Work vehicle

Abstract

To provide a work vehicle capable of suppressing a decrease in work efficiency.SOLUTION: A work vehicle according to an embodiment is a work vehicle capable of automatic operation in a field on the basis of a self position measured by a positioning device, and includes a control device that acquires first outer periphery information of the field from a field map including field information including a shape of the positioning device or the field. The control device acquires second outer periphery information of the field from a travel route of circulating in the field by manual operation by an operator, compares the first outer periphery information with the second outer periphery information, and prohibits automatic operation when a difference between the first outer periphery information and the second outer periphery information is equal to or greater than a predetermined difference.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a work vehicle. [Background technology]

[0002] Conventionally, in a work vehicle capable of automatic driving within a field based on its own position measured by a positioning device, when an instruction to start automatic driving is given if the distance of the work vehicle's own position from the periphery of the field is greater than a predetermined value, a technology is known in which the work vehicle automatically moves to the work start position along a calculated driving route (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2022-48494 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned conventional technologies do not take into account the possibility that the driving route may be deviated after moving to the work start position due to errors in the work vehicle's own position measured by the positioning device, etc. Therefore, if the vehicle is driven automatically along a deviated driving route, there is a risk that, for example, unworked areas may be created within the field, reducing work efficiency.

[0005] The present invention has been made in view of the above, and has an object to provide a work vehicle that can suppress a decrease in work efficiency. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objective, the work vehicle (10) of the embodiment is a work vehicle (10) capable of automatic driving within a field (F) based on its own position measured by a positioning device (20), and has a control device (50) that acquires first perimeter information (D1) of the field (F) from the positioning device (20) or a field map having field information including the shape of the field (F), and the control device (50) acquires second perimeter information (D2) of the field (F) from a driving route that circumnavigates the field (F) by manual driving by a worker, compares the first perimeter information (D1) with the second perimeter information (D2), and prohibits automatic driving if the difference between the first perimeter information (D1) and the second perimeter information (D2) is greater than or equal to a predetermined value. [Effects of the Invention]

[0007] According to the work vehicle according to this embodiment, it is possible to suppress a decrease in work efficiency. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic side view showing an example of a work vehicle according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing an example of a management system including a work vehicle according to the embodiment. [Figure 3] FIG. 3 is an explanatory diagram of the first circumference information and the second circumference information. [Figure 4] FIG. 4 is an explanatory diagram of a travel route of the work vehicle according to the embodiment. [Figure 5] FIG. 5 is an explanatory diagram of a method (part 1) for determining the difference between the first circumference information and the second circumference information. [Figure 6] FIG. 6 is an explanatory diagram of a method (part 2) for determining the difference between the first circumference information and the second circumference information. [Figure 7] FIG. 7 is an explanatory diagram of a method (part 3) for determining the difference between the first outer circumference information and the second outer circumference information. [Figure 8] FIG. 8 is a block diagram showing an example of a power supply configuration of a work vehicle according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below.

[0010] <Overview of the work vehicle> An overview of a work vehicle 10 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a schematic side view showing an example of a work vehicle 10 according to an embodiment.

[0011] In the following, an agricultural tractor (hereinafter simply referred to as "tractor") will be used as an example of the work vehicle 10. Note that the work vehicle 10 may also be an agricultural work vehicle other than a tractor, such as a seedling transplanter (rice transplanter) that plants seedlings in the field F or a combine harvester that harvests crops in the field F.

[0012] 1 also shows a three-dimensional Cartesian coordinate system including a Z-axis whose positive direction is vertically upward (upward). For ease of explanation, the positive direction of the X-axis will be defined as the left, the negative direction of the X-axis as the right, the positive direction of the Y-axis as the forward direction, and the negative direction of the Y-axis as the backward direction, and the X-axis direction will sometimes be referred to as the left-right direction, the Y-axis direction as the front-back direction, and the Z-axis direction as the up-down direction.

[0013] In the following description, the work vehicle (tractor) 10 may be referred to as the "machine body."

[0014] A tractor 10, which is a work vehicle, can travel on roads and within a field F using the power of a drive source such as an engine 11. Multiple types of work implements 12 for performing ground work are detachably attached to the tractor 10. While traveling within the field F, the tractor 10 performs predetermined work using the work implements 12.

[0015] As shown in Figure 1, a tractor 10 has an engine 11 mounted on a hood 13 at the front of the vehicle body. Rotational power from the engine 11 is transmitted to a transmission 14, which is a speed change device, and after being reduced in speed by the transmission 14, is transmitted to front wheels 15 and rear wheels 16, which are traveling wheels.

[0016] A work implement 12, such as a rotary work implement, is attached to the rear of the tractor 10. The work implement 12 attached to the rear of the machine body is driven by a PTO (Power Take-Off) shaft (not shown) that protrudes rearward from a transmission case of a transmission 14.

[0017] A cabin 17 in which an operator (also referred to as a "driver") rides is provided behind the hood 13. A driver's seat 18 in which the operator (driver) sits is provided inside the cabin 17, i.e., inside the cabin 17. Machinery operating sections including a steering wheel 19 are provided around the driver's seat 18.

[0018] The steering wheel 19 is provided in front of the driver's seat 18. The steering wheel 19 is operated (steering operation) when steering the front wheels 15, which are the steered wheels. In front of the steering wheel 19, a meter panel (not shown) and the like are provided.

