transmission 19, the status of the work area F1, and crops to be harvested by the work vehicle 10. For example, the acquisition processing unit 31 acquires information related to various operations from the operator, such as an operation to input setting information for causing the work vehicle 10 to travel automatically, an operation to generate a target route for automatic travel, and an operation to start or stop automatic travel. Furthermore, the acquisition processing unit 31 acquires information related to the current position of the vehicle 11 and the inclination of the vehicle 11 in the roll direction (the inclination of the work area F1) from various sensors, such as the positioning device 16. The acquisition processing unit 31 acquires various information periodically or irregularly.

[0047] The setting processing unit 32 executes setting processing to set the steering sensitivity of the work vehicle 10 when the work vehicle 10 is traveling autonomously. Here, the setting processing unit 32 automatically sets the steering sensitivity based on specific conditions related to at least one of the speed range selected by the transmission 19 from among a plurality of speed ranges, the state of the work land F1, and the crops to be harvested by the work vehicle 10. The operation of the setting processing unit 32 will be explained in detail in the section "[4] Work vehicle control method."

[0048] The driving processing unit 33 executes driving processing to control the driving device 13. As an example, the driving processing unit 33 controls the driving device 13 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a preset target route, thereby causing the work vehicle 10 to automatically drive. Furthermore, the driving processing unit 33 controls the work implement 12 based on the current position of the work vehicle 10 calculated by the positioning device 16 and the preset target route, thereby causing the work vehicle 10 to perform work (reeling work in this embodiment) at an appropriate position on the target route.

[0049] Specifically, the driving processing unit 33 starts the automatic driving of the work vehicle 10 when it receives a driving start command from the terminal device 20. For example, when the operator operates the start button on the operation screen of the terminal device 20, the terminal device 20 outputs a driving start command to the work vehicle 10. As a result, for example, the work vehicle 10 starts automatic driving within the work site F1 according to the target route R1 (see FIG. 4), and performs work (reap work in this embodiment) using the work implement 12.

[0050] A target route R1 for the automatic driving of the work vehicle 10 is generated, for example, by the terminal device 20. That is, the work vehicle 10 acquires route data corresponding to the target route R1 from the terminal device 20, and performs automatic driving according to the target route R1.

[0051] Furthermore, the driving processing unit 33 stops the automatic driving of the work vehicle 10 when it receives a driving stop instruction from the terminal device 20. For example, when the operator operates the stop button on the operation screen of the terminal device 20, the terminal device 20 outputs a driving stop instruction to the work vehicle 10.

[0052] Furthermore, "automatic driving" as referred to in this disclosure includes "autonomous driving" in which the work vehicle 10 drives autonomously without the operation of an operator, and "semi-automatic driving" in which only steering is automated, such as straight-line assist.

[0053] "Autonomous driving" is a driving mode in which, for example, in addition to automatic steering, vehicle speed and other controls are also performed automatically so that the work vehicle 10 travels along the target route R1. "Straight-line assist" is a driving mode in which only automatic steering is performed so that the work vehicle 10 travels along a straight route parallel to a reference straight line (reference line), and vehicle speed and other controls are controlled by the operator.

[0054] As another example, the work vehicle 10 may be driven by manual steering by an operator. For example, the operator gets on the work vehicle 10 and drives the work vehicle 10 by manual steering while checking the target route R1.

[0055] The steering control unit 34 controls the steering of the work vehicle 10 in accordance with the steering operation of the steering operation unit 43. For example, the steering control unit 34 controls the steering angle of the traveling device 13 in accordance with the amount of operation of the steering operation unit 43 to change the traveling direction of the machine body 11. Here, the steering control unit 34 determines the steering amount (steering angle) of the traveling device 13 based on a map that shows the correspondence relationship between the vehicle speed of the work vehicle 10 and the steering amount. For example, even if the amount of operation of the steering operation unit 43 is the same, by making the steering amount (steering angle) smaller as the vehicle speed increases, the shock to the operator caused by the machine body 11 making a sharp turn is reduced and the ride comfort is improved.

[0056] Furthermore, during autonomous driving of the work vehicle 10, a steering command is input from the driving processing unit 33 to the steering control unit 34 instead of the steering operation unit 43. In other words, during autonomous driving, the steering control unit 34 executes steering control of the work vehicle 10 in accordance with the steering command from the driving processing unit 33 instead of the steering operation to the steering operation unit 43.

[0057] The storage unit 35 is a non-volatile memory or the like that stores various data such as a work vehicle control program and target route information related to the target route R1. In other words, the travel processing unit 33 can cause the traveling device 13 to automatically travel along the target route R1 based on the target route information stored in the storage unit 35.

[0058] Furthermore, when the detection device 15 detects an obstacle as a detection target during at least the automatic traveling of the work vehicle 10, the control device 3 outputs an alarm (including an alarm by sound and / or light) and executes obstacle avoidance processing (including detouring, slowing down, stopping, etc.) by controlling the traveling device 13. Furthermore, the control device 3 may output obstacle position information and the execution history of the avoidance processing to the terminal device 20 and cause the terminal device 20 to display, etc.

[0059] Furthermore, electronic devices such as the control device 3, the detection device 15, the positioning device 16, the communication device 17, and the display device 18 can operate even when the power source (engine) is stopped by operating on power supplied from the battery.

[0060] [3] Terminal device configuration Next, the configuration of the terminal device 20 according to this embodiment will be described in detail with reference to FIGS.

[0061] In this embodiment, the terminal device 20 is capable of communicating with the work vehicle 10 as described above, and constitutes the control system 1 together with the control device 3 of the work vehicle 10. In other words, the components of the control system 1 are distributed across at least the work vehicle 10 and the terminal device 20. However, this configuration is not limiting, and for example, the functions of the control device 3 may be provided in the terminal device 20, in which case the components of the control system 1 would be realized only by the terminal device 20. Conversely, for example, the functions of the terminal device 20 may be provided in the control device 3, in which case the components of the control system 1 would be realized only by the control device 3.

[0062] In this embodiment, as an example, the terminal device 20 is configured as a general-purpose terminal such as a tablet terminal, a smartphone, or a laptop computer. As shown in Fig. 2, the terminal device 20 includes an information processing unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. Furthermore, the terminal device 20 further includes a sound output unit that outputs sounds (including voice) to the user (operator), a battery, etc.

