Work vehicle and work support system

Abstract

To enhance the convenience in performing work with a work implement while automatically driving a work vehicle.SOLUTION: The work vehicle comprises a traveling device for driving a vehicle body equipped with a work implement, a steering device for steering the vehicle body, and a control device configured to control the traveling device and the steering device based on a work route for performing work in a work area of a field by the work implement, thereby automatically driving the vehicle body. The control device performs either first turning control or second turning control according to input information from an input device, where the first turning control turns the vehicle body by the traveling device and the steering device during automatic direction change of the vehicle body in a non-work area of the field based on the work route without permitting the traveling device to enter the work area, and the second turning control turns the vehicle body by the traveling device and the steering device while permitting the traveling device to enter the work area.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work vehicle that travels automatically while performing work using a work device, and a work assistance system that assists in said work. [Background technology]

[0002] For example, Patent Document 1 discloses an autonomous driving system that creates a work route for performing work using a work device equipped on a work vehicle while the work vehicle is autonomously driving, with an inner area in the center of a field and an outer area surrounding the inner area. In this autonomous driving system, when the work vehicle changes direction based on the work route, it turns to the left or right, or switches its steering direction and forward or backward traveling direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-81822 Summary of the Invention [Problem to be solved by the invention]

[0004] When a work vehicle changes direction based on a work route, if the wheels or other traveling devices turn or swerve so as not to enter the area to be worked on, the accuracy of the work in that area is ensured and it is convenient. However, when the space for turning is narrow, the work vehicle must swerve more frequently and the behavior of the work vehicle becomes complex, which lengthens the work time and consumes fuel or electricity to drive the work vehicle, which is inefficient and inconvenient.

[0005] In view of the above problems, the present invention aims to improve convenience when work is performed using a work device while a work vehicle is automatically traveling. [Means for solving the problem]

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

[0007] The work vehicle of the present invention includes a travel device that causes a vehicle body equipped with a working device to travel, a steering device that steers the vehicle body, and a control device that controls the travel device and the steering device based on a work route for performing work using the working device in a work area of ​​a field to automatically travel the vehicle body. The work assistance system of the present invention is a work assistance system that assists the work vehicle in performing work using the working device equipped on the work vehicle while automatically traveling in a field, and includes the work vehicle and the input device. The control device selects and executes either a first turning control that turns the vehicle body using the travel device and the steering device without allowing the travel device to enter the work area, or a second turning control that turns the vehicle body using the travel device and the steering device while allowing the travel device to enter the work area, in accordance with input information from the input device, during an automatic direction change that automatically changes the traveling direction of the vehicle body in a non-work area that is not a work target based on the work route. [Effects of the Invention]

[0008] According to the present invention, it is possible to improve convenience when a work vehicle performs work using a work implement while traveling in a field. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a configuration diagram of a work support system. [Figure 2] FIG. 2 is a diagram showing an example of a farm field map and a work route. [Figure 3] FIG. 10 is a diagram showing an example of a turning method selection screen. [Figure 4] FIG. 10 is a diagram illustrating an example of a work setting confirmation screen. [Figure 5] FIG. 10 is a diagram illustrating an example of an automatic driving guidance screen. [Figure 6A]10 is a flowchart showing an example of processing during automatic driving of a work vehicle. [Figure 6B] 6B is a flowchart continuing from FIG. 6A. [Figure 7] FIG. 10 is a diagram showing the work vehicle and work device immediately after work on the work line is completed. [Figure 8A] 10 is a diagram showing an example of a direction change state by a first turning control of a work vehicle when priority is given to central work accuracy. FIG. [Figure 8B] 10 is a diagram showing an example of a direction change state by a first turning control of a work vehicle when priority is given to central work accuracy. FIG. [Figure 8C] 10 is a diagram showing an example of a direction change state by a first turning control of a work vehicle when priority is given to central work accuracy. FIG. [Figure 8D] 10 is a diagram showing an example of a direction change state by a first turning control of a work vehicle when priority is given to central work accuracy. FIG. [Figure 8E] 10 is a diagram showing an example of a direction change state by a first turning control of a work vehicle when priority is given to central work accuracy. FIG. [Figure 8F] 10 is a diagram showing an example of a direction change state by a first turning control of a work vehicle when priority is given to central work accuracy. FIG. [Figure 9A] FIG. 10 is a diagram showing an example of a direction change state by the second turning control of the work vehicle when priority is given to headland work accuracy. [Figure 9B] FIG. 10 is a diagram showing an example of a direction change state by the second turning control of the work vehicle when priority is given to headland work accuracy. [Figure 9C] FIG. 10 is a diagram showing an example of a direction change state by the second turning control of the work vehicle when priority is given to headland work accuracy. [Figure 10] 10 is a diagram showing an example of a direction change state by first swing control of the work vehicle and the tow-type work implement when priority is given to central work accuracy. FIG. [Figure 11] FIG. 10 is a diagram showing an example of a direction change state by first swing control of the work vehicle and the towing-type work implement when priority is given to headland work accuracy. [Figure 12] FIG. 1 is a diagram illustrating an example of a work vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of the present invention will now be described with reference to the drawings. FIG. 12 is a side view showing an example of a work vehicle 1. The work vehicle 1 of this embodiment is configured as a tractor. However, the work vehicle of the present invention is not limited to a tractor, and may be configured as other agricultural machinery or work vehicles that can travel. The work vehicle 1 is capable of autonomous travel.

[0011] The work vehicle 1 comprises a vehicle body 3, a prime mover 4, a transmission 5, and a traveling device 7. A pair of traveling devices 7 are provided on the left and right sides and support the vehicle body 3. The traveling device 7 includes front wheels 7F, rear wheels 7R, a forward / reverse switching mechanism, a differential mechanism, etc. The front wheels 7F and rear wheels 7R are tire-type wheels, but may also be crawler-type wheels. The prime mover 4 is composed of a diesel engine, an electric motor, or the like. In this embodiment, the prime mover 4 is composed of a diesel engine. The transmission 5 is capable of switching the propulsive force of the traveling device 7 by changing gears, and can also switch the traveling device 7 between forward and reverse movement. The driving force of the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, which drives the traveling device 7, causing the vehicle body 3 to travel forward and backward (forward A1, backward A2).

[0012] A cabin 9 is provided on the vehicle body 3. A driver's seat 10 is provided inside the cabin 9. A lifting device 8 composed of a three-point linkage mechanism, a drawbar, or the like is provided at the rear of the vehicle body 3. A working device 2 for performing work can be connected to the lifting device 8. More specifically, the working device 2 can be connected to coupling parts 8g, 8h provided on the lifting device 8. By connecting the working device 2 to the coupling parts 8g, 8h, the working device 2 is mounted at the rear of the work vehicle 1.

[0013] The working device 2 performs work to cultivate crops in the open field. Examples of the working device 2 include a tilling device (rotary tiller) that tills the field, a spraying device that sprays fertilizer or water, a seeding device that sows crop seeds or seed potatoes, a hilling device (also called a "ridge making device") that hills the soil, a pest control device that sprays chemicals, or a harvesting device that harvests crops such as potatoes grown in the field.

[0014] The working device 2 is classified as a towed type working device that has wheels and is towed by the work vehicle 1 by being connected to the connecting parts 8g, 8h, and a supported type working vehicle that does not have wheels and is supported by the work vehicle 1 in a state where it is suspended above the ground by being connected to the connecting parts 8g, 8h. The working device 2 is classified as a height-variable working device that is lowered to a working position by the lifting device 8 when working and raised to a non-working position by the lifting device 8 when not working, and a fixed-height working device whose height from the ground when working and when not working is constant. The working device 2 is also classified as a working device that has an electronic control unit including a CPU and a working device that does not have an electronic control unit.

[0015] 1 is a configuration diagram of a work assistance system 100. The work assistance system 100 includes a work vehicle 1 and a work assistance device 50. The work assistance system 100 and the work assistance device 50 assist the work vehicle 1 in performing work using a work device 2 while traveling in a field.

[0016] In addition to the prime mover 4, transmission 5, and running gear 7 described above, the work vehicle 1 is equipped with a control device 60, braking device 6, steering device 29, lifting device 8, memory device 61, operating device 62, communication device 64, positioning device 40, internal sensor unit 65, and sensing device 66 shown in FIG. 1.