[0019] The machine operation unit also includes operation pedals such as an accelerator pedal, a clutch pedal, and a brake pedal in addition to the steering wheel 19. The machine operation unit also includes operation levers such as a forward / reverse lever, a main speed change lever, and an auxiliary speed change lever. The machine operation unit also includes operating tools such as various switches.

[0020] The tractor 10 also includes a control device 50 (see FIG. 2). The control device 50 is capable of electronically controlling each part, and includes, for example, a processing unit having a CPU (Central Processing Unit) and the like, as well as a storage unit configured with a hard disk, ROM (Read Only Memory), RAM (Random Access Memory), and the like, in which various programs and data are stored.

[0021] The control device 50 is, for example, an ECU (Electronic Control Unit). The control device 50 includes an engine ECU 51, a travel system ECU 52, and a work implement lifting system ECU 53 (see FIG. 2 for all of these). The engine ECU 51 controls the rotation speed of the engine 11. The travel system ECU 52 controls the rotation of drive wheels such as the rear wheels 16, thereby controlling the travel speed of the tractor 10. The work implement lifting system ECU 53 controls the lifting and lowering of the work implement 12.

[0022] The tractor 10 also includes a positioning device 20 capable of receiving radio waves from artificial satellites 30 orbiting in the sky. The positioning device 20 is, for example, a GNSS (Global Navigation Satellite System) positioning device, and is provided on top of the cabin 17, for example. The tractor 10 receives radio waves from the artificial satellites 30 with the positioning device 20, and can determine the current position (self-position) of the tractor 10 based on the received radio waves.

[0023] The positioning device 20 may be provided in, for example, a management device 200 (see FIG. 2) described later. In this case, for example, the tractor 10 includes only a receiver that receives radio waves from the artificial satellite 30, and transmits the radio waves received by the receiver to the management device 200.

[0024] The tractor 10 can be switched between manual operation and automatic operation by the operator (driver). The tractor 10 can perform automatic operation under the control of each part of the control device 50 based on the tractor 10's own position measured by the positioning device 20. In this case, the control device 50 creates a travel route including a work start point within the field F, and automatically drives the vehicle along the created travel route R (see FIG. 4).

[0025] <Management system including work vehicles> Next, a management system 100 including a work vehicle 10 according to an embodiment will be described with reference to Fig. 2. Fig. 2 is a block diagram showing an example of a management system 100 including a work vehicle 10 according to an embodiment.

[0026] 2, the tractor 10 is equipped with various ECUs that constitute a control device (ECU) 50, including an engine ECU 51, a travel system ECU 52, and a work implement lifting system ECU 53. The control device 50 includes an automatic driving ECU (not shown) that controls automatic driving of the tractor 10.

[0027] The tractor 10 also includes a communication device 60. The tractor 10 can communicate with a cloud C that forms a communication network via the communication device 60. The control device 50 then calculates the travel route of the tractor 10 based on map information (to be described later) and information on the tractor 10's own position (position information), etc.

[0028] The tractor 10 can transmit information about its own position to the cloud C at predetermined time intervals and store it in the cloud C. In addition, the tractor 10 can acquire the information stored in the cloud C.

[0029] As shown in Fig. 2, the management system 100 including a work vehicle includes a tractor 10, which is a work vehicle, a management device 200, and a management server 300. The management device 200 is an information processing device that can be operated by a worker (also referred to as an "administrator"), and is, for example, a portable information processing terminal (such as a notebook PC terminal or tablet terminal). The management device 200 includes a communication device 210 for communicating with cloud C.

[0030] The management device 200 can communicate with the cloud C via the communication device 210. Therefore, an operator (administrator) can exchange information with the cloud C via the communication device 210 from an information processing terminal such as a notebook PC terminal or a tablet terminal.

[0031] In this way, the tractor 10 and the management device 200 are configured to be able to communicate via cloud C, so that the worker (administrator) can monitor the status of the tractor 10 and send commands to the tractor 10 from the management device 200, such as a notebook PC terminal or tablet terminal, thereby remotely managing the tractor 10.

[0032] A management server 300 is provided in the cloud C. The management server 300 has a map information database 310 that stores map information (also called a "field map") including the field F (see FIG. 3) and the topography of the surrounding area of ​​the field F. The map information includes field information such as the shape of the field F.

[0033] The map information stored in the map information database 310 may be, for example, map information from farm management software provided by an ICT (Information and Communication Technology) vendor.

[0034] The management server 300 also has a position information database 320 that stores information about the tractor 10's own position (position information) measured by the positioning device 20 (see FIG. 1). Therefore, the worker (manager) can refer to the map information database 310 and the position information database 320 by accessing the management server 300. This allows the worker (manager) to understand the positional relationship between the tractor 10 and the field F.

[0035] <Autonomous driving of work vehicles> Next, automatic driving of the work vehicle 10 according to the embodiment will be described with reference to Figures 2 to 7. Figure 3 is an explanatory diagram of first perimeter information D1 and second perimeter information D2. Figure 4 is an explanatory diagram of travel routes R (R1), R2 of the work vehicle 10 according to the embodiment.

[0036] As shown in FIGS. 2 to 4, the control device 50 acquires first perimeter information D1 of the field F from map information stored in the map information database 310. The perimeter information of the field F (first perimeter information D1) is the perimeter line (first perimeter line D1) that defines the outermost perimeter (also called the "work perimeter") of the field F where the tractor 10 works. L ) enclosed area (first area D1 A ) position, this outer perimeter line (first outer perimeter line D1 L ) surrounded by (first area D1 A ) and the area of ​​this perimeter (first perimeter D1 L ) surrounded by (first area D1 A ) shape (external shape).