[0063] The information processing unit 21 is primarily configured as a computer system having one or more processors such as a CPU and one or more memories such as a ROM and a RAM, and executes various processes (information processing). In this embodiment, the information processing unit 21 is primarily configured as a computer system having one or more processors, and the information processing unit 21 is realized by the one or more processors executing a work vehicle control program. In other words, the control system 1 is realized by the control unit 3 and the terminal device 20 working together as a result of the one or more processors of the control unit 3 and the one or more processors of the information processing unit 21 each executing a work vehicle control program.

[0064] The information processing unit 21 is configured to be able to communicate with each unit (storage unit 22, operation display unit 23, and communication unit 24) of the terminal device 20. In other words, the information processing unit 21 is electrically connected to the storage unit 22, the operation display unit 23, the communication unit 24, etc. This allows the information processing unit 21 to read and write information from and to the storage unit 22, control the display of the operation display unit 23, and obtain operation inputs to the operation display unit 23. Here, the information processing unit 21 may exchange various types of information (data) with each unit directly, or indirectly via a repeater or the like.

[0065] Such a terminal device 20 is a user interface for accepting operation inputs by a user (operator) and outputting various information to the user. For example, the terminal device 20 accepts various operations by the user by outputting electrical signals in response to the user's operations on the operation display unit 23. Furthermore, the terminal device 20 outputs various information to the user by displaying various screens on the operation display unit 23.

[0066] The memory unit 22 is a non-volatile memory or the like that stores various data such as a work vehicle control program and target route information related to the target route R1. Furthermore, the memory unit 22 is capable of storing various data such as work implement information, work vehicle information, field information, and work information. The work implement information is information about the work implement 12 attached to the machine body 11, and includes, for example, information such as the type, identification information, model name, type, and size (dimensions) of the work implement 12. The work vehicle information is information about the machine body 11 (vehicle body) of the work vehicle 10, and includes, for example, information such as the type, identification information, model name, type, and size (dimensions) of the machine body 11. The field information is information about the field to be used as the work area F1, and includes information such as the field identification information, field name, position, shape, size, work start position (travel start position) where work is to begin, work end position (travel end position) where work is to end, and work direction. The work information is information relating to the work performed by the work vehicle 10, and includes, for example, the type of work and information on how the work is specifically performed. Furthermore, the work information may also include information on whether or not cooperative work is being performed by the work vehicles 10, the width of the headland and the width of the uncultivated land, etc.

[0067] This information (target route information, work implement information, work vehicle information, field information, work information, etc.) stored in the memory unit 22 is set (registered) by operation input by the user (operator) to the operation display unit 23, or by acquisition from the work vehicle 10. For example, the type of work implement 12 in the work implement information may be specified by the user operating the operation display unit 23, or the work vehicle 10 may automatically identify the work implement 12 attached to the body 11 and send it to the terminal device 20. This information may also be acquired by the terminal device 20 from an external device other than the work vehicle 10 (for example, a server, an external storage medium, or another terminal device, etc.).

[0068] The operation display unit 23 is a user interface that includes a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, keyboard, mechanical switch, or encoder that accepts operations. As an example, an operator can operate the operation unit of the operation display unit 23 to set (register) various information on an operation screen displayed on the display unit of the operation display unit 23. For example, the operator can set automatic driving information (including target route information) related to the automatic driving of the work vehicle 10.

[0069] The operation display unit 23 also displays the progress of work in the work site F1, as well as the operating status of the work vehicle 10, including the target route R1, (actual) movement trajectory, current position, and movement speed of the work vehicle 10, thereby enabling the operator to perform short-range and remote monitoring of the work vehicle 10 during autonomous driving. Short-range monitoring, for example, refers to monitoring within the operator's visual range, and remote monitoring, for example, refers to monitoring using video of the area around the work vehicle 10 displayed on the terminal device 20. Remote monitoring also allows multiple work vehicles 10 to be monitored using a single terminal device 20. However, these definitions are merely examples, and other definitions may be used. Here, the operating status of the work vehicle 10 also includes the detection results of the detection device 15. Furthermore, the operation display unit 23 can receive instructions from the operator to start or stop the work vehicle 10. The terminal device 20 can remotely control the work vehicle 10 by transmitting these instructions to start or stop the work vehicle 10. Therefore, the operator can remotely control the work vehicle 10.

[0070] The communication unit 24 is a communication interface that connects the terminal device 20 to the work vehicle 10 by wire or wirelessly and executes data communication with the work vehicle 10 in accordance with a predetermined communication protocol. In this embodiment, the communication unit 24 is capable of mutual communication with at least the work vehicle 10 (communication device 17) via the communication network N1. Furthermore, because the communication unit 24 is connectable to the communication network N1 at least wirelessly, it is possible to communicate with the work vehicle 10 at any time even when the communication unit 24 is located sufficiently far away from the work vehicle 10.

[0071] In this embodiment, the information processing unit 21 has a generation processing unit 211, a registration processing unit 212, and an output processing unit 213, as shown in Fig. 2. As an example in this embodiment, the information processing unit 21 is mainly configured as a computer system having one or more processors, and these multiple functional units (such as the generation processing unit 211) are realized by the one or more processors executing a work vehicle control program. These multiple functional units included in the information processing unit 21 may be provided in a distributed manner across multiple housings, or may be provided in a single housing.

[0072] The generation processing unit 211 executes route generation processing to generate a route (target route R1) for the work vehicle 10 to travel (automatically travel) in the work site F1. Here, the generation processing unit 211 generates the target route R1 based on generation data including work implement information, work vehicle information, field information, work information, etc., stored in the storage unit 22. In other words, the generation processing unit 211 generates the target route R1 based on the work implement information, work vehicle information, field information, work information, etc., that are set (registered) by operation input by the user (operator) to the operation display unit 23, for example.

[0073] Specifically, the generation processing unit 211 generates a target route R1 within the work land F1 based on the travel start position and travel end position included in the field information. For example, the generation processing unit 211 generates a target route R1 for moving the body 11 of the work vehicle 10 within the work land F1 from the travel start position to the travel end position based on the generation data. In this embodiment, the field information included in the generation data includes outline information based on the outline of the work land F1. The generation processing unit 211 basically generates a spiral-shaped target route R1 so as to achieve so-called "circumferential mowing" by moving within the work land F1 while turning right (or left) from the outside to the inside.

[0074] The registration processing unit 212 executes registration processing to register work implement information, work vehicle information, field information, work information, etc. That is, the work implement information, work vehicle information, field information, work information, etc. used to generate the target route R1 are each registered (set) by the registration processing unit 212, for example, by operation input by the user (operator) to the operation display unit 23.