[0017] The control device 60 is made up of an ECU (Electronic Control Unit) that includes a processor such as a CPU (Central Processing Unit), internal memory, electrical circuits, etc. The internal memory of the control device 60 includes volatile memory and non-volatile memory. The control device 60 controls the operation of each part of the work vehicle 1 and the work implement 2 based on software programs and control data stored in the internal memory. In other words, the control device 60 is a controller for the work vehicle 1 and the work implement 2.

[0018] The storage device 61 includes a non-volatile memory, etc. Various data and information are stored in a readable and writable manner in the storage device 61. The operating device 62 is made up of switches, levers, pedals, other keys, etc. that can be operated by an operator such as a driver seated in the driver's seat 10 or a worker near the work vehicle 1.

[0019] The drive, stop, and rotation speed of the prime mover 4 are controlled by the control device 60. The transmission 5 changes the speed of the power of the prime mover 4 and transmits it to the traveling device 7. The braking device 6 brakes the work vehicle 1. The control device 60 controls the traveling device 7 via the transmission 5. In detail, the control device 60 controls the transmission 5 to switch the operating speed and operating direction of the traveling device 7, thereby changing the vehicle speed of the work vehicle 1 (body 3) and switching between forward and reverse travel of the work vehicle 1.

[0020] If the working apparatus 2 is equipped with an electronic control unit, the electronic control unit is electrically connected to an in-vehicle network established in the control device 60 and is able to communicate with the control device 60. The electronic control unit also controls the operation of each part of the working apparatus 2 based on work commands received from the control device 60, causes the working apparatus 2 to perform work, and transmits information or data indicating the status of each part of the working apparatus 2 to the control device 60. The control device 60 detects the status of the working apparatus 2 based on the information or data received from the working apparatus 2.

[0021] If the work device 2 is not equipped with an electronic control unit, the control device 60 starts and stops work by the work device 2 by raising and lowering the work device 2 using the lifting device 8 and changing the position of the work device 2, and detects the position and state of the work device 2.

[0022] The steering device 29 includes a steering shaft and a power steering mechanism, and steers the vehicle body 3 by changing the direction of the front wheels 7F included in the traveling device 7. The work vehicle 1 is capable of manual steering, in which the steering device 29 steers the vehicle body 3 in response to operation of a steering wheel provided in the cabin 9, and automatic steering, in which the control device 60 controls the steering device 29 to steer the vehicle body 3.

[0023] Furthermore, the work vehicle 1 can travel and stop by operating the transmission 5, the traveling device 7, or the braking device 6 in response to manual operation of the accelerator member or brake pedal provided on the operating device 62. Furthermore, the travelling device 7 is operated or stopped in response to control of the transmission 5 and the braking device 6 by the control device 60, so that the work vehicle 1 can automatically travel, stop, and change vehicle speed.

[0024] That is, the work vehicle 1 is capable of manual driving, in which the operator performs driving and steering operations; automatic driving, in which the control device 60 automatically performs driving and steering (this refers to "autonomous driving" or "automatic driving"); and automatic steering, in which the control device 60 automatically performs steering and the operator performs driving operations.

[0025] The lifting device 8 includes a control valve and a hydraulic actuator. The control device 60 electrically controls the switching position or opening of the control valve to adjust the hydraulic pressure supplied to the hydraulic actuator of the lifting device 8, thereby operating the hydraulic actuator. When the hydraulic actuator of the lifting device 8 operates, the connecting parts 8g and 8h rotate up and down, and the working device 2 connected to the connecting parts 8g and 8h moves up and down.

[0026] The communication device 64 is a communication interface for the work vehicle 1 and includes a communication circuit for an in-vehicle network established in the work vehicle 1 and a communication circuit for a public network. The control device 60 communicates wirelessly with the work assistance device 50 via the communication device 64. The control device 60 also communicates wirelessly with external devices such as a server 80 via a public communication network such as the Internet. In other words, the communication device 64 is an output device (output interface) and an input device (input interface) that inputs and outputs (transmits and receives) information, data, signals, etc. to and from the work assistance device 50 and the server 80. The server 80 is an external device and information management device that manages various types of information related to the field, the work vehicle 1, and the work device 2.

[0027] The positioning device 40 measures the position (current position) of the body 3 of the work vehicle 1 using a satellite positioning system such as a GPS (Global Positioning System). The positioning device 40 has an inertial measurement unit (IMU) that includes an acceleration sensor, a gyro sensor, etc. The positioning device 40 detects the roll angle, pitch angle, yaw angle, etc. of the body 3 using the inertial measurement unit.

[0028] The internal sensor unit 65 includes multiple sensors installed in various parts of the work vehicle 1 and the work implement 2. Based on output signals from the multiple sensors of the internal sensor unit 65, the control device 60 detects the status (driving and stopped status, attitude, position, etc.) of the transmission 5, braking device 6, traveling device 7, lifting device 8, steering device 29, operating device 62, and work implement 2.

[0029] The sensing device (also referred to as the "external sensor unit") 66 includes a laser sensor such as LiDAR, an ultrasonic sensor, a camera, etc. An appropriate number of such laser sensors, ultrasonic sensors, cameras, etc. are installed at the front, rear, left and right sides of the vehicle body 3, and above the cabin 9. The sensing device 66 senses the surroundings of the work vehicle 1 and work implement 2 using the laser sensors, ultrasonic sensors, cameras, etc. to detect the presence or absence of an object and the distance to the object, etc. The sensing device 66 also outputs the detection information obtained by sensing to the control device 60 as sensing information.

[0030] The work support device 50 is configured from a portable information processing device (computer) such as a tablet terminal device or a smartphone. The work support device 50 is mounted, for example, inside the cabin 9 of the work vehicle 1, and is detachable from the work vehicle 1. In other words, the work vehicle 1 and the work support system 100 are equipped with the work support device 50. The operator can detach the work support device 50 from the work vehicle 1 and carry it with him.

[0031] The work support device 50 is equipped with a control device 51, a display / operation device 52, a storage device 53, and a communication device 54. The control device 51 is a processor such as a CPU, and includes an internal memory. The internal memory of the control device 51 includes a volatile memory and a non-volatile memory. The control device 51 controls the operation of each part of the work support device 50 based on the software program and control data stored in the internal memory. In other words, the control device 51 is a controller of the work support device 50.

[0032] The display operation device 52 is composed of a touch panel display and displays various types of information on the screen. The operator performs predetermined operations on the display screen of the display operation device 52 to input various types of information or instructions. The display operation device 52 is a user interface and includes a display device, an output device (output interface), and an input device (input interface). Instead of the display operation device 52, independent display devices, output devices, and input devices may be provided in the work assistance device 50 or the work vehicle 1.

[0033] The storage device 53 is composed of non-volatile memory, etc. Information or data that supports the travel and work of the work vehicle 1 is stored in a readable and writable manner in the storage device 53. The control device 51 controls each part of the work support device 50 based on software programs, control data, etc. stored in the storage device 53 or internal memory.

[0034] The communication device 54 is a communication interface for the work support device 50 and includes a communication circuit. The control device 51 communicates wirelessly with the control device 60 of the work vehicle 1 via the communication device 54, and also communicates wirelessly with the server 80 via a public communication network such as the Internet. In other words, the communication device 54 is an input device (input interface) and an output device (output interface) that inputs and outputs (transmits and receives) information, data, signals, etc. to and from the work vehicle 1 and the server 80.

[0035] By the operator operating the display operation device 52, field information about the field, work information about work in the field, vehicle information about the work vehicle 1, and equipment information about the work equipment 2 are each input to the work support device 50. Alternatively, the field information, work information, vehicle information, and equipment information input by another information processing device are stored in the server 80, and the control device 51 receives the field information, work information, vehicle information, and equipment information from the server 80 via the communication device 54 and inputs (acquires) it into the work support device 50. The field information, work information, vehicle information, and equipment information input to the work support device 50 in this way is stored by the control device 51 in the storage device 53 or its internal memory.

[0036] The field information includes information indicating the field's identification information, position (coordinates), area, and a field map showing the field. The field map shows the outline of the field and various areas set in the field. The field's position, area, outline, and field map are created by the control device 51 or the like (or another information processing device) based on map information acquired from an external device, or based on multiple vehicle positions periodically measured by the positioning device 40 while the work vehicle 1 is traveling along the ridges in the field. In addition to the above, the field information may also include the use of the field, the crops to be cultivated, and a crop cultivation plan (schedule), etc.

[0037] Work information includes work information related to work that has been performed in the past in a field and work information related to work that is planned to be performed in the field. Work information related to past work includes work conditions, work history, usage status of work vehicles and work equipment, and work plans. Work information related to planned work includes work conditions, planned usage of work vehicles and work equipment, and work plans. Work information and field information are associated with each field.