[0037] The control device 50 may also calculate the first perimeter information D1 of the field F from the measurement results obtained by the positioning device 20. That is, the control device 50 obtains the first perimeter information D1 of the field F from the positioning device 20 or the map information in the map information database 310.

[0038] When the tractor 10 is automatically driven, the tractor 10 calculates, for example, the first outer perimeter line D1 of the field F based on the first outer perimeter information D1 of the field F. L The first area D1 surrounded by AThe tractor 10 performs work while traveling along a travel route R1 that does not stray from the road. Note that the travel route R1 in the case of the tractor 10 is mainly a route that alternates between going straight and turning (180-degree turns), for example.

[0039] For example, if an operator performs work using automatic driving without realizing that there is an error in the first perimeter information D1 of the field F obtained from the positioning device 20 or map information, the operator may start work at a position that deviates from the actual work perimeter of the field F and continue work in a state that deviates from the travel route R (R1) that the operator was supposed to travel. If such a situation occurs, for example, an unworked area may occur within the field F, reducing work efficiency.

[0040] For this reason, the control device 50 acquires second perimeter information D2 of the field F from the travel route R2 acquired by the worker (driver) manually driving around the field F. The second perimeter information D2 of the field F includes the perimeter line (second perimeter line D2) that defines the outermost perimeter (work perimeter) of the field F where the tractor 10 works. L ) surrounded by (second area D2 A ) position, this outer perimeter line (second outer perimeter line D2 L ) surrounded by (second area D2 A ) and the area of ​​this perimeter (second perimeter D2 L ) surrounded by (second area D2 A ) shape (external shape).

[0041] The control device 50 compares the first perimeter information D1 with the second perimeter information D2. If the difference between the first perimeter information D1 and the second perimeter information D2 is equal to or greater than a predetermined value, the control device 50 performs control to prohibit automatic driving of the tractor 10. Note that a specific method for determining the difference between the first perimeter information D1 and the second perimeter information D2 will be described later using FIG. 5 etc.

[0042] With this configuration, automatic driving is prohibited when the difference between the first perimeter information D1 of the field F obtained from the positioning device 20 or the field map and the second perimeter information D2 of the field F obtained by manual driving by the worker (driver) is equal to or greater than a predetermined value, allowing the worker (driver) to recognize whether there is an error in the first perimeter information D1 and to prevent situations in which the worker (driver) continues working while deviating from the original driving route R (R1). This makes it possible to prevent a decrease in work efficiency.

[0043] 3, when obstacles Ob such as a water supply / drain outlet (water outlet) Ob1 or a utility pole Ob2 are present on the periphery of the field F (F1), the control device 50 (see FIG. 2) acquires second perimeter information D2 from a travel route R2 that avoids these obstacles Ob (Ob1, Ob2). In this way, the control device 50 can acquire the second perimeter information D2 as perimeter information that avoids the obstacles Ob in the field F.

[0044] With this configuration, if there are obstacles Ob, such as a water supply / drain outlet (water outlet) Ob1 or a utility pole Ob2, on the work perimeter within the field F (F1), the second perimeter information D2 can be obtained from a travel route R2 that avoids these obstacles Ob (Ob1, Ob2). If there are many obstacles Ob, the second perimeter information D2 will be obtained from a travel route R2 that avoids many of the obstacles Ob. In this case, the second perimeter information D2 is likely to differ greatly from the first perimeter information D1. For this reason, in a field F where there are many obstacles Ob on the work perimeter within the field F, automatic driving is automatically prohibited at least on the work perimeter. This makes it possible to avoid unreasonable automatic driving.

[0045] 3, if there is an obstacle Ob such as a steel tower Ob3 in the field F (F2) that is a non-work area where work cannot be performed, the second perimeter information D2 avoids this obstacle Ob (Ob3). Also, if there is an obstacle Ob in the field F where a worker or the like is moving, the second perimeter information D2 avoids this obstacle Ob.

[0046] 5 to 7 are explanatory diagrams of a method for determining the difference between the first outer perimeter information D1 and the second outer perimeter information D2. As shown in FIG. 5, in the first determination method, when determining whether to permit or prohibit (prohibit) the automatic driving of the tractor 10, the control device 50 (see FIG. 2) determines whether the first outer perimeter D1 in the first outer perimeter information D1 is L The first area D1 surrounded by A and the second outer perimeter D2 in the second outer perimeter information D2 L The second area D2 surrounded by A The position is judged by the difference between the

[0047] In the first determination method, the first region D1 A and the second region D2 A and the corresponding corner D1 P (D1 P1 ~D1 P4 ),D2 P (D2 P1 ~D2 P4 The control device 50 determines the position difference of the corresponding corner D1 P ,D2 P If the distance W1 between them is a predetermined distance (for example, 1 meter), it is determined that there is a difference equal to or greater than a predetermined value.

[0048] As shown in FIG. 5, in the first determination method, the corresponding first outer circumferential line D1 L (D1 L1 ~D1 L4 ) and the second outer perimeter line D2 L (D2 L1 ~D2 L4 ) is a predetermined distance (for example, 1 meter), it may be determined that there is a difference equal to or greater than a predetermined value.

[0049] According to this configuration, the perimeter information of the field F (first perimeter information D1, second perimeter information D2) is the perimeter line (first perimeter line D1 L , Second outer perimeter line D2 L ) surrounded by (first area D1 A , second area D2 A ) Corner D1 P ,D2 PBy locating the corner D1 at this position, the difference between the first circumference information D1 and the second circumference information D2 becomes clear. This allows for reliable determination of differences between the two pieces of circumference information (first circumference information D1, second circumference information D2). P ,D2 P By determining the difference in position, it is possible to reliably identify the field F to be worked on, even if there is a change in the field, such as merging adjacent fields F, as in the case of land merging.