[0075] The output processing unit 213 executes output processing, for example, to output route data of the target route R1 to the work vehicle 10. That is, the route data regarding the target route R1 generated by the generation processing unit 211 is output from the output processing unit 213 to, for example, the communication unit 24, and transmitted from the communication unit 24 to the work vehicle 10.

[0076] For example, when starting work, the operator selects a field (work area F1), selects a task, confirms the target route R1, and issues a command to start work. When the operator issues a command to start work, the output processing unit 213 transmits (outputs) the route data of the target route R1 generated by the generation processing unit 211 to the work vehicle 10. When the work vehicle 10 receives the route data generated by the terminal device 20, it stores the route data in the memory unit 35. The work vehicle 10 then performs automatic driving (autonomous driving and autonomous work) based on the current position of the work vehicle 10 calculated by the positioning device 16 and the target route R1 specified by the route data.

[0077] Furthermore, the output processing unit 213 can output the generated target route R1 to the operation display unit 23, thereby displaying it on the operation display unit 23. The manner of output from the output processing unit 213 is not limited to transmission to or display on the work vehicle 10 as described above, but may also be transmission to another device (such as a user terminal), printing (printout), writing to a non-temporary recording medium, audio output, or the like.

[0078] The terminal device 20 may be able to access a website (agricultural support site) for an agricultural support service provided by the server via the communication network N1. In this case, the terminal device 20 can function as a terminal for operating the server by executing a browser program by the information processing unit 21. The server is provided with each of the processing units described above and executes each process.

[0079] [4] Control method for work vehicles An example of a control method for the work vehicle 10 (hereinafter simply referred to as "control method") executed mainly by the control system 1 (control device 3 and terminal device 20) will be described below with reference to FIGS.

[0080] The control method according to this embodiment is executed by a control system 1 whose main component is a computer system, and in other words, is embodied in a work vehicle control program (hereinafter simply referred to as a "control program"). In other words, the control program according to this embodiment is a computer program that causes one or more processors to execute each process related to the control method.

[0081] Here, the control system 1 executes the following various processes related to the control method when a specific, preset start operation is performed to execute the control program. The start operation is, for example, an operation to start an application program (control program for a work vehicle) on the terminal device 20. On the other hand, the control system 1 terminates the following various processes related to the control method when a specific, preset end operation is performed. The end operation is, for example, an operation to end the application program (control program for a work vehicle) on the terminal device 20.

[0082] In the following, it is assumed that the work land F1 is a quadrangular field in a plan view, and that, as shown in Fig. 4, one of the four outer contours (sides) of the work land F1 is a "first outer contour f11" and the adjacent side is a "second outer contour f12." That is, Fig. 4 shows the vicinity of the corner between the first outer contour f11 and the second outer contour f12 in the work land F1. In Fig. 4, the longitudinal direction D2 and the lateral direction D3 are directions based on the orientation of the body 11 of the work vehicle 10 shown in Fig. 4.

[0083] [4.1] Autonomous driving First, the autonomous traveling performed by the work vehicle 10 controlled by the control system 1 according to this embodiment will be described with reference to FIG.

[0084] As shown in Fig. 4, the work vehicle 10 performs work (cutting work) while autonomously traveling through the work land F1 along the target route R1. As an example in this embodiment, as shown in Fig. 4, the work vehicle 10 moves along the spiral-shaped target route R1 within the work land F1 while turning to the right from the outside (the outer outline side) to the inside, thereby achieving what is known as "circumferential cutting."

[0085] 4, if the work vehicle 10 travels in a spiral pattern from the outside of the work site F1, the target route R1 will have multiple circular routes, including a first circular route r11 that is the outermost periphery, and a second circular route r12 that is adjacent to the first circular route r11. Once the first circular route r11 is determined, another circular route (second circular route r12) is generated at a fixed pitch based on the work width W2 and lap width (the width that overlaps with adjacent worked-on areas) of the work implement 12.

[0086] The automatic driving also includes "corner cutting" performed by the work vehicle 10 at the outermost corner of the work site F1. When corner cutting, the work vehicle 10 turns the machine body 11 while switching between forward and reverse movement to enable the machine body 11 to turn within a limited space.

[0087] To realize the above-described automatic driving of the work vehicle 10, it is necessary to recognize and register the shape of the work site F1 in advance. As an example, the operator gets into the work vehicle 10 and drives it around the perimeter of the work site F1 to be registered (teaching driving), and the terminal device 20 acquires position information from the work vehicle 10 while driving, recognizes the position and shape of the work site F1 based on the position information, and registers it as the work site F1. By registering the work site F1 based on such teaching driving or performance information of past driving routes, it is possible to generate a target route R1 that avoids obstacles, such as culverts, that are difficult to detect using the detection device 15 alone from the start.

[0088] The target route R1 is not limited to the route illustrated in FIG. 4 and may be set as appropriate. For example, the target route may include multiple parallel work routes arranged at regular intervals. In this case, the multiple work routes are arranged so that work routes heading from one side (the bottom side in FIG. 4) of the work area F1 to the other side (the top side in FIG. 4) alternate with work routes heading in the opposite direction. Adjacent pairs of work routes are then connected by a non-work route (connecting route). This allows the work vehicle 10 to perform work while moving back and forth within the work area F1 along the target route.

[0089] [4.2] Straight-line assist driving Next, the straight-line assisted traveling (semi-automatic traveling) performed by the work vehicle 10 controlled by the control system 1 according to this embodiment will be described with reference to FIG.

[0090] During straight-line assistance, the generation processing unit 211 generates a target route R1 along which the work vehicle 10 is to travel automatically, as shown in Fig. 5. For example, the generation processing unit 211 generates a target route R1 that includes multiple straight-line routes (work routes) arranged at predetermined intervals (equal intervals) based on a reference line L1 that passes through point A (first reference point) and point B (second reference point) within the work site F1.

[0091] An example of the procedure for generating the target route R1 will be described below. For example, the terminal device 20 displays on the operation display unit 23 an operation screen that accepts a setting operation from the operator to set the reference line L1. The operator moves the work vehicle 10 to an arbitrary position within the work site F1 and presses the point A registration button. For example, the operator moves the work vehicle 10 to the outer periphery of the work site F1 and presses the point A registration button. When the operator presses the point A registration button, the generation processing unit 211 registers the current position of the work vehicle 10 as a first reference point (point A). When the generation processing unit 211 registers point A, the terminal device 20 displays on the operation display unit 23 an operation screen that accepts a registration operation for a second reference point (point B).