[0038] The vehicle information includes information indicating the identification information, type, dimensions, specifications, etc. of the work vehicle 1. The vehicle information is also stored in the internal memory of the control device 60 of the work vehicle 1. The device information includes information indicating the identification information, type, dimensions, specifications, etc. of the work device 2. There are cases where the work device 2 is provided with a memory, and the device information is also stored in this memory.

[0039] Based on the field information, work information, vehicle information, and equipment information, the control device 51 creates a virtual planned work route for performing work in the work area using the work equipment 2 equipped on the work vehicle 1 while driving the work vehicle 1 in the field. Alternatively, a work route corresponding to the field and the work to be performed in the field is created by the work support device 50 or another external device and then stored in the server 80, and the control device 51 acquires (receives) this work route from the server 80 via the communication device 54. The control device 51 then displays a field map including the work route on the display operation device 52 and transmits it to the work vehicle 1 via the communication device 54.

[0040] The control device 60 of the work vehicle 1 controls the traveling device 7, steering device 29, etc. based on the work route received (acquired) from the work support device 50 by the communication device 64, causing the vehicle body 3 to travel in the field and performing work in the work area using the work device 2. The control device 60 also controls the traveling device 7, steering device 29, etc. based on the work route, and performs direction changes that change the direction of travel of the vehicle body 3 in non-work areas of the field that are not the target of work. In other words, the work vehicle 1 travels autonomously based on the work route.

[0041] Figure 2 is a diagram showing an example of a field map and a work route. The field map MP1 shown in Figure 2 shows the field outline H1, a central work area C1 set in the field, a headland E1, and a work route L1. Note that for convenience, a work vehicle 1 and a work implement 2 are shown in Figure 2, but normally the field map MP1 does not include information indicating the work vehicle 1 and the work implement 2.

[0042] The field outline H1 is rectangular and is composed of multiple (four) field sides H1a, H1b, H1c, and H1d. The central working area C1 is the working area where work is carried out by the work vehicle 1 and work implement 2, and is set in the center of the field. In the central working area C1, multiple ridges (shown by thick solid lines) are formed parallel to the working directions V1 and V2. For convenience, in Figure 2, only some of the ridges are labeled with the symbol "Ua." Hereinafter, they will be referred to as ridge Ua. The working directions V1 and V2 are directions parallel to the pre-designated reference field side H1b among the multiple field sides H1a, H1b, H1c, and H1d.

[0043] A headland E1 is defined at each end of the field on the south side (lower in Figure 2) and the north side (upper in Figure 2). A headland working area E1w and a non-working area E1n are defined in each headland E1. The headland working area E1w is an area where work is carried out automatically or manually by the work vehicle 1 and work implement 2. The non-working area E1n is an area outside the scope of work and where the work vehicle 1 and work implement 2 must change direction. In each headland working area E1w, multiple ridges Ua are formed perpendicular to the working directions V1, V2 and parallel to the longitudinal direction of the headland working area E1w. Crops are grown on the multiple ridges Ua in the central working area C1 and the headland working area E1w. Information indicating the positions of the multiple ridges Ua and information indicating the working directions V1, V2 are included in either the field information or the work information.

[0044] In the headland E1 on the northern side (upper in Figure 2), the headland working area E1w is surrounded by the field side H1a and the non-working area E1n. In the headland E1 on the southern side (lower in Figure 2), the headland working area E1w is surrounded by the field side H1c and the non-working area E1n. A non-working area E1n is interposed between the central working area C1 and each headland working area E1w. The width and area of ​​each headland E1 are set to be the same. Furthermore, the width and area of ​​each working area E1w are also set to be the same, and the width and area of ​​each non-working area E1n are also set to be the same.

[0045] When at least one of sowing and hilling work is performed by the work vehicle 1 and work implement 2 in the field corresponding to the field map MP1, the overall length from the front end of the work vehicle 1 to the rear end of the work implement 2 (seeding implement, hilling implement) is long, so it is necessary to secure a wide headland E1 in a direction parallel to the work directions V1, V2 as space for changing direction for the work vehicle 1 and work implement 2. However, for other work performed afterwards, the work vehicle 1 is equipped with work implement 2 that has a shorter overall length than the sowing implement and hilling implement, and so the overall length from the front end of the work vehicle 1 to the rear end of the work implement 2 is shorter, so there is no need to secure the entire headland E1 as space for changing direction.

[0046] Therefore, in this embodiment, a non-working area E1n is set up in part of the headland E1 as a space for changing direction, and the remaining part of the headland E1 is set up as a headland working area E1w, and ridges Ua are formed in the headland working area E1w and crops are planted therein, making effective use of the area.

[0047] The work route L1 (shown by a dashed line) is a work route for carrying out pest control work using a work vehicle 1 and a work device 2 consisting of a pest control device. The work route L1 includes multiple work lines L1a and multiple turning lines L1b.

[0048] The multiple work lines L1a are created in straight lines parallel to the work directions V1, V2 and are set in the central work area C1 at intervals corresponding to the working width of the work implement 2. The multiple work lines L1a are routes for the work vehicle 1 to perform pest control work using the work implement 2 while traveling in the work directions V1, V2. More specifically, the multiple work lines L1a are travel routes for the work vehicle 1 to move forward straight parallel to the work directions V1, V2 in order to perform pest control work using the work implement 2. A traveling direction is set for each of the multiple work lines L1a. In FIG. 2, arrows indicating the traveling direction are attached to the end points of each of the multiple work lines L1a.

[0049] As the work vehicle 1 travels along each work line L1a, the work device 2 performs pest control work on the crops grown in multiple ridges Ua (five ridges Ua on each side) on the left and right of each work line L1a. Furthermore, as the work vehicle 1 travels along each work line L1a, the left and right wheels of the traveling device 7 roll between the adjacent ridge Ua (shown by dashed lines) and the next adjacent ridge Ua (shown by thick solid lines) on the left and right of each work line L1a, respectively, and the vehicle body 3 passes over the adjacent ridge Ua. In other words, the two ridges Ua immediately to the left and right of each work line L1a pass between the left and right wheels of the work vehicle 1 (i.e., the wheelbase of the vehicle body 3). In this example, the work device 2 is a pest control device supported by the lifting device 8 at the rear of the work vehicle 1, and therefore does not land on the ground or come into contact with the ridges Ua.

[0050] The multiple turning lines L1b are set in the non-working area E1n. Each of the multiple turning lines L1b is drawn on an arc from the end point (tip of the arrow) of one work line L1a to the start point (end point without an arrow) of the next work line L1a. The multiple turning lines L1b are markers for changing the direction of the work vehicle 1 and work implement 2 when pest control work is stopped by the work implement 2, and also indicate the work order of the multiple work lines L1a.

[0051] That is, in reality, the work vehicle 1 does not change direction by turning along each turning line L1b. The work vehicle 1 changes direction by turning to the left or right, or by switching the steering direction and the forward or backward traveling direction, while avoiding objects near a position corresponding to each turning line L1b in the non-working area E1n based on sensing information from the sensing device 66. A traveling direction is set for each turning line L1b. In FIG. 2, an arrow indicating the traveling direction is attached to the end point of each turning line L1b.

[0052] As another example, the turning line L1b may be omitted from the work route L1. In this case, it is sufficient that information indicating the work order of the multiple work lines L1a is included in the information indicating the work route L1.

[0053] The control device 51 of the work support device 50 identifies the field contour H1, central work area C1, headland E1, headland work area E1w, non-work area E1n, and field map MP1 from the field information. The control device 51 also combines the field contour H1, central work area C1, headland E1, headland work area E1w, non-work area E1n, and work route L1 into the field map MP1.

[0054] 3 is a diagram showing an example of a turning method selection screen displayed on the display operation device 52 of the work support device 50. When the operator performs a predetermined operation on the display operation device 52, the control device 51 reads the display data stored in the storage device 53 and displays the turning method selection screen D1 on the display operation device 52. The same applies to other screens described later.

[0055] The turning method selection screen D1 is a screen for selecting a turning method when autonomously turning the work vehicle 1 based on the work route L1. The turning method selection screen D1 displays a plurality of turning selection keys B1, B2, B3 and a plurality of priority selection keys B4, B5, etc.