[0050] As shown in FIG. 6, in the second determination method, when determining whether to permit or prohibit (prohibit) the automatic driving of the tractor 10, the control device 50 (see FIG. 2) determines whether the first area D1 in the first outer periphery information D1 is A and the area of ​​the second region D2 in the second outer perimeter information D2 A The difference between the area of ​​the

[0051] The example shown in Figure 6 is a case where the field F for which the second perimeter information D2 has been acquired is a composite of three fields F (fields F1 to F3) in the first perimeter information D1. The example shown in Figure 6 may occur, for example, when the map information stored in the map information database 310 (see Figure 2) is outdated and has not been updated to the latest information.

[0052] According to this configuration, the perimeter information of the field F (first perimeter information D1, second perimeter information D2) is the perimeter line (first perimeter line D1 L , Second outer perimeter line D2 L ) surrounded by (first area D1 A , second area D2 A ), the difference between the first perimeter information D1 and the second perimeter information D2 becomes clear. This makes it possible to reliably determine if there is a difference between the two pieces of perimeter information (first perimeter information D1, second perimeter information D2). Furthermore, by making a determination based on the difference in area, it is possible to reliably identify the field F to be worked on, even if there has been a change in the field, such as the merging of adjacent fields F (for example, fields F1 to F3), as in the case of land joining.

[0053] As shown in FIG. 7, in the third determination method, when determining whether to permit or prohibit (prohibit) the automatic driving of the tractor 10, the control device 50 (see FIG. 2) determines whether the first area D1 in the first outer periphery information D1 is A and the second area D2 in the second outer circumference information D2 A It is judged by the difference in shape (external shape).

[0054] The example shown in Figure 7 is a case where the field F for which the second perimeter information D2 has been acquired is a composite of two fields F (fields F1 and F2) in the first perimeter information D1. As with the above, the example shown in Figure 7 can occur when, for example, the map information stored in the map information database 310 (see Figure 2) is outdated and has not been updated to the latest information.

[0055] According to this configuration, the perimeter information of the field F (first perimeter information D1, second perimeter information D2) is the perimeter line (first perimeter line D1 L , Second outer perimeter line D2 L ) surrounded by (first area D1 A , second area D2 A ), the difference between the first perimeter information D1 and the second perimeter information D2 becomes clear. This makes it possible to reliably determine if there is a difference between the two pieces of perimeter information (first perimeter information D1, second perimeter information D2). Furthermore, by determining based on the difference in shape (outline), it is possible to reliably identify the field F to be worked on, even if there is a change in the field, such as merging adjacent fields F (for example, fields F1 and F2), as in the case of land joining.

[0056] 2 to 4, when the difference between the first outer perimeter information D1 and the second outer perimeter information D2 is equal to or greater than a predetermined value, the control device 50 may perform control to permit automatic driving of the tractor 10 only inside the outer perimeter (outer perimeter region) of the field F in the first outer perimeter information D1, for example, the inner perimeter region shown by diagonal lines in Fig. 4. The control device 50 performs control to prohibit automatic driving of the tractor 10 in the outer perimeter (outer perimeter region) of the field F in the first outer perimeter information D1.

[0057] According to this configuration, automatic driving is permitted only inside the work perimeter of the field F, where the impact on work is relatively small even if there is a deviation in the first perimeter information D1, so that the operator (driver) can recognize whether there is an error in the first perimeter information D1 from the driving mode in which the tractor 10 does not automatically drive around the perimeter of the field F, and can continue work in an area where the impact of the deviation is small even if the tractor deviates from the driving route R (R1) that it was originally supposed to travel. This makes it possible to prevent a decrease in work efficiency.

[0058] When the control device 50 permits automatic driving of the tractor 10 only inside the area that does not include the periphery (peripheral region) of the field F in the first periphery information D1, the control device 50 may, for example, generate a new travel route that is spaced apart from the periphery (peripheral region) of the field F in the first periphery information D1 by the left-right width (working width) of the work implement 12. This makes it possible to obtain a travel route that does not interfere with the periphery (peripheral region) of the field F in the first periphery information D1. Furthermore, by making necessary corrections when generating a new travel route, the control device 50 can, for example, in the case of tilling work, enable efficient tilling with less double tilling.

[0059] Furthermore, when the control device 50 allows the tractor 10 to operate automatically only inside the first perimeter information D1, excluding the perimeter (perimeter area) of the field F, for example, in the case of tilling work, it may generate multiple plowing routes using the same perimeter plowing method as the outermost perimeter, and generate adjacent plowing routes further inside these perimeter plowing routes. This allows for simplification of the adjacent plowing routes, since at least the adjacent plowing routes have a simple shape.

[0060] Furthermore, when the control device 50 permits the tractor 10 to automatically drive only inside the first perimeter information D1, excluding the perimeter (perimeter area) of the field F, the control device 50 may use, for example, a driving route R1 generated based on field information acquired from the positioning device 20 (see FIG. 1) or map information. This allows the tractor 10 to utilize its own inherent automatic driving control.

[0061] In addition, in the case of plowing work, for example, the control device 50 controls the distance from the plowing end point to the entrance / exit F of the field F. IN / OUT The tilling route up to the point (see FIG. 3) may be generated as a route that does not travel diagonally through the field F. This will result in a route that does not disturb the field where tilling work has already been done.