[0092] In this state, the operator manually drives the work vehicle 10 in the direction (target direction) in which the operator wants the work vehicle 10 to travel and work (see "Generate reference line" in Figure 5). Specifically, the operator drives the work vehicle 10 straight in a direction parallel to the direction in which the work vehicle 10 will work in the work area. At this time, the work vehicle 10 may perform a specified task while being manually driven. Then, the operator presses the point B registration button at any position (for example, the outer periphery edge of the work area F1). When the operator presses the point B registration button, the generation processing unit 211 registers the current position of the work vehicle 10 as a second reference point (point B).

[0093] When the generation processing unit 211 acquires the position information of points A and B, it sets a straight line passing through points A and B as a reference line L1. The generation processing unit 211 may be able to adjust the orientation of the created reference line L1. For example, the generation processing unit 211 displays the created reference line L1 on an operation screen, and sets (registers) the reference line L1 when a registration operation is received from an operator. On the other hand, when the generation processing unit 211 receives an operation from the operator to change the orientation of the reference line L1 (for example, a touch operation on the screen), it adjusts the orientation of the reference line L1 in accordance with the operation. When an operation to register point B is received, the generation processing unit 211 may display a selection screen for whether to register or adjust the reference line L1.

[0094] The generation processing unit 211 then generates a travel route (target route R1) that includes a reference line L1 and a plurality of straight lines parallel to the reference line L1. For example, the generation processing unit 211 generates a plurality of parallel straight lines at equal intervals based on the working width W2 and lap width of the work implement 12, with the reference line L1 as the reference (see "Target route generation" in FIG. 5). The generation processing unit 211 registers the generated target route R1 in the memory unit 22 and displays it on the operation display unit 23.

[0095] According to the above method, a target route R1 can be generated using a reference line L1 that passes through two points (points A and B) at both ends of the work site F1, and the work accuracy can be improved by automatically driving the work vehicle 10 along the target route R1. The generation processing unit 211 may be configured to be able to register point B when the work vehicle 10 has traveled a predetermined distance (for example, 5 m) since registering point A. This allows a more accurate reference line L1 to be set.

[0096] The method of generating the target route R1 is not limited to the above method, and may be, for example, a method of generating the target route R1 based on a reference line created from point A and the direction of the work vehicle 10 ("point A + vehicle azimuth angle"), or a method of generating the target route R1 based on a reference line created from point A and a set azimuth angle ("point A + set azimuth angle").

[0097] After the target route R1 is generated, the operator issues an instruction (driving start instruction) to the work vehicle 10 to start automatic driving within the work site F1. For example, when the work vehicle 10 is located within a predetermined distance from the target route R1 and within a predetermined direction relative to the target route R1 (see "Straight-line assist driving" in FIG. 5), the automatic driving start conditions are met and the work vehicle 10 is ready for automatic driving, and the terminal device 20 displays a guidance screen. On the guidance screen, the terminal device 20 displays a message (for example, "Straight-line assist can be started") indicating that the work vehicle 10 is ready for automatic driving, and receives an instruction from the operator to start automatic driving of the work vehicle 10.

[0098] Next, the operator presses the automatic driving button to issue a driving start instruction. When the operator presses the automatic driving button while the guidance screen is displayed on the terminal device 20, the driving processing unit 33 accepts the driving start instruction and starts automatic driving of the work vehicle 10 so that the work vehicle 10 follows the target route R1. The work vehicle 10 performs a predetermined task while automatically driving along a work route included in the target route R1, and at the end point of the work route, the driving mode switches to manual driving and the operator manually steers the vehicle to turn along the turning route.

[0099] [4.3] Steering sensitivity setting process Next, the process for setting the steering sensitivity during automatic driving (autonomous driving and semi-automatic driving) of the work vehicle 10 controlled by the control system 1 according to this embodiment will be described with reference to FIGS.

[0100] "Steering sensitivity" in this disclosure refers to the sensitivity of steering control during automatic driving (autonomous driving and semi-automatic driving) of the work vehicle 10. In this embodiment, as an example, the steering sensitivity has five levels: "super insensitive," "insensitive," "normal," "sensitive," and "super sensitive." These five levels of steering sensitivity are in order of decreasing sensitivity: "super sensitive," "sensitive," "normal," "insensitive," and "super insensitive." The higher the steering sensitivity, the more abrupt turns the work vehicle 10 can make.

[0101] Such steering sensitivity is adjusted, for example, by the look-ahead distance, the limitation of the steering amount, or the rate of change (amount of change) of the steering angle. That is, for example, by increasing the look-ahead distance in the driving control related to the automatic driving, the steering sensitivity can be made lower (less sensitive), and conversely, by shortening the look-ahead distance in the driving control related to the automatic driving, the steering sensitivity can be made higher (more sensitive). As an example, in this embodiment, the setting processing unit 32 sets an arbitrary steering sensitivity by adjusting the look-ahead distance.

[0102] The steering sensitivity during autonomous driving can be arbitrarily set by the operator on a setting screen displayed on the operation display unit 23 of the terminal device 20. In the present embodiment, as an example, the operator selects a desired steering sensitivity from the five levels of steering sensitivity described above, namely, "super insensitive," "insensitive," "normal," "sensitive," and "super sensitive," and the setting processing unit 32 sets the desired steering sensitivity.

[0103] As a result, for example, when the steering sensitivity is set to "insensitive," as shown by "Steering sensitivity: insensitive" in Fig. 6, when the work vehicle 10 returns to the target route R1 after being displaced from the target route R1, the distance it takes to return to the target route R1 becomes relatively long. However, in this case, sharp turns of the work vehicle 10 are suppressed, improving the ride comfort of the work vehicle 10 and making the work ground F1 less prone to roughness.

[0104] On the other hand, as shown by "Steering sensitivity: Sensitive" in Figure 6, when the steering sensitivity is set to "Sensitive", the distance it takes for the work vehicle 10 to return to the target route R1 after being displaced from the target route R1 is shortened. However, in this case, the work vehicle 10 is allowed to make sharp turns, which reduces the ride comfort of the work vehicle 10 and makes the work land F1 more prone to roughness.