[0056] The multiple turning selection keys B1, B2, and B3 are keys for selecting a turning method related to the drive of the traveling device 7. The work vehicle 1 of this embodiment is capable of AD (auto brake disc) double speed turning, double speed turning, and 4WD (four-wheel drive) turning, and is therefore provided with an AD double speed key B1, double speed key B2, and 4WD key B3 corresponding to each turning method. When the operator taps any of the multiple turning selection keys B1, B2, and B3, the turning method corresponding to the operated turning selection key is selected, and the control device 51 marks only the turning selection key operated by the display operation device 52 with a mark indicating the selection. In FIG. 3, of the turning selection keys B1, B2, and B3, only the AD double speed key B1 is marked with a black circle, indicating that AD double speed turning has been selected.

[0057] The multiple priority selection keys B4, B5 are keys for selecting an area in which work accuracy (work quality) is prioritized over other areas. When the operator taps the center key B4 out of the multiple priority selection keys B4, B5, prioritizing work accuracy in the central working area C1 over work accuracy in the headland working area E1w of the field is selected, and the control device 51 uses the display operation device 52 to mark the center key B4 but not the headland key B5 to indicate this selection. Furthermore, when the center key B4 is tapped, center priority information indicating that work accuracy in the central working area C1 is prioritized over work accuracy in the headland working area E1w is input to the work support device 50 (and the work support system 100) via the display operation device 52. The center priority information also indicates that work accuracy in the headland working area E1w is not prioritized over work accuracy in the central working area C1. The center priority information also indicates that work accuracy is prioritized over work efficiency in the central working area C1.

[0058] When the operator taps the headland section key B5, it is selected to prioritize the work accuracy of the headland working area E1w over the work accuracy of the central working area C1, and the control device 51 uses the display operation device 52 to mark the headland section key B5 with a mark indicating this selection, but not the central section key B4. Furthermore, when the headland section key B5 is tapped, headland priority information indicating that the work accuracy of the headland working area E1w is prioritized over the work accuracy of the central working area C1 is input to the work support device 50 (and the work support system 100) via the display operation device 52. The headland priority information is also information indicating that the work accuracy of the central working area C1 is not prioritized over the work accuracy of the headland working area E1w. The headland priority information is also information indicating that work accuracy is prioritized over work efficiency in the headland working area E1w.

[0059] Before operating any of the keys B1 to B5, as shown in FIG. 3, the AD double speed key B1 is marked, indicating that AD double speed rotation is selected. Furthermore, the center key B4 is marked, indicating that priority is given to the work accuracy of the central working area C1. When the operator taps the Next key B9 on the rotation method selection screen D1, the control device 51 confirms the rotation method and the area in which work accuracy is prioritized selected on the rotation method selection screen D1, and stores the rotation information indicating the confirmed content in the internal memory or the storage device 53. That is, the rotation information includes the information indicating the rotation method described above and center priority information or headland priority information. Furthermore, the control device 51 displays a work setting confirmation screen on the display operation device 52 instead of the rotation method selection screen D1.

[0060] 4 is a diagram showing an example of the work setting confirmation screen D2. The work setting confirmation screen D2 is a screen for confirming settings for automatically driving (autonomous driving) the work vehicle 1 based on the work route L1 and performing work using the work device 2. The work setting confirmation screen D2 displays messages providing guidance for input operations, settings related to the drive, turning, and accuracy of the work vehicle 1, and multiple keys. The settings related to the drive of the work vehicle 1 show the engine rotation speed and vehicle speed during work. The settings related to the turning of the work vehicle 1 show the turning method and an area in which work accuracy is prioritized.

[0061] As a setting related to the accuracy of the work vehicle 1, line entry accuracy, which is the accuracy of the entry angle when the work vehicle 1 enters the work line L1a, is shown. For line entry accuracy, either "normal" or "high accuracy" can be selected. When "high accuracy" is selected for line entry accuracy, the steering of the work vehicle 1 is controlled so that the entry angle of the work vehicle 1 to the work line L1a is equal to or less than a first angle. When "normal" is selected for line entry accuracy, the steering of the work vehicle 1 is controlled so that the entry angle of the work vehicle 1 to the work line L1a is equal to or less than a second angle that is larger than the first angle θ1.

[0062] When the operator taps the accuracy setting key B13, a screen for changing the line entry accuracy is displayed on the display operation device 52. When the operator taps the drive setting key B11, a screen for changing the engine RPM and vehicle speed during work is displayed on the display operation device 52. When the operator taps the turning setting key B12, the turning method selection screen D1 described above is displayed on the display operation device 52, and the operator can change the turning method and the area in which work accuracy is prioritized.

[0063] When the operator taps the Next key B9 on the work setting confirmation screen D2, the control device 51 includes information indicating the content displayed on the work setting confirmation screen D2 in the work information, and transmits the work information, the corresponding field information, work route L1, equipment information, etc. to the work vehicle 1 via the communication device 54 as work control information for automatic driving (autonomous traveling). The control device 51 also stores the work control information in its internal memory or the storage device 53. The control device 51 also displays an automatic driving guidance screen on the display operation device 52 instead of the work setting confirmation screen D2.

[0064] FIG. 5 is a diagram showing an example of an automated driving guidance screen. The automated driving guidance screen D3 is a screen showing the situation in which the work vehicle 1 is being automatically driven based on the work route L1 and work is being performed by the work implement 2. The automated driving guidance screen D3 displays a field map MP1 corresponding to the field to be worked on, a vehicle object M1 indicating the work vehicle 1 and work implement 2, and multiple operation keys. The field map MP1 includes the work route L1. The work route L1 indicates a start position Ps and a goal position Pg. The control device 51 acquires the current position of the work vehicle 1, which is periodically measured by the positioning device 40, stores position information indicating the current position in the storage device 53, and displays the vehicle object M1 on the field map MP1 at a position corresponding to the current position.

[0065] 6A and 6B are flowcharts showing an example of processing executed when automatically driving the work vehicle 1. The control device 60 of the work vehicle 1 executes the processing of FIGS. 6A and 6B in accordance with a software program stored in the storage device 61.

[0066] The control device 60 acquires (receives) work control information for automatic driving transmitted from the work support device 50 via the communication device 64 (S1 in FIG. 6A) and stores it in the storage device 61. The control device 60 then identifies the work route L1 from the work control information, and identifies the field contour H1, central work area C1, headland E1, headland work area E1w, and non-work area E1n from the field information included in the work control information (S2). The control device 60 also identifies turning information from the work information included in the work control information (S3).

[0067] If the turning information includes center priority information, the control device 60 determines that priority should be given to the work accuracy of the center work area C1 (S4 "Center work accuracy priority": YES). Then, after the work vehicle 1 has moved to a position in the field corresponding to the start position Ps (Fig. 2) of the work route L1 by manual driving or the like, and the operator turns on the automatic driving start switch provided on the operation device 62 or display / operation device 52, the control device 60 begins automatic driving (autonomous driving) of the work vehicle 1 based on the work route L1 (S5 in Fig. 6A). Immediately after starting automatic driving, the control device 60 executes work driving control based on the first work line L1a included in the work route L1 (S6).

[0068] In the work travel control, the control device 60 controls the travel gear 7 and steering gear 29 based on one work line L1a, causing the vehicle body 3 to travel automatically while the work implement 2 performs work. More specifically, in the work travel control, the control device 60 controls the travel gear 7 and steering gear 29 based on the position of the work line L1a into which the vehicle body 3 has entered, the current position of the vehicle body 3 determined by the positioning device 40, and sensing information input from the sensing device 66, causing the vehicle body 3 to advance along the work line L1a while performing work with the work implement 2. Furthermore, if the control device 60 detects based on the sensing information that a predetermined obstacle is present within a predetermined range around the vehicle body 3 and the work implement 2, it brings the vehicle body 3 to an emergency stop. The ridges Ua and the crops cultivated in the ridges Ua are not included in the obstacles. Furthermore, the control device 60 calculates the current position of the work vehicle 1 based on the current position of the vehicle body 3, vehicle information, and device information.

[0069] As shown in Figure 7, when the vehicle body 3 and work implement 2 reach the end point of the work line L1a and work based on that work line L1a is completed (S7), the control device 60 stops the work travel control and checks whether the end point of the reached work line L1a is the goal position Pg of the work route L1. If the end point of the reached work line L1a is not the goal position Pg (S8: NO), the control device 60 executes first turning control to change the direction of the vehicle body 3 from the end point toward the start point of the next work line L1a (S9). Even during the execution of the first turning control, if the control device 60 detects the presence of an obstacle within a predetermined range based on sensing information, it will bring the vehicle body 3 to an emergency stop. (The same applies during the execution of the second turning control, which will be described later.)