[0062] In addition, in the case of plowing work, for example, the control device 50 controls the distance from the plowing end point to the entrance / exit F of the field F. IN / OUT (See FIG. 3) through the tilling path to the entrance F for the tractor 10 to enter and exit the field F. IN / OUT Near this entrance F IN / OUT This allows the tractor 10 to approach the upwardly inclined entrance / exit F IN / OUT In this case, the tractor 10 can be prevented from tipping over due to entering the entrance / exit F at an angle. IN / OUT Near this entrance F IN / OUT It is even more preferable that the route be one in which the direction of the slope is parallel to the front-rear direction of the tractor 10.

[0063] In addition, in the case of plowing work, for example, the control device 50 controls the distance from the plowing end point to the entrance / exit F of the field F. IN / OUT (See Figure 3) When plowing along a new plowing path, IN / OUT After plowing to the vicinity of the entrance F, the tractor 10 may be controlled to stop the PTO output with the implement 12 (see FIG. 1) lowered. IN / OUT This can prevent mud and the like from falling from the work machine 12 operating nearby.

[0064] 2 to 4, the control device 50 may perform control to permit automatic driving of the tractor 10 when the difference between the first perimeter information D1 and the second perimeter information D2 is equal to or greater than a predetermined value and when a factor that causes the difference between the first perimeter information D1 and the second perimeter information D2 to be equal to or greater than a predetermined value meets a predetermined condition. The control device 50 performs control to prohibit automatic driving of the tractor 10 when the factor that causes the difference between the first perimeter information D1 and the second perimeter information D2 to be equal to or greater than a predetermined value does not meet a predetermined condition.

[0065] With this configuration, automatic driving is prohibited when the difference between the first perimeter information D1 and the second perimeter information D2 is greater than or equal to a predetermined value. This allows the operator (driver) to recognize whether there is an error in the first perimeter information D1 and prevents situations in which the operator continues work while deviating from the intended travel route R (R1). This reduces a decrease in work efficiency. Furthermore, automatic driving is permitted when certain conditions are met that cause the difference between the first perimeter information D1 and the second perimeter information D2 to be greater than or equal to a predetermined value. This makes it possible to continue work by automatic driving as usual in fields F where the difference between the first perimeter information D1 and the second perimeter information D2 is likely to be large. This reduces a decrease in work efficiency.

[0066] Here, the above-mentioned predetermined conditions include a first condition, a second condition, and a third condition. The first condition is when the field F is a field with an unusual shape, such as a field that is not rectangular, and is registered in advance as a field to be excluded from the prohibition of automatic driving of the tractor 10. The second condition is when the field F has an area within it where work needs to be avoided due to the shape or function of the work implement 12 (see FIG. 1) performing work within the field F, and is registered in advance as a field to be excluded from the prohibition of automatic driving of the tractor 10.

[0067] With this configuration, fields F that are likely to have a large difference between the first perimeter information D1 and the second perimeter information D2 because they have a special shape or there are areas within the field F where work by the work implement 12 needs to be avoided can be excluded from the prohibition of automatic driving, making it possible to continue work by automatic driving as usual on such fields F.

[0068] The third condition is when the second perimeter information D2 indicates a travel route R2 that avoids an obstacle Ob (see FIG. 3). Note that the control device 50 can determine that the second perimeter information D2 satisfies the third condition based on an unnatural curve in the travel route R2, for example.

[0069] With this configuration, fields F where the difference between the first perimeter information D1 and the second perimeter information D2 has become large due to avoiding an obstacle Ob within the field F can be excluded from the prohibition of automatic driving, making it possible to continue work by automatic driving as usual for such fields F.

[0070] <Power supply configuration for work vehicles> Next, the power supply configuration of the work vehicle 10 according to the embodiment will be described with reference to Fig. 8. Fig. 8 is a block diagram showing an example of the power supply configuration of the work vehicle 10 according to the embodiment.

[0071] In a tractor 10, which is a work vehicle according to this embodiment, a positioning device (GNSS positioning device) 20 is capable of receiving correction signals distributed from artificial satellites 30 (see FIG. 1) using the PPP-RTK method. The PPP-RTK method has the characteristics of both the RTK (Real Time Kinematic) method, which enables high-precision positioning using data from nearby base stations, and the PPP (Precise Point Positioning) method, which enables high-precision positioning independently without using data from base stations; it does not require a nearby base station, has a short convergence time, and has high convergence accuracy.

[0072] For example, in a service in which correction signals are distributed from artificial satellites using the PPP method, base stations are not required, and correction signals can be received from artificial satellites 30 in the same way as with differential GNSS. However, it takes about 20 minutes to determine the vehicle's own position (convergence time), which means that it takes time from turning on the power to the tractor 10 until high-precision positioning can be used.

[0073] As shown in Figure 8, the tractor 10 includes, as the positioning device 20, a receiver 21 such as a GNSS receiver, a switching device 22 with a built-in capacitor, a backup power supply device 23, and a charging device 24. In this way, the tractor 10 is configured to back up the power supply for the signal receiver 21 as needed after its own position has been determined by high-precision positioning. Since power is supplied to the receiver 21 by the backup power supply device 23 after the tractor 10's own position has been determined, the state in which its own position has been determined can continue even if the tractor 10 is powered off during a break or other such event, and the high-precision positioning information can be used immediately when work is resumed.