[0105] In this embodiment, the setting processing unit 32 is configured to not only set this steering sensitivity according to the operator's operation, but also to set it automatically. Here, the setting processing unit 32 automatically sets the steering sensitivity based on specific conditions related to at least one of the speed range selected by the transmission 19 from among multiple speed ranges, the state of the work land F1, and the crops to be harvested by the work vehicle 10. How the steering sensitivity is set and based on what specific conditions can be set arbitrarily by the operator, for example.

[0106] That is, the control method according to this embodiment is a control method for a work vehicle that can perform work while traveling through a work land F1, and includes performing travel control related to the automatic travel of the work vehicle 10, and automatically setting the steering sensitivity of the work vehicle 10 during automatic travel based on specific conditions. The specific conditions are conditions that are defined with respect to at least one of the speed range currently selected by the transmission 19 of the work vehicle 10 from a plurality of speed ranges that include a low gear stage and a high gear stage that is faster than the low gear stage, the state of the work land F1, and the crops to be harvested by the work vehicle 10.

[0107] In this embodiment, the transmission 19 (auxiliary transmission) has four speed ranges: "neutral (N)," "low gear (L)," "working gear," and "driving gear," with "low gear (L)" and "working gear" being examples of low gears and "driving gear" being an example of a high gear.

[0108] With this configuration, the steering sensitivity of the work vehicle 10 during autonomous driving is automatically set based on specific conditions, making it easier to avoid, for example, the work vehicle 10 deviating significantly from the target route R1 during autonomous driving, or, conversely, sudden steering causing the work vehicle 10 to become unstable. As a result, it is possible to provide a control method for the work vehicle 10, a work vehicle control program, a work vehicle control system 1, and a work system 100 that make it easier to achieve more stable autonomous driving.

[0109] In this embodiment, the specific conditions are basically conditions defined in relation to the speed range selected by the transmission 19 from among multiple speed ranges, the state of the work site F1, and the crops to be harvested by the work vehicle 10. In other words, the steering sensitivity of the work vehicle 10 during autonomous driving is automatically set based on the specific conditions defined in relation to the speed range selected by the transmission 19 of the work vehicle 10 from among multiple speed ranges.

[0110] Specifically, in this embodiment, when a high gear is selected in the transmission 19, the setting processing unit 32 automatically sets the steering sensitivity to be less sensitive than the reference value. Here, in this embodiment, the steering sensitivity can be adjusted to five levels: "very insensitive," "insensitive," "normal," "sensitive," and "very sensitive," with "normal" being an example of the reference value. In other words, a specific condition is that the "drive stage," which is an example of a high gear, is selected in the transmission 19, and when this specific condition is met, the setting processing unit 32 automatically sets the steering sensitivity to "insensitive" or "very insensitive," which are less sensitive than the reference value ("normal"). In this embodiment, as an example, when a high gear is selected in the transmission 19, the setting processing unit 32 automatically sets the steering sensitivity to "insensitive."

[0111] As a result, when the work vehicle 10 is traveling at relatively high speeds while not working, the steering sensitivity is automatically set to the insensitive side compared to the reference value. This prevents the work vehicle 10 from making sharp turns when traveling at high speeds, improves the ride comfort of the work vehicle 10, and makes the work ground F1 less prone to roughness.

[0112] Furthermore, when a low gear is selected in the transmission 19, the setting processing unit 32 automatically sets the steering sensitivity to a preset sensitivity. The "previously set sensitivity" here refers to, for example, the steering sensitivity (previous value) that was set during the previous automatic driving, or a default value set by an operator, designer, or the like. In other words, a specific condition is that "low gear (L)" or "working gear," which are examples of low gears, is selected in the transmission 19, and when this specific condition is met, the setting processing unit 32 automatically sets the steering sensitivity to the previous value, the default value, or the like. In this embodiment, as an example, when a low gear is selected in the transmission 19, the setting processing unit 32 automatically sets the steering sensitivity to "sensitive," which is the default value.

[0113] As a result, when the work vehicle 10 is traveling at a relatively slow speed during work, etc., the steering sensitivity is automatically set to a preset sensitivity. Therefore, when the work vehicle 10 is traveling at a slow speed, for example, by setting the steering sensitivity to "sensitive," it is possible to minimize deviation of the work vehicle 10 from the target route R1.

[0114] The control method according to this embodiment further includes restricting the user's manipulation of changing the steering sensitivity when the steering sensitivity has been automatically set. Here, the restriction on the user's manipulation of changing the steering sensitivity includes, for example, not only a mode in which no manipulation of changing the steering sensitivity is accepted, but also a mode in which the user is restricted to only changing the steering sensitivity to the less sensitive or more sensitive side than the reference value. As an example, in this embodiment, after the setting processing unit 32 automatically sets the steering sensitivity based on specific conditions, the steering sensitivity is fixed by not accepting any manipulation of changing the steering sensitivity by the user (operator).

[0115] This makes it possible to prevent the steering sensitivity from being changed easily when the steering sensitivity is automatically set according to the state of the work vehicle 10, such as the speed range selected by the transmission 19. As a result, there is an advantage in that it is easier to achieve more stable automated driving.

[0116] FIG. 7 is a flowchart showing the flow of a process for automatically setting the steering sensitivity, which is a part of the control method.

[0117] 7, first, the control system 1 receives an instruction from the operator to start automatic driving (autonomous driving or semi-automatic driving), and starts the automatic driving of the work vehicle 10 (S1). Next, the acquisition processing unit 31 determines whether the speed range selected in the transmission 19 (auxiliary transmission) is a high gear (S2).

[0118] At this time, if the "driving gear", which is an example of a high gear, is selected in the transmission 19 (S2: Yes), the setting processing unit 32 automatically sets the steering sensitivity to "insensitive", which is less sensitive than the reference value ("normal"), and fixes the steering sensitivity to "insensitive" by prohibiting the operator from changing the steering sensitivity.

[0119] On the other hand, if the "low gear (L)" or "working gear," which are examples of low gears, is selected in the transmission 19 (S2: No), the setting processing unit 32 automatically sets the steering sensitivity to the default value, "sensitive," and fixes the steering sensitivity to "sensitive" by prohibiting the operator from changing the steering sensitivity.

[0120] The processes of steps S2 to S4 are repeatedly executed while the work vehicle 10 continues to travel autonomously. However, the flowchart shown in Fig. 7 is merely an example, and processes may be added or omitted as appropriate, and the order of processes may be changed as appropriate.