[0070] The first turning control is a control in which, when headland priority information is not input but center priority information is input via the display / operation device 52, the control device 60 turns the vehicle body 3 using the traveling gear 7 and steering device 29 without allowing the traveling gear 7 to enter the center working area C1 during an automatic direction change that automatically changes the traveling direction of the vehicle body 3 in the non-working area E1n based on the work route L1. More specifically, in the first turning control, the control device 60 does not allow the traveling gear 7 to enter (enter) the soil in the central working area C1, but allows the traveling gear 7 to enter the soil in the headland working area E1w, and turns the vehicle body 3 as much as possible in the non-working area E1n using the traveling gear 7 and steering device 29. During the first turning control, the control device 60 detects objects such as ridges Ua, crops, and obstacles based on sensing information. (The same applies during the second turning control, which will be described later.)

[0071] 8A to 8F are diagrams showing an example of a direction change state due to the first turning control of the work vehicle 1 when work accuracy is prioritized in the central work area C1. For convenience, the work implement 2 is not shown in FIGS. 9A to 9C, which will be described later.

[0072] Immediately after work by the work implement 2 on one work line L1a is completed, the work vehicle 1 is positioned in the non-working area E1n, as shown in Figure 7. The control device 60 initiates a first turning control to change the direction of the vehicle body 3 toward the next work line L1a, and while moving the vehicle body 3 forward using the traveling device 7, changes the steering direction or steering angle of the vehicle body 3 using the steering device 29 to turn the vehicle body 3 in the forward direction (to the right in this example) toward the next work line L1a, as shown in Figures 8A and 8B. At this time, the control device 60 uses the traveling device 7 and steering device 29 to turn the vehicle body 3 as far as possible in the non-working area E1n.

[0073] Specifically, if the width Wn of the non-working area E1n (the width of the non-working area E1n parallel to the working directions V1, V2), which is the distance from the central working area C1 to the headland working area E1w, is less than a predetermined value, the control device 60 will not allow the traveling devices 7 to step (enter) into the soil of the central working area C1, but will allow the traveling devices 7 to step into the soil of the headland working area E1w, as shown in Figure 8B, and will turn the vehicle body 3 in the forward direction. In other words, when the vehicle body 3 automatically changes direction, the control device 60 will not allow the rear wheels 7R of the traveling devices 7 to trample the ridges Ua formed in the central working area C1, but will allow the front wheels 7F of the traveling devices 7 to trample the ridges Ua formed in the headland working area E1w.

[0074] Furthermore, in order to minimize the amount of penetration of the traveling devices 7 into the headland working area E1w (the area of ​​the ridges Ua that are trampled down), the control device 60 changes the steering direction or steering angle of the vehicle body 3, causing the vehicle body 3 to turn in the opposite direction (left in this example) while moving backward, as shown in Figure 8C. Then, before the traveling devices 7 enter the soil of the central working area C1, the control device 60 stops the vehicle body 3, and then changes the steering direction or steering angle of the vehicle body 3 to turn the vehicle body 3 in the forward direction while moving forward, so that the orientation (direction of travel) of the vehicle body 3 is directed in a direction parallel to the ridges Ua in the headland working area E1w, as shown in Figure 8D. In this way, the control device 60 uses the first turning control to turn the vehicle body 3 while turning back and forth in the non-working area E1n and part of the headland working area E1w.

[0075] The control device 60 then causes the vehicle body 3 to travel (move forward) toward the start of the next work line L1a, and when the distance between the vehicle body 3 and the next work line L1a becomes less than a certain value, changes the steering direction or steering angle of the vehicle body 3 to turn the vehicle body 3 toward the start of the next work line L1a, as shown in FIG. 8E. At this time, the control device 60 may also use the first turning control to prevent the traveling gear 7 from entering the soil in the central working area C1, but may allow the traveling gear 7 to enter the soil in the headland working area E1w, thereby turning or steering the vehicle body 3 as much as possible in the non-working area E1n. Alternatively, the control device 60 may turn or steering the vehicle body 3 only in the non-working area E1n, without allowing the traveling gear 7 to enter the soil in the central working area C1 or the headland working area E1w.

[0076] As shown in FIG. 8F, when the orientation of the vehicle body 3 becomes parallel to the next work line L1a and the vehicle body 3 reaches the start point of the next work line L1a (S10 in FIG. 6A), the control device 60 stops the first swing control and the automatic direction change of the vehicle body 3. The control device 60 then repeatedly executes steps S6 to S10 as described above. After steps S6 to S10 have been executed a number of times corresponding to the number of work lines L1a, if the end point of the work line L1a reached by the vehicle body 3 and work implement 2 is the goal position Pg (S8: NO), the control device 60 ends the automatic driving of the work vehicle 1 (S11), and the work by the work implement 2 also ends.

[0077] If the width Wn of the non-working area E1n is equal to or greater than a predetermined value, in step S9 the control device 60 causes the traveling gear 7 and steering device 29 to turn the vehicle body 3 in the non-working area E1n without causing the traveling gear 7 to enter the soil of the central working area C1 or the soil of the headland working area E1w. (The same applies to step S15, described below.) The predetermined value is set based on the external shape of the work vehicle 1, the width of the traveling gear 7, the distance between the front wheels 7F and rear wheels 7R of the traveling gear 7, and the like. For example, the predetermined value may be set to the sum of the overall length of the work vehicle 1 and a predetermined allowance (margin).

[0078] On the other hand, if the turning information identified in process S3 in Figure 6A includes headland priority information, the control device 60 determines that priority is to be given to work accuracy in the headland work area E1w (S4: NO, "headland work priority"). Then, when the control device 60 starts automatic driving of the work vehicle 1 based on the work route L1 (S12 in Figure 6B), it immediately executes work travel control based on the first work line L1a (S13), and work is carried out by the work implement 2 while the vehicle body 3 travels automatically. The work travel control at this time is the same as process S6 in Figure 6A.

[0079] When the vehicle body 3 and the working implement 2 reach the end point of the work line L1a and the work based on that work line L1a is completed (S14), the control device 60 stops the work travel control. Furthermore, if the reached end point of the work line L1a is not the goal position Pg (S15: NO), the control device 60 executes the second turning control to change the direction of the vehicle body 3 (S16).

[0080] The second turning control is a control in which, when center priority information is not input but headland priority information is input by the display operation device 52, the control device 60 does not allow the traveling gear 7 to enter the headland working area E1w and turns the vehicle body 3 using the traveling gear 7 and steering device 29 during automatic direction changes of the vehicle body 3 based on the work route L1. More specifically, in the second turning control, the control device 60 does not allow the traveling gear 7 to enter the soil of the headland working area E1w but allows the traveling gear 7 to enter the soil of the central working area C1, and turns the vehicle body 3 in the non-working area E1n as much as possible using the traveling gear 7 and steering device 29.

[0081] 9A to 9C are diagrams showing an example of a direction change state due to the second turning control of the work vehicle 1 when priority is given to headland work accuracy. Immediately after work by the work implement 2 on one work line L1a is completed, the work vehicle 1 is positioned in the non-working area E1n as shown in FIG. 7. The control device 60 initiates the second turning control to change the direction of the vehicle body 3 toward the next work line L1a. If the width Wn of the non-working area E1n is less than a predetermined value, the control device 60 first reverses the vehicle body 3 a predetermined distance, as shown in FIG. 9A, and moves the vehicle body 3 and traveling device 7 back into the central work area C1.

[0082] Next, the control device 60 changes the steering direction or steering angle of the vehicle body 3 while moving the vehicle body 3 forward, and turns the vehicle body 3 in the forward direction (to the right in this example) toward the next work line L1a, as shown in Figure 9B. At this time, the control device 60 allows the traveling unit 7 to enter the soil in the central work area C1 and turns the vehicle body 3 in the forward direction as much as possible through the non-working area E1n. In other words, when the vehicle body 3 automatically changes direction, the control device 60 allows the rear wheels 7R of the traveling unit 7 to trample the ridges Ua in the central work area C1.