[0074] The tractor 10 is also configured to monitor the voltage of the power supply line on the vehicle (tractor 10), and when power is supplied from the vehicle (tractor 10), the power supply on the vehicle (tractor 10) is used to supply power to the receiver. In this way, by utilizing the power supply on the vehicle (tractor 10) when it is available, the capacity of the backup power supply can be reduced.

[0075] Furthermore, in the tractor 10, when the power supply on the vehicle (tractor 10) side is started, the control device 50 (see FIG. 2) checks whether the receiver 21 is in a high-accuracy reception state, and if the receiver's own position is not in a confirmed state, it does not permit the start of automatic driving of the tractor 10 until the confirmed state is received. If high-accuracy reception is achieved, the receiver will basically continue to be in a high-accuracy reception state thereafter, but if the battery of the backup power supply device 23 runs out, for example, the high-accuracy reception state cannot be maintained. Therefore, checking the confirmed state of the receiver's own position can be used to determine whether automatic driving, etc. should be permitted or not permitted (prohibited).

[0076] The tractor 10 is also configured to include a capacitor (switching device 22) in the power line of the receiver 21 that provides power supplementation in the event of a momentary power outage, so that when the power to the tractor 10 is cut off, the capacitor provides power supplementation for a short period of time while the tractor 10 switches to a backup power source. In this way, the capacitor built into the switching device 22 provides power supplementation in the event of a momentary power outage, so that the power supply to the receiver 21 can be continued.

[0077] In addition, the tractor 10 is equipped with a charging device 24 such as a solar cell that can externally charge the battery of the backup power supply device 23, so that the battery can be charged by sunlight or other means during agricultural work, making it less likely to run out of power.

[0078] According to the embodiment described above, the following work vehicle 10 is realized.

[0079] (1) A work vehicle 10 capable of autonomous driving within a field F based on its own position measured by a positioning device 20, having a control device 50 that acquires first perimeter information D1 of the field F from the positioning device 20 or a field map having field information including the shape of the field F, and the control device 50 acquires second perimeter information D2 of the field F from a driving route R2 that circles the field F while being manually driven by a worker, compares the first perimeter information D1 with the second perimeter information D2, and prohibits autonomous driving if the difference between the first perimeter information D1 and the second perimeter information D2 is greater than or equal to a predetermined value.

[0080] With this type of work vehicle 10, automatic driving is prohibited when the difference between the first perimeter information D1 of the field F obtained from the positioning device 20 or the field map and the second perimeter information D2 of the field F obtained by manual driving by the worker (driver) is equal to or greater than a predetermined value, allowing the worker (driver) to recognize whether or not there is an error in the first perimeter information D1 and preventing a situation in which the worker (driver) continues work while deviating from the driving route R (R1) that should have been traveled. This makes it possible to prevent a decrease in work efficiency.

[0081] (2) A work vehicle 10 capable of autonomous driving within a field F based on its own position measured by a positioning device 20, having a control device 50 that acquires first perimeter information D1 of the field from the positioning device 20 or a field map having field information including the shape of the field F, and the control device 50 acquires second perimeter information D2 of the field F from a driving route R2 that circles the field F while being manually driven by a worker, compares the first perimeter information D1 with the second perimeter information D2, and if the difference between the first perimeter information D1 and the second perimeter information D2 is equal to or greater than a predetermined value, allows autonomous driving only within the inside of the field F that does not include the perimeter of the field F in the first perimeter information D1.

[0082] With this type of work vehicle 10, when the difference between the first perimeter information D1 of the field F obtained from the positioning device 20 or the field map and the second perimeter information D2 of the field F obtained by manual driving by the driver is equal to or greater than a predetermined value, automatic driving is permitted only inside the work perimeter of the field F, which does not include the work perimeter, where the impact on work is relatively small even if there is a discrepancy in the first perimeter information D1. This allows the worker (driver) to recognize whether there is an error in the first perimeter information D1 from the driving mode of the work vehicle 10 not automatically driving around the perimeter of the field F, and allows the worker (driver) to continue work in an area where the impact of the discrepancy is small, even if the work vehicle 10 deviates from the driving route R (R1) that it was originally supposed to travel. This makes it possible to prevent a decrease in work efficiency.

[0083] (3) A work vehicle 10 capable of autonomous driving within a field F based on its own position measured by a positioning device 20, and having a control device 50 that acquires first perimeter information D1 of the field F from the positioning device 20 or a field map having field information including the shape of the field F, and the control device 50 acquires second perimeter information D2 of the field F from a driving route R2 that circumnavigates the field F while being manually driven by a worker, compares the first perimeter information D1 with the second perimeter information D2, and when the difference between the first perimeter information D1 and the second perimeter information D2 is greater than or equal to a predetermined value, allows autonomous driving if the factors that cause the difference between the first perimeter information D1 and the second perimeter information D2 to be greater than or equal to the predetermined value meet predetermined conditions, and prohibits autonomous driving if the factors that cause the difference between the first perimeter information D1 and the second perimeter information D2 to be greater than or equal to the predetermined value do not meet predetermined conditions.

[0084] According to this type of work vehicle 10, automatic driving is prohibited when the difference between the first perimeter information D1 of the field F obtained from the positioning device 20 or the field map and the second perimeter information D2 of the field F obtained by the driver's manual driving is equal to or greater than a predetermined value. This allows the worker (driver) to recognize whether there is an error in the first perimeter information D1 and prevents a situation in which the worker continues work while deviating from the intended driving route R (R1). This prevents a decrease in work efficiency. Furthermore, automatic driving is permitted when certain conditions are met that cause the difference between the first perimeter information D1 and the second perimeter information D2 to be equal to or greater than a predetermined value. This makes it possible to continue work by automatic driving as usual in fields F where the difference between the first perimeter information D1 and the second perimeter information D2 is likely to be large. This prevents a decrease in work efficiency.