[0121] The control method according to this embodiment further includes automatically setting the steering sensitivity when the work vehicle 10 is not working. In other words, when the work vehicle 10 is not working, the setting processing unit 32 automatically sets the steering sensitivity to a preset sensitivity regardless of other specific conditions (conditions related to the speed range).

[0122] Here, "when not working" includes a state in which the work vehicle 10 is not working, and includes, for example, when the work vehicle 10 is moving backward in a straight line, and when the work vehicle is turning to move along a connecting path between work paths. In this embodiment, as an example, when the work vehicle 10 is moving backward in a straight line even when not working, the setting processing unit 32 sets the steering sensitivity to "insensitive" or "ultra-insensitive," which are less sensitive than the reference value ("normal"). On the other hand, when the work vehicle 10 is turning even when not working, the setting processing unit 32 sets the steering sensitivity to "sensitive" or "ultra-sensitive," which are more sensitive than the reference value ("normal").

[0123] According to this configuration, the steering sensitivity is automatically set to an appropriate level even when the work vehicle 10 is not working, which has the advantage of making it easier to achieve more stable automatic driving.

[0124] Furthermore, in this embodiment, the work vehicle 10 is equipped with a steering control unit 34 that controls the steering of the work vehicle 10 in accordance with a steering operation to the steering operation unit 43. In the control method according to this embodiment, the signal input to the steering control unit 34 is changed in accordance with the steering sensitivity. That is, when the work vehicle 10 is traveling autonomously, a steering command is input to the steering control unit 34 from the traveling processing unit 33 instead of the steering operation unit 43, and the traveling processing unit 33 changes the signal (steering command) given to the steering control unit 34 in accordance with the steering sensitivity set in the setting processing unit 32.

[0125] This allows the steering control unit 34 to perform steering control of the work vehicle 10 without considering the steering sensitivity set by the setting processing unit 32. As a result, apart from the steering sensitivity set by the setting processing unit 32, the steering control unit 34 can adjust the steering amount according to the vehicle speed of the work vehicle 10, for example.

[0126] [5] Variation Below, we will list some modified examples of embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0127] The control system 1 in the present disclosure includes a computer system. The computer system is primarily composed of one or more processors and one or more memories as hardware. The functions of the control system 1 in the present disclosure are realized by the processor executing a program (a control program for a work vehicle) 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 system 1 may be configured with electronic circuits.

[0128] Furthermore, it is not essential for the control system 1 that at least some of the functions of the control system 1 are concentrated in one housing, and the components of the control system 1 may be distributed across multiple housings. Conversely, in embodiment 1, functions that are distributed across multiple devices (for example, the control device 3 and the terminal device 20) may be concentrated in one housing. Furthermore, at least some of the functions of the control system 1 may be realized by the cloud (cloud computing) or the like.

[0129] Furthermore, the work vehicle 10 is not limited to a head-feeding combine harvester, but may also be, for example, a standard (general-purpose) combine harvester.

[0130] Furthermore, the terminal device 20 is not limited to a general-purpose terminal such as a tablet terminal, smartphone, or laptop computer, but may be configured as a dedicated terminal. Furthermore, multiple terminal devices 20 may be associated with one work vehicle 10, in which case, one work vehicle 10 can be controlled by multiple terminal devices 20. Conversely, one terminal device 20 may be associated with multiple work vehicles 10, in which case, multiple work vehicles 10 can be controlled by one terminal device 20.

[0131] Furthermore, the above-described target route R1 is merely an example and can be changed as appropriate. For example, the travel direction of the work vehicle 10 and / or the travel sequence of the target route R1 can also be changed as appropriate.

[0132] Furthermore, it is not essential for the control method to restrict the user's manipulation to change the steering sensitivity when the steering sensitivity is automatically set. In other words, the steering sensitivity may be changed by the user's manipulation to change the steering sensitivity when the steering sensitivity is automatically set.

[0133] Furthermore, when the speed range of the transmission 19 is in a high gear (driving gear), the start of automatic traveling of the work vehicle 10 may be prohibited. In this case, automatic traveling of the work vehicle 10 is started in a state where the speed range of the transmission 19 is in a gear other than a high gear. Even in this case, it is preferable that the speed range of the transmission 19 can be changed to a high gear (driving gear) after automatic traveling has started.

[0134] Furthermore, the routes on which the work vehicle 10 cannot start automatic traveling when the speed range of the transmission 19 is in a high gear (traveling gear) may be limited to work routes on which the work vehicle 10 performs work. In this case, for example, automatic traveling can be started on non-work routes such as discharge routes or connection routes even if the speed range is in a high gear. Furthermore, depending on the state of the work implement 12, for example, when the work implement 12 is rising, it is preferable to be able to start automatic traveling even if the speed range is in a high gear.

[0135] (Embodiment 2) The control method for the work vehicle 10 according to this embodiment differs from that of the first embodiment in that the specific conditions include conditions other than the speed range. Hereinafter, the same components as those in the first embodiment will be assigned the same reference numerals and descriptions thereof will be omitted as appropriate.

[0136] That is, in this embodiment, the specific condition is a condition that is specified in relation to at least one of the state of the work land F1 and the crops to be harvested by the work vehicle 10, in addition to or instead of the speed range currently selected by the transmission 19 from among a plurality of speed ranges. In other words, the steering sensitivity of the work vehicle 10 during autonomous driving is automatically set based on the specific condition that is specified in relation to at least one of the state of the work land F1 and the crops to be harvested by the work vehicle 10, in addition to or instead of the speed range.

[0137] Here, the condition of the work land F1 includes parameters that may cause skidding of the work vehicle 10, such as the slope of the work land F1 and the muddy condition of the work land F1. In other words, if the work land F1 on the target route R1 has a relatively steep slope in the roll direction (left-right direction D3) of the work vehicle 10, skidding of the work vehicle 10 is likely to occur during automatic driving. Similarly, if the work land F1 is a wet paddy field, skidding of the work vehicle 10 is likely to occur during automatic driving.

[0138] In this embodiment, the specific condition is basically a condition that is defined with respect to both the speed range currently selected in the transmission 19 and the state of the work site F1.