[0083] Furthermore, the control device 60 does not allow the traveling gear 7 to enter the soil of the headland working area E1w, and instead turns the vehicle body 3 in the forward direction as shown in FIG. 9C, orienting the vehicle body 3 in a direction parallel to the ridges Ua of the headland working area E1w (the same state as FIG. 8D). In other words, the control device 60 does not allow the front wheels 7F of the traveling gear 7 to crush the ridges Ua of the headland working area E1w when the vehicle body 3 automatically changes direction. As described above, the control device 60 uses the second turning control to turn the vehicle body 3 while turning in the non-working area E1n and part of the central working area C1 (near the end point of the work line L1a). Furthermore, during this turning, the control device 60 reverses the vehicle body 3 to the work line L1a where work has been completed, but does not allow the vehicle body 3 to enter the next work line L1a.

[0084] The control device 60 then causes the vehicle body 3 to travel toward the start of the next work line L1a, and when the distance between the vehicle body 3 and the next work line L1a becomes less than a certain value, changes the steering direction or steering angle of the vehicle body 3 to turn the vehicle body 3 forward toward the start of the next work line L1a (the same state as in FIG. 8E). At this time, the control device 60 may also use the second turning control to not allow the traveling devices 7 to enter the soil of the headland working area E1w but to allow the traveling devices 7 to enter the soil of the central working area C1, thereby turning the vehicle body 3 or steering back as much as possible in the non-working area E1n. Alternatively, the control device 60 may also turn the vehicle body 3 or steering back in the non-working area E1n without allowing the traveling devices 7 to enter the soil of the central working area C1 or the headland working area E1w.

[0085] When the vehicle body 3 becomes parallel to the next work line L1a and reaches the start point of the next work line L1a (the same state as S17 in FIG. 6B and FIG. 8F), the control device 60 stops the second swing control and the automatic direction change of the vehicle body 3. The control device 60 then repeatedly executes steps S13 to S17 as described above. After steps S13 to S17 have been executed a number of times corresponding to the number of work lines L1a, if the end point of the work line L1a reached by the vehicle body 3 and work implement 2 is the goal position Pg (S15: NO), the control device 60 ends the automatic driving of the work vehicle 1 (S18), and the work by the work implement 2 also ends.

[0086] In the above-described embodiment, an example has been shown in which a support-type working implement 2 that does not land on the ground is equipped on the work vehicle 1, but other than this, for example, a towing-type working implement 2 having auxiliary traveling devices 2b as shown in Figures 10 and 11 may also be equipped on the work vehicle 1. In Figures 10 and 11, multiple auxiliary traveling devices 2b land on the ground and support the working implement 2 so that it can travel. The working implement 2 is equipped at the rear of the work vehicle 1 and is towed by the work vehicle 1.

[0087] When a tow-type work implement 2 such as the one described above is used, the control device 60 of the work vehicle 1, upon input of center priority information, executes first turning control during automatic direction changes of the vehicle body 3 due to automatic driving of the work vehicle 1, as shown in Fig. 10, which does not allow the traveling devices 7 and the auxiliary traveling devices 2b to enter (step into) the soil of the central working area C1, but allows at least one of the traveling devices 7 and the auxiliary traveling devices 2b to enter (step into) the soil of the headland working area E1w. Furthermore, upon input of headland priority information, the control device 60 executes second turning control during automatic direction changes of the vehicle body 3, as shown in Fig. 11, which does not allow the traveling devices 7 and the auxiliary traveling devices 2b to enter the soil of the headland working area E1w, but allows at least one of the traveling devices 7 and the auxiliary traveling devices 2b to enter the soil of the central working area C1.

[0088] The behavior of the work vehicle 1 during automatic direction changes is not limited to the behaviors exemplified in Figures 8A to 11, and other behaviors are also possible. Furthermore, the steering direction, steering angle, position and number of turns during automatic direction changes of the work vehicle 1 are not limited to the examples in Figures 8A to 11, and the control device 60 may set them appropriately depending on the width Wn of the non-working area E1n, the overall length of the work vehicle 1, the distance between the front wheels 7F and the rear wheels 7R, etc.

[0089] In the above-described embodiment, the case where the work device 2 is a pest control device and the work route L1 is a work route for pest control work is exemplified, but this configuration is not limiting. The work vehicle 1 may be equipped with a work device 2 other than a pest control device, or the work vehicle 1 may automatically travel based on the work route L1 for work other than pest control work.

[0090] In the above-described embodiment, an example has been shown in which information indicating an area where work accuracy is prioritized is input by the display operation device 52 of the work support device 50, but in addition to this, information indicating an area where work accuracy is prioritized may also be input by an input device provided on, for example, a smartphone, a terminal device fixed to the work vehicle 1, a computer installed in a location away from the work vehicle 1, the server 80, or a server installed on the cloud.

[0091] In the above-described embodiment, each process is implemented by a processing circuit including one or more processors and one or more memories, but instead of or in addition to the processing circuit, it may be implemented by an integrated circuit combining at least one of various analog circuits and digital circuits. The processor may be not only a CPU, but also various processors suitable for computer control, such as a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit).

[0092] Furthermore, multiple physically separated processors may cooperate with each other to execute each process, etc. For example, processors installed in multiple physically separated computers may cooperate with each other via a network such as a LAN (Local Area Network), a WAN (Wide Area Network), or the Internet to execute each process, etc. Furthermore, the software program executed by the processor may be installed in memory from a server or the like via a network, or may be distributed in a state stored on a recording medium such as a memory stick or a memory card and installed in the memory of the processing circuit from the recording medium.

[0093] The work assistance system 100 and work vehicle 1 of the present embodiment described above have the following configurations and provide the following effects.

[0094] [Item 1] The work assistance system 100 is a system that assists in performing work using a work implement 2 equipped on a work vehicle 1 while the work vehicle 1 travels automatically in a field, and includes the work vehicle 1 and an input device (display / operation device) 52. The work vehicle 1 is equipped with a traveling device 7 that causes a vehicle body 3 equipped with the work implement 2 to travel, a steering device 29 that steers the vehicle body 3, and a control device 60 that controls the traveling device 7 and steering device 29 based on a work route L1 for performing work using the work implement 2 in work areas C1, E1w of the field (central work area C1, headland work area E1w), thereby causing the vehicle body 3 to travel automatically. During an automatic direction change that automatically changes the direction of travel of the vehicle body 3 in a non-work area E1n that is not the target of work based on the work route L1, the control device 60 selects and executes either a first turning control that turns the vehicle body 3 using the traveling device 7 and steering device 29 without allowing the traveling device 7 to enter the work areas C1 and E1w, or a second turning control that turns the vehicle body 3 using the traveling device 7 and steering device 29 while allowing the traveling device 7 to enter the work areas C1 and E1w, in accordance with input information from the input device 52.

[0095] The configuration of item 1 above makes it possible to change the automatic direction-changing pattern (method, behavior) of the work vehicle 1 in accordance with the input information from the input device 52. Furthermore, by having the work vehicle 1 turn in the non-working area E1n without the traveling device 7 entering the working areas C1 and E1w using the first turning control, the working areas C1 and E1w are not disturbed and high work accuracy in the working areas C1 and E1w can be ensured, which is convenient. Furthermore, by having the work vehicle 1 turn in the non-working area E1n as much as possible while allowing the traveling device 7 to enter the working areas C1 and E1w using the second turning control, in cases where the space for the work vehicle 1 to change direction is narrow, the number of times the work vehicle 1 must turn back is reduced and the behavior of the work vehicle 1 is simplified. This reduces the work time, reduces the amount of fuel or electricity consumed to drive the work vehicle 1, and allows work to be performed efficiently, which is convenient. Therefore, it is possible to improve the convenience of performing work using the work device 2 while the work vehicle 1 is traveling automatically.

[0096] [Item 2] In the work vehicle 1 and work assistance system 100 described in Item 1 above, when information indicating that priority is given to work accuracy in the work areas C1 and E1w is input by the input device 52, the control device 60 executes the first turning control during automatic direction changes, and when information indicating that priority is not given to work accuracy in the work areas C1 and E1w is input by the input device 52, the control device 60 executes the second turning control during automatic direction changes.