[0085] (4) In (3) above, the specified conditions include a first condition that the field F is a field of a special shape and has been registered in advance as a field to be excluded from the prohibition of automatic driving, and a second condition that the field F has an area within it where work needs to be avoided due to the shape or function of the work implement 12 performing work within the field F and has been registered in advance as a field to be excluded from the prohibition of automatic driving, for the work vehicle 10.

[0086] In addition to the effect of (3) above, such a work vehicle 10 can exclude from the prohibition of automatic driving fields F where the difference between the first perimeter information D1 and the second perimeter information D2 is likely to be large because the field F has a special shape or there are areas within the field F where work by the work implement 12 needs to be avoided, making it possible to continue work by automatic driving as usual on such fields F.

[0087] (5) In any of (1) to (4) above, the control device 50 acquires the second perimeter information D2 from a travel route R2 that circumnavigates the field F while being manually driven by a worker, and that avoids an obstacle Ob if an obstacle Ob is present in the field F.

[0088] In addition to any of the effects (1) to (4) above, with this work vehicle 10, if there are obstacles Ob, such as a water supply / drain outlet (water outlet) Ob1 or a utility pole Ob2, on the work perimeter within the field F, the second perimeter information D2 can be acquired from a travel route R2 that avoids these obstacles Ob (Ob1, Ob2). If there are many obstacles Ob, the second perimeter information D2 will be acquired from a travel route R2 that avoids many of the obstacles Ob. In this case, the second perimeter information D2 is likely to differ greatly from the first perimeter information D1. For this reason, in a field F where there are many obstacles Ob on the work perimeter within the field F, automatic driving is automatically prohibited at least on the work perimeter. This makes it possible to avoid unreasonable automatic driving.

[0089] (6) In the above (3) or (4), the control device 50 acquires the second perimeter information from a driving route R2 that circumnavigates a field F while being manually driven by an operator, and that avoids an obstacle Ob if the obstacle Ob is present in the field F, and the predetermined condition includes a third condition that the second perimeter information D2 is the driving route R2 that avoids the obstacle Ob.

[0090] With such a work vehicle 10, in addition to the effects of (3) or (4) above, it is possible to exclude from the prohibition of automatic driving a field F in which the difference between the first perimeter information D1 and the second perimeter information D2 has become large due to avoiding an obstacle Ob within the field F, and therefore it is possible to continue work by automatic driving as usual for such a field F.

[0091] (7) In any of the above (1) to (3), the first outer perimeter information D1 and the second outer perimeter information D2 are each an outer perimeter line (first outer perimeter line D1 L , Second outer perimeter line D2 L ) surrounded by (first area D1 A , second area D2 A ) including an area of ​​10 work vehicles.

[0092] In addition to the effects of any one of (1) to (3) above, the work vehicle 10 has the following advantages: the perimeter information of the field F (first perimeter information D1, second perimeter information D2) is a perimeter line (first perimeter line D1 L , Second outer perimeter line D2 L ) surrounded by (first area D1 A , second area D2 A ), the difference between the first perimeter information D1 and the second perimeter information D2 becomes clear. This makes it possible to reliably determine if there is a difference between the two pieces of perimeter information (first perimeter information D1, second perimeter information D2). Furthermore, by making a determination based on the difference in area, it is possible to reliably identify the field F to be worked on, even if there has been a change in the field, such as the merging of adjacent fields F (for example, fields F1 to F3), as in the case of land joining.

[0093] (8) In any of the above (1) to (3), the first outer perimeter information D1 and the second outer perimeter information D2 are each an outer perimeter line (first outer perimeter line D1 L , Second outer perimeter line D2 L ) surrounded by (first area D1 A , second area D2 A ) Corner D1 P ,D2 P a work vehicle 10, including the location of the work vehicle;

[0094] In addition to the effects of any one of (1) to (3) above, the work vehicle 10 has the following advantages: the perimeter information of the field F (first perimeter information D1, second perimeter information D2) is a perimeter line (first perimeter line D1 L , Second outer perimeter line D2 L ) surrounded by (first area D1 A , second area D2 A ) Corner D1 P ,D2 P By locating the corner D1 at this position, the difference between the first circumference information D1 and the second circumference information D2 becomes clear. This allows for reliable determination of differences between the two pieces of circumference information (first circumference information D1, second circumference information D2). P ,D2 PBy determining the difference in position, it is possible to reliably identify the field F to be worked on, even if there is a change in the field, such as merging adjacent fields F, as in the case of land merging.