[0139] Specifically, when a low gear is selected in the transmission 19 and the work land F1 has an inclination of a predetermined angle or more in the roll direction of the work vehicle 10, the setting processing unit 32 automatically sets the steering sensitivity to be more sensitive than the reference value. In this embodiment, the steering sensitivity can be adjusted to five levels: “super insensitive,” “insensitive,” “normal,” “sensitive,” and “super sensitive,” with “normal” being an example of the reference value. In other words, a specific condition is that “low gear (L),” an example of a low gear, or “working gear” is selected in the transmission 19, and the work land F1 is a field prone to skidding (i.e., has an inclination of a predetermined angle or more in the roll direction of the work vehicle 10). When this specific condition is met, the setting processing unit 32 automatically sets the steering sensitivity to “sensitive” or “super sensitive,” which is more sensitive than the reference value (“normal”). In this embodiment, as an example, when the specific condition is met, the setting processing unit 32 automatically sets the steering sensitivity to “sensitive.”

[0140] As a result, when the work vehicle 10 is working and in a situation where it is prone to skidding, the steering sensitivity is automatically set to be more sensitive than the reference value. Therefore, even in a situation where the work vehicle 10 is prone to deviating from the target route R1 due to skidding of the work vehicle 10, it is possible to keep deviation of the work vehicle 10 from the target route R1 to a minimum.

[0141] Furthermore, when a high gear is selected in the transmission 19 and the work land F1 has an inclination of a predetermined angle or more in the roll direction of the work vehicle 10, the setting processing unit 32 automatically sets the steering sensitivity to a value less sensitive than the reference value. In this embodiment, the steering sensitivity can be adjusted to five levels: "very insensitive," "insensitive," "normal," "sensitive," and "very sensitive," with "normal" being an example of the reference value. In other words, a specific condition is that the "travel gear," which is an example of a high gear, is selected in the transmission 19 and the work land F1 is a field that is prone to skidding (i.e., has an inclination of a predetermined angle or more in the roll direction of the work vehicle 10), and when this specific condition is met, the setting processing unit 32 automatically sets the steering sensitivity to "insensitive" or "very insensitive," which is less sensitive than the reference value ("normal"). In this embodiment, as an example, when the specific condition is met, the setting processing unit 32 automatically sets the steering sensitivity to "insensitive" or "very insensitive."

[0142] As a result, when the work vehicle 10 is traveling at high speed and in a situation where skidding is likely to occur, the steering sensitivity is automatically set to the insensitive side of the reference value. Therefore, even in a situation where skidding of the work vehicle 10 is likely to occur, the work vehicle 10 can be automatically driven stably.

[0143] Furthermore, the steering sensitivity may be changed depending on the magnitude of the inclination angle of the work area F1. For example, when a low gear is selected in the transmission 19 and the work area F1 has an inclination of at least a second predetermined angle that exceeds a predetermined angle in the roll direction of the work vehicle 10, the setting processing unit 32 may automatically set the steering sensitivity to "ultra-sensitive." Similarly, when a high gear is selected in the transmission 19 and the work area F1 has an inclination of at least a second predetermined angle that exceeds a predetermined angle in the roll direction of the work vehicle 10, the setting processing unit 32 may automatically set the steering sensitivity to "ultra-insensitive."

[0144] Furthermore, if the inclination angle of the work ground F1 is less than a predetermined angle, the steering sensitivity is set based only on the speed range, as in the first embodiment.

[0145] Furthermore, when a low gear is selected in the transmission 19 and the work land F1 is a wet paddy field, the setting processing unit 32 automatically sets the steering sensitivity. In other words, a specific condition is that the "low gear (L)" or the "working gear," which is an example of a low gear, is selected in the transmission 19 and the work land F1 is a farm field prone to skidding (i.e., a wet paddy field), and when this specific condition is met, the setting processing unit 32 automatically sets the steering sensitivity to a preset sensitivity.

[0146] In this embodiment, as an example, when the above-mentioned specific conditions are met, the setting processing unit 32 sets the steering sensitivity to "insensitive" or "ultra-insensitive," which is less sensitive than the reference value ("normal"). This makes it possible to automatically drive the work vehicle 10 stably even when the work vehicle 10 is working and in a situation where skidding is likely to occur. Alternatively, when the above-mentioned specific conditions are met, the setting processing unit 32 may set the steering sensitivity to "sensitive" or "ultra-sensitive," which is more sensitive than the reference value ("normal"). This makes it possible to minimize deviation of the work vehicle 10 from the target route R1 even when the work vehicle 10 is working and in a situation where skidding of the work vehicle 10 is likely to cause the work vehicle 10 to deviate from the target route R1.

[0147] Furthermore, the steering sensitivity may be changed depending on the wetness (muddiness) of the work land F1. For example, when a low gear is selected in the transmission 19, if the wetness of the work land F1 is equal to or greater than a first threshold, the steering sensitivity may be set to "sensitive," and if the wetness of the work land F1 is equal to or greater than a second threshold (>first threshold), the steering sensitivity may be set to "ultra-sensitive."

[0148] Furthermore, if the work land F1 has an inclination of a predetermined angle or more in the roll direction of the work vehicle 10 and the work land F1 is a wet paddy field, the steering sensitivity may be set to "ultra-insensitive" or "ultra-sensitive."

[0149] Here, whether or not the work land F1 has an inclination of a predetermined angle or more in the roll direction of the work vehicle 10 may be determined in response to a setting operation by the operator, or may be determined automatically by detecting the state of the work land F1 with a sensor or the like. Similarly, whether or not the work land F1 is a wet paddy field may be determined in response to a setting operation by the operator, or may be determined automatically by detecting the state of the work land F1 with a sensor or the like.

[0150] As a modification of the second embodiment, the specific conditions may be, in addition to or instead of at least one of the speed range and the state of the work land F1, conditions defined regarding the crops to be harvested by the work vehicle 10. In this case, the steering sensitivity of the work vehicle 10 during autonomous driving is automatically set based on the specific conditions defined regarding the crops to be harvested by the work vehicle 10, in addition to or instead of the speed range and the state of the work land F1.

[0151] For example, if the crop to be harvested is one in which work is performed in a state where deviation of the work vehicle 10 from the target route R1 is likely to cause "work deviation" (one example is buckwheat, which is often grown on sloping land), or if the crop has a low tolerance for work deviation, the setting processing unit 32 automatically sets the steering sensitivity to "insensitive" or "ultra-insensitive," which are less sensitive than the reference value ("normal"). Here, the crop to be harvested may be determined according to a setting operation by the operator, or may be determined automatically by a sensor or the like.