[0097] The configuration of item 2 above allows the user (operator) to arbitrarily decide whether to prioritize work accuracy in the work areas C1, E1w and input information indicating that decision via the input device 52, thereby conveniently changing the direction change pattern (method, behavior) of the work vehicle 1. Furthermore, if priority is given to work accuracy in the work areas C1, E1w, when the work vehicle 1 automatically changes direction based on the work route L1, the first turning control prevents the traveling device 7 from entering the work areas C1, E1w, and the work vehicle 1 turns in the non-working area E1n. This prevents the work areas C1, E1w from being damaged, and high work accuracy in the work areas C1, E1w can be ensured, which is convenient. Furthermore, if priority is not given to work accuracy in the work areas C1, E1w, when the work vehicle 1 automatically changes direction based on the work route L1, the second turning control allows the traveling device 7 to enter the work areas C1, E1w, and the work vehicle 1 turns in the non-working area E1n as much as possible. For this reason, when the space for the work vehicle 1 to change direction is narrow, the number of times the work vehicle 1 has to turn around is reduced and the behavior of the work vehicle 1 is simplified, so work time is not lengthened and the amount of fuel or electricity consumed to drive the work vehicle 1 is kept low, allowing work to be done efficiently and conveniently. Therefore, it is possible to further improve convenience when work is performed using the work device 2 while the work vehicle 1 is traveling automatically.

[0098] [Item 3] In the work vehicle 1 and work assistance system 100 described in items 1 or 2 above, the control device 60 acquires field information about the field and identifies from the field information a central working area C1 located in the center of the field, a headland E1 located at the edge of the field, a headland working area E1w located in the headland E1, and a non-working area E1n located in the headland E1 and intervening between the central working area C1 and the headland working area E1w, and if center priority information indicating that the work accuracy of the central working area C1 is given priority over the work accuracy of the headland working area E1w is input by the input device 52, during the automatic direction change, a first turning control is executed that does not allow the traveling device 7 to enter the central working area C1 but allows the traveling device 7 to enter the headland working area E1w.

[0099] The configuration of item 3 above allows the user to arbitrarily decide whether to prioritize work accuracy in the central working area C1 over work accuracy in the headland working area E1w. If the user prioritizes work accuracy in the central working area C1, the user can input center priority information using the input device 52. When the work vehicle 1 automatically changes direction based on the work route L1, the first turning control prevents the traveling unit 7 from entering the central working area C1, and allows the traveling unit 7 to enter the headland working area E1w. This prevents the central working area C1 from being disturbed, ensuring high work accuracy in the central working area C1. Furthermore, the space in which the work vehicle 1 can change direction can be expanded to include not only the non-working area E1n but also the headland working area E1w, allowing the work vehicle 1 to change direction efficiently and easily.

[0100] [Item 4] In the work vehicle 1 and work assistance system 100 described in Item 3 above, when headland priority information indicating that work accuracy in the headland work area E1w is prioritized over work accuracy in the central work area C1 is input by the input device 52, the control device 60 executes a second turning control during the automatic direction change that does not allow the traveling device 7 to enter the headland work area E1w but allows the traveling device 7 to enter the central work area C1.

[0101] The configuration of item 4 above allows the user to arbitrarily decide whether to prioritize work accuracy in the headland working area E1w over work accuracy in the central working area C1. If the user prioritizes work accuracy in the headland working area E1w, the user can input headland priority information using the input device 52. During automatic direction changes of the work vehicle 1 based on the work route L1, the second turning control allows the traveling unit 7 to enter the central working area C1 without entering the headland working area E1w. This prevents the headland working area E1w from being disturbed, ensuring high work accuracy in the headland working area E1w. Furthermore, the space in which the work vehicle 1 can change direction is expanded not only to the non-working area E1n but also to the central working area C1, allowing the work vehicle 1 to change direction efficiently and easily.

[0102] [Item 5] In the work vehicle 1 and work assistance system 100 described in Item 4 above, if center priority information is input and the width Wn of the non-working area E1n, which is the distance from the central working area C1 to the headland working area E1w, is less than a predetermined value, the control device 60 turns the vehicle body 3 in the non-working area E1n and part of the headland working area E1w during the automatic direction change, if headland priority information is input and the width Wn of the non-working area E1n is less than a predetermined value, the control device 60 turns the vehicle body 3 in the non-working area E1n and part of the central working area C1 during the automatic direction change, and if either center priority information or headland priority information is input and the width Wn of the non-working area E1n is equal to or greater than the predetermined value, the control device 60 turns the vehicle body 3 in the non-working area E1n without allowing the traveling gear 7 to enter the headland working area E1w or central working area C1 during the automatic direction change.

[0103] With the configuration of item 5 above, when center priority information is input and the width Wn of the non-working area E1n in which the work vehicle 1 is to change direction is narrow, the first turning control prevents the traveling gear 7 from entering the center working area C1, and the work vehicle 1 turns in the non-working area E1n and part of the headland working area E1w. This makes it possible to efficiently and easily automatically change direction of the work vehicle 1 while ensuring high work accuracy in the central working area C1. Furthermore, when headland priority information is input and the width Wn of the non-working area E1n is narrow, the second turning control prevents the traveling gear 7 from entering the headland working area E1w, and the work vehicle 1 turns in the non-working area E1n and part of the central working area C1. This makes it possible to efficiently and easily automatically change direction of the work vehicle 1 while ensuring high work accuracy in the headland working area E1w. Furthermore, when either center priority information or headland priority information is input and the width Wn of the non-working area E1n is wide, the traveling devices 7 will not enter the headland working area E1w or the central working area C1, and the work vehicle 1 will turn in the non-working area E1n, regardless of whether the first or second turning control is used. This allows the work vehicle 1 to easily and automatically change direction while ensuring high work accuracy in the headland working area E1w and the central working area C1.

[0104] [Item 6] In the work vehicle 1 and work assistance system 100 described in any one of items 3 to 5 above, the control device 60 performs work using the work implement 2 while driving the vehicle body 3 along each of a plurality of work lines L1a that are included in the work route L1 and set in the central work area C1, and when central priority information is input and the width Wn of the non-working area E1n is less than a predetermined value, when the vehicle body 3 automatically changes direction from the end point of one work line L1a toward the start point of the next work line L1a, the first turning control is used to turn the vehicle body 3 back in part of the non-working area E1n and the headland work area E1w.

[0105] With the configuration of item 6 above, when center priority information is input and the width Wn of the non-working area E1n is narrow, the first turning control prevents the traveling gear 7 from entering the central working area C1, and the work vehicle 1 turns from the end point of one work line L1a toward the start point of the next work line L1a while turning back and forth in part of the non-working area E1n and headland working area E1w. This reduces the number of times the work vehicle 1 turns back, allowing the work vehicle 1 to change direction efficiently and easily automatically, while ensuring high work accuracy in the central working area C1.

[0106] [Item 7] In the work vehicle 1 and work assistance system 100 described in any of items 4 to 6 above, when headland priority information is input and the width Wn of the non-working area E1n is less than a predetermined value, the control device 60 uses the second turning control to turn the vehicle body 3 back and forth in the non-working area E1n and part of the central working area C1 when the vehicle body 3 automatically changes direction from the end point of one work line L1a to the start point of the next work line L1a.

[0107] With the configuration of item 7 above, when headland priority information is input and the width Wn of the non-working area E1n is narrow, the second turning control prevents the traveling gear 7 from entering the headland working area E1w, and the work vehicle 1 turns from the end point of one work line L1a towards the start point of the next work line L1a while turning back and forth in the non-working area E1n and part of the central working area C1. This reduces the number of times the work vehicle 1 turns back, allowing the work vehicle 1 to change direction efficiently and easily automatically, while ensuring high work accuracy in the headland working area E1w.

[0108] [Item 8] In the work vehicle 1 and work assistance system 100 described in Item 7 above, when the vehicle body 3 is turned around by the second turning control, the control device 60 does not allow the vehicle body 3 to enter the next work line L1a, and instead moves the vehicle body 3 back to the first work line L1a.

[0109] With the configuration of item 8 above, the second turning control prevents the vehicle body 3 and traveling gear 7 from entering near the start point of the next work line L1a in the central working area C1, and while allowing the traveling gear 7 to enter near the end point of one work line L1a in the central working area C1, the work vehicle 1 turns around and turns from the end point of one work line L1a toward the start point of the next work line L1a. This ensures high work accuracy not only in the headland working area E1w, but also near the start points of multiple work lines L1a in the central working area C1. Furthermore, because the work vehicle 1 turns around not only in the non-working area E1n but also near the end points of multiple work lines L1a, the number of times the work vehicle 1 turns around is reduced, allowing the work vehicle 1 to change direction automatically, efficiently and easily.

[0110] [Item 9] In the work vehicle 1 and work assistance system 100 described in any of items 3 to 8 above, when central priority information is input, the control device 60 executes a first turning control during the automatic direction change that does not allow the traveling device 7 to crush the ridges Ua formed in the central working area C1, but allows the traveling device 7 to crush the ridges Ua formed in the headland working area E1w.

[0111] The configuration of item 9 above prevents the traveling device 7 from trampling down on the ridges Ua in the central working area C1 due to the first turning control, so the ridges Ua are not disturbed (destroyed), ensuring high work accuracy in the central working area C1. Also, the space in which the work vehicle 1 can change direction is expanded not only to the non-working area E1n, but also to the position of some of the ridges Ua in the headland working area E1w, allowing the work vehicle 1 to change direction automatically, efficiently, and easily.

[0112] [Item 10] In the work vehicle 1 and work assistance system 100 described in any of items 4 to 9 above, when headland priority information is input, the control device 60 executes a second turning control during the automatic direction change that does not allow the traveling device 7 to trample the ridges Ua formed in the headland working area E1w, but allows the traveling device 7 to trample the ridges Ua formed in the central working area C1.

[0113] The configuration of item 10 above prevents the traveling device 7 from trampling down on the ridges Ua in the headland working area E1w due to the second turning control, so the ridges Ua are not disturbed (broken), and high work accuracy in the headland working area E1w can be ensured. Also, the space in which the work vehicle 1 can change direction is expanded not only to the non-working area E1n, but also to the position of some of the ridges Ua in the central working area C1, allowing the work vehicle 1 to change direction automatically, efficiently, and easily.

[0114] [Item 11] In the work vehicle 1 and work support system 100 described in any one of items 2 to 10 above, when the work implement 2 is a towed type work implement having auxiliary traveling devices 2b that support the work implement 2 so that it can travel, if information indicating that priority is given to work accuracy in the work areas C1, E1w is input, the control device 60 executes a first turning control that turns the vehicle body 3 and the work implement 2 without allowing the traveling device 7 and the auxiliary traveling device 2b to enter the work areas C1, E1w during the automatic direction change, and if information indicating that priority is not given to work accuracy in the work areas C1, E1w is input, the control device 60 executes a second turning control that turns the vehicle body 3 and the work implement 2 while allowing at least one of the traveling device 7 and the auxiliary traveling device 2b to enter the work areas C1, E1w during the automatic direction change.

[0115] With the configuration of item 11 above, when priority is given to work accuracy in the work areas C1, E1w, during automatic direction changes of the work vehicle 1 based on the work route L1, the first turning control prevents the travelling device 7 of the work vehicle 1 and the auxiliary travelling device 2b of the work implement 2 from entering the work areas C1, E1w, and the work vehicle 1 and the work implement 2 turn in the non-working area E1n. Therefore, even when a tow-type work implement 2 is equipped on the work vehicle 1, high work accuracy in the work areas C1, E1w can be ensured. Furthermore, when priority is not given to work accuracy in the work areas C1, E1w, during automatic direction changes of the work vehicle 1 based on the work route L1, the second turning control allows the travelling device 7 and the auxiliary travelling device 2b to enter the work areas C1, E1w, while the work vehicle 1 and the work implement 2 turn in the non-working area E1n as much as possible. Therefore, even when a tow-type working implement 2 is fitted to the work vehicle 1, if the space for the work vehicle 1 and the working implement 2 to change direction is narrow, the number of times the work vehicle 1 has to turn around is reduced and the behavior of the work vehicle 1 is simplified, allowing work to be carried out efficiently.

[0116] [Item 12] In the work vehicle 1 and work support system 100 described in any one of items 4 to 11 above, when the work implement 2 is a tow-type work implement having an auxiliary traveling implement 2b that supports the work implement 2 so that it can travel, if center priority information is input, the control device 60 executes first turning control during the automatic direction change that does not allow the travel implement 7 and the auxiliary traveling implement 2b to enter the central working area C1 but allows at least one of the travel implement 7 and the auxiliary traveling implement 2b to enter the headland working area E1w, and if headland priority information is input, it executes second turning control during the automatic direction change that does not allow the travel implement 7 and the auxiliary traveling implement 2b to enter the headland working area E1w but allows at least one of the travel implement 7 and the auxiliary traveling implement 2b to enter the central working area C1.

[0117]

[0043] With the configuration of item 12 above, when priority is given to work accuracy in the central working area C1, during automatic direction changes of the work vehicle 1 based on the work route L1, the first turning control prevents the traveling apparatus 7 and the auxiliary traveling apparatus 2b from entering the central working area C1, and allows the traveling apparatus 7 and the auxiliary traveling apparatus 2b to enter the headland working area E1w. Therefore, even when a tow-type work implement 2 is equipped on the work vehicle 1, high work accuracy in the central working area C1 can be ensured, and the work vehicle 1 and the work implement 2 can be automatically changed in direction efficiently and easily. Furthermore, when priority is given to work accuracy in the headland working area E1w, the second turning control prevents the traveling apparatus 7 and the auxiliary traveling apparatus 2b from entering the headland working area E1w, and allows the traveling apparatus 7 and the auxiliary traveling apparatus 2b to enter the central working area C1. Therefore, even when a tow-type working implement 2 is equipped on the work vehicle 1, high work accuracy in the headland working area E1w can be ensured, and the work vehicle 1 and working implement 2 can be automatically changed direction efficiently and easily.

[0118] [Item 13] The work vehicle 1 and work support system 100 described in any one of items 1 to 12 above are provided with an input device 52, a positioning device 40 that measures the position of the vehicle body 3, and a sensing device 66 that senses the surroundings of the vehicle body 3, and the control device 60 automatically drives the vehicle body 3 based on the work route L1, the position of the vehicle body 3, and sensing information from the sensing device 66.

[0119] With the configuration of item 13 above, a user (such as a driver) on board the work vehicle 1 can arbitrarily decide whether or not to prioritize work accuracy in the work areas C1, E1w, and can change the direction change pattern of the work vehicle 1 by inputting information indicating that decision using the input device 52. Furthermore, the work vehicle 1 can perform work accurately or efficiently in the work areas C1, E1w using the work device 2 while traveling automatically (autonomously) based on information indicating whether or not to prioritize work accuracy in the work areas C1, E1w, the work route L1, the current position of the vehicle body 3, and surrounding sensing information obtained by the sensing device 66.

[0120] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0121] 1 Work vehicle 2. Work equipment 2b Auxiliary running device 3. Body 7 Running gear 29 Steering gear 40 Positioning device 52 Display operation device (input device) 60 Control device 66 Sensing Device 100 Work Support System C1 central work area E1 headland E1n non-working area E1w headland working area L1 Work Route L1a Work Line Ua ridge Wn Width of non-working area

Claims

1. a traveling device that causes the vehicle body equipped with the working device to travel; a steering device for steering the vehicle body; a control device that controls the traveling device and the steering device based on a work route for performing work by the work device in a work area of ​​a farm field, and causes the vehicle body to travel automatically; The control device of the work vehicle selects and executes either a first turning control that turns the vehicle body using the traveling device and the steering device without allowing the traveling device to enter the working area, or a second turning control that turns the vehicle body using the traveling device and the steering device while allowing the traveling device to enter the working area, in accordance with input information from an input device, when automatically changing the direction of travel of the vehicle body in a non-working area of ​​the field based on the working route.

2. The control device When information indicating that priority is given to the work accuracy in the work area is input by the input device, the first turning control is executed during the automatic direction change; The work vehicle according to claim 1 , wherein the second turning control is executed during the automatic direction change when information indicating that work accuracy in the work area is not prioritized is input by the input device.

3. The control device acquire field information related to the field, and identify from the field information a central work area provided in the center of the field, a headland provided at an edge of the field, a headland work area provided in the headland, and a non-work area provided in the headland and interposed between the central work area and the headland work area; 2. The work vehicle according to claim 1, wherein, when central priority information indicating that the work accuracy of the central working area is given priority over the work accuracy of the headland working area is input by the input device, the first turning control is executed during the automatic direction change to not allow the traveling device to enter the central working area but to allow the traveling device to enter the headland working area.

4. 4. The work vehicle according to claim 3, wherein, when headland priority information indicating that work accuracy in the headland work area is prioritized over work accuracy in the central work area is input by the input device, the control device executes the second turning control during the automatic direction change, which does not allow the traveling device to enter the headland work area but allows the traveling device to enter the central work area.

5. The control device When the center priority information is input and the width of the non-working area, which is the distance from the center working area to the headland working area, is less than a predetermined value, the vehicle body is turned in a part of the non-working area and the headland working area during the automatic direction change, When the headland priority information is input and the width of the non-working area is less than the predetermined value, the vehicle body is turned in the non-working area and a part of the central working area during the automatic direction change, 5. The work