[0095] <Additional Notes> (1) A work vehicle capable of automatic driving in a field based on its own position measured by a positioning device, a control device that acquires first perimeter information of the field from the positioning device or a field map having field information including a shape of the field, the control device acquires second perimeter information of the field from a travel route around the field that is manually driven by an operator, compares the first perimeter information with the second perimeter information, and prohibits automatic driving when a difference between the first perimeter information and the second perimeter information is equal to or greater than a predetermined value. A work vehicle characterized by: (2) A work vehicle capable of automatic driving in a field based on its own position measured by a positioning device, a control device that acquires first perimeter information of the field from the positioning device or a field map having field information including a shape of the field, the control device acquires second perimeter information of the field from a travel route around the field that is manually driven by an operator, compares the first perimeter information with the second perimeter information, and, if a difference between the first perimeter information and the second perimeter information is equal to or greater than a predetermined value, permits automatic driving only inside the first perimeter information that does not include the perimeter of the field. A work vehicle characterized by: (3) A work vehicle capable of automatic driving in a field based on its own position measured by a positioning device, a control device that acquires first perimeter information of the field from the positioning device or a field map having field information including a shape of the field, The control device acquires second perimeter information of the field from a travel route around the field that is manually driven by an operator, compares the first perimeter information with the second perimeter information, and permits automatic driving if a difference between the first perimeter information and the second perimeter information is equal to or greater than a predetermined value and if a factor that causes the difference between the first perimeter information and the second perimeter information to be equal to or greater than the predetermined value meets a predetermined condition, and prohibits automatic driving if a factor that causes the difference between the first perimeter information and the second perimeter information to be equal to or greater than the predetermined value meets the predetermined condition. A work vehicle characterized by: (4) The predetermined conditions include a first condition that the field is a field of a special shape and is registered in advance as a field to be excluded from the prohibition of automatic driving, and a second condition that the field has an area within it where work needs to be avoided due to the shape or function of a work machine performing work within the field and is registered in advance as a field to be excluded from the prohibition of automatic driving. The work vehicle according to (3) above, characterized in that (5) the control device acquires the second perimeter information from a travel route that circumnavigates the field while being manually driven by an operator, and that avoids an obstacle when the obstacle is present in the field. The work vehicle according to any one of (1) to (4) above, characterized in that: (6) the control device acquires the second perimeter information from a travel route that circumnavigates the field while being manually driven by an operator, and that avoids an obstacle when the obstacle is present in the field; the predetermined condition includes a third condition that the second perimeter information is a travel route that avoids the obstacle. The work vehicle according to (3) or (4) above, characterized in that: (7) the first perimeter information and the second perimeter information each include an area of ​​a region surrounded by a perimeter line; The work vehicle according to any one of (1) to (6) above, characterized in that: (8) the first perimeter information and the second perimeter information each include positions of corners of an area surrounded by a perimeter line; The work vehicle according to any one of (1) to (6) above, characterized in that:

[0096] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0097] 10 Work vehicles (tractors) 12 Work equipment 20 Positioning device 50 Control device D1 First Outer Circle Information D1 A Area (first area) D1 L Outer Line (First Outer Line) D1 P Corner D2 2nd outer circumference information D2 A Area (second area) D2 L Outer Line (Second Outer Line) D2 P Corner F field Obstacle R Travel route R1 driving route R2 driving route

Claims

1. A work vehicle capable of automatic driving in a field based on its own position measured by a positioning device, a control device that acquires first perimeter information of the field from the positioning device or a field map having field information including a shape of the field, the control device acquires second perimeter information of the field from a travel route around the field that is manually driven by an operator, compares the first perimeter information with the second perimeter information, and prohibits automatic driving when a difference between the first perimeter information and the second perimeter information is equal to or greater than a predetermined value. A work vehicle characterized by:

2. A work vehicle capable of automatic driving in a field based on its own position measured by a positioning device, a control device that acquires first perimeter information of the field from the positioning device or a field map having field information including a shape of the field, the control device acquires second perimeter information of the field from a travel route around the field that is manually driven by an operator, compares the first perimeter information with the second perimeter information, and, if a difference between the first perimeter information and the second perimeter information is equal to or greater than a predetermined value, permits automatic driving only inside the first perimeter information that does not include the perimeter of the field. A work vehicle characterized by:

3. A work vehicle capable of automatic driving in a field based on its own position measured by a positioning device, a control device that acquires first perimeter information of the field from the positioning device or a field map having field information including a shape of the field, The control device acquires second perimeter information of the field from a travel route around the field that is manually driven by an operator, compares the first perimeter information with the second perimeter information, and permits automatic driving if a difference between the first perimeter information and the second perimeter information is equal to or greater than a predetermined value and if a factor that causes the difference between the first perimeter information and the second perimeter information to be equal to or greater than a predetermined value meets a predetermined condition, and prohibits automatic driving if a factor that causes the difference between the first perimeter information and the second perimeter information to be equal to or greater than a predetermined value does not meet the predetermined condition. A work vehicle characterized by:

4. The predetermined conditions include a first condition that the field is a field of a special shape and is registered in advance as a field to be excluded from the prohibition of automatic driving, and a second condition that the field has an area within it where work needs to be avoided due to the shape or function of a work machine performing work within the field and is registered in advance as a field to be excluded from the prohibition of automatic driving.

4. The work vehicle according to claim 3.

5. the control device acquires the second perimeter information from a travel route that circumnavigates the field while being manually driven by an operator, and that avoids an obstacle when the obstacle is present in the field.

5. A work vehicle according to claim 1, wherein:

6. the control device acquires the second perimeter information from a travel route that circumnavigates the field while being manually driven by an operator, and that avoids an obstacle when the obstacle is present in the field; the predetermined condition includes a third condition that the second perimeter information is a travel route that avoids the obstacle.

5. A work vehicle according to claim 3 or 4.

7. the first perimeter information and the second perimeter information each include an area of ​​a region surrounded by a perimeter line; 4. A work vehicle according to claim 1, wherein the work vehicle is a work vehicle having a first and second shafts.

8. the first perimeter information and the second perimeter information each include positions of corners of an area surrounded by a perimeter line; 4. A work vehicle according to claim 1, wherein the work vehicle is a work vehicle having a first and second shafts.

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