[0152] In another modified example, the specific condition may be simply that the work land F1 has an inclination of a predetermined angle or more in the roll direction of the work vehicle 10. For example, if the work land F1 has an inclination of a predetermined angle or more in the roll direction of the work vehicle 10, the setting processing unit 32 automatically sets the steering sensitivity to "sensitive" or "ultra-sensitive," which are more sensitive than the reference value ("normal"). Conversely, if the inclination of the work land F1 in the roll direction of the work vehicle 10 is less than the predetermined angle, the setting processing unit 32 automatically sets the steering sensitivity to "insensitive" or "ultra-insensitive," which are less sensitive than the reference value ("normal"). This makes it possible to minimize deviation of the work vehicle 10 from the target route R1 in situations where the work vehicle 10 is prone to skidding.

[0153] In yet another modified example, the specific condition may be simply that the work land F1 is a wet paddy field. For example, if the work land F1 is a wet paddy field, the setting processing unit 32 automatically sets the steering sensitivity to "sensitive" or "ultra-sensitive," which are more sensitive than the reference value ("normal"). Conversely, if the work land F1 is a dry paddy field (i.e., not a wet paddy field), the setting processing unit 32 automatically sets the steering sensitivity to "insensitive" or "ultra-insensitive," which are less sensitive than the reference value ("normal"). This makes it possible to minimize deviation of the work vehicle 10 from the target route R1 in situations where the work vehicle 10 is prone to skidding.

[0154] The configuration of the second embodiment (including the modified examples) can be adopted in appropriate combination with the various configurations (including the modified examples) described in the first embodiment.

[0155] [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.

[0156] <Appendix 1> A control method for a work vehicle capable of performing work while traveling through a work site, comprising: performing travel control related to the automatic travel of the work vehicle; and automatically setting the steering sensitivity of the work vehicle during autonomous driving based on specific conditions related to at least one of a speed range currently selected by a transmission of the work vehicle from among a plurality of speed ranges including a low gear stage and a high gear stage that is faster than the low gear stage, a state of the work land, and a crop to be harvested by the work vehicle. A method for controlling a work vehicle.

[0157] <Appendix 2> When the high gear stage is selected in the transmission, the steering sensitivity is automatically set to a less sensitive side than a reference value. 2. A method for controlling a work vehicle as set forth in claim 1.

[0158] <Appendix 3> The method further includes limiting a user's operation of changing the steering sensitivity in a state where the steering sensitivity is automatically set. 3. A method for controlling a work vehicle according to claim 1 or 2.

[0159] <Appendix 4> When the low gear stage is selected in the transmission, the steering sensitivity is automatically set to a preset sensitivity. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 3.

[0160] <Appendix 5> When the low gear stage is selected in the transmission and the work ground has an inclination of a predetermined angle or more in the roll direction of the work vehicle, the steering sensitivity is automatically set to a side more sensitive than a reference value. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 4.

[0161] <Appendix 6> When the high gear stage is selected in the transmission and the work ground has an inclination of a predetermined angle or more in the roll direction of the work vehicle, the steering sensitivity is automatically set to a less sensitive side than a reference value. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 5.

[0162] <Appendix 7> When the low gear stage is selected in the transmission and the work site is a wet paddy field, the steering sensitivity is automatically set. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 6.

[0163] <Appendix 8> The method further includes automatically setting the steering sensitivity when the work vehicle is not working. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 7.

[0164] <Appendix 9> The work vehicle includes a steering control unit that controls steering of the work vehicle in response to a steering operation of a steering operation unit, A signal input to the steering control unit is changed in accordance with the steering sensitivity. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 8.

[0165] <Appendix 10> A method for controlling a work vehicle according to any one of appendices 1 to 9, A control program for a work vehicle to be executed by one or more processors. [Explanation of symbols]

[0166] 1. Control system for work vehicles 10 Work vehicles 11 aircraft 19 Transmission 32 Setting processing section 33 Driving processing unit 34 Steering control unit 43 Steering operation unit 100 Work Systems F1 Work Site

Claims

1. A control method for a work vehicle capable of performing work while traveling through a work site, comprising: performing travel control related to the automatic travel of the work vehicle; and automatically setting the steering sensitivity of the work vehicle during autonomous driving based on specific conditions related to at least one of a speed range currently selected by a transmission of the work vehicle from among a plurality of speed ranges including a low gear stage and a high gear stage that is faster than the low gear stage, a state of the work land, and a crop to be harvested by the work vehicle. A method for controlling a work vehicle.

2. When the high gear stage is selected in the transmission, the steering sensitivity is automatically set to a less sensitive side than a reference value. A method for controlling a work vehicle according to claim 1.

3. The method further includes limiting a user's operation of changing the steering sensitivity in a state where the steering sensitivity is automatically set. A method for controlling a work vehicle according to claim 1 or 2.

4. When the low gear stage is selected in the transmission, the steering sensitivity is automatically set to a preset sensitivity. A method for controlling a work vehicle according to claim 1 or 2.

5. When the low gear stage is selected in the transmission and the work ground has an inclination of a predetermined angle or more in the roll direction of the work vehicle, the steering sensitivity is automatically set to a side more sensitive than a reference value. A method for controlling a work vehicle according to claim 1 or 2.

6. When the high gear stage is selected in the transmission and the work ground has an inclination of a predetermined angle or more in the roll direction of the work vehicle, the steering sensitivity is automatically set to a less sensitive side than a reference value. A method for controlling a work vehicle according to claim 1 or 2.

7. When the low gear stage is selected in the transmission and the work site is a wet paddy field, the steering sensitivity is automatically set. A method for controlling a work vehicle according to claim 1 or 2.

8. The method further includes automatically setting the steering sensitivity when the work vehicle is not working. A method for controlling a work vehicle according to claim 1 or 2.

9. The work vehicle includes a steering control unit that controls steering of the work vehicle in response to a steering operation of a steering operation unit, A signal input to the steering control unit is changed in accordance with the steering sensitivity. A method for controlling a work vehicle according to claim 1 or 2.

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

11. It is used in a work vehicle that can work while traveling through a work site, a driving processing unit that performs driving control related to the automatic driving of the work vehicle; a setting processing unit that automatically sets the steering sensitivity of the work vehicle during autonomous driving based on specific conditions related to at least one of a speed range currently selected by a transmission of the work vehicle from among a plurality of speed ranges including a low gear stage and a high gear stage that is faster than the low gear stage, a condition of the work land, and a crop to be harvested by the work vehicle; Control systems for work vehicles.

12. The work vehicle control system according to claim 11; The work vehicle includes: Working system.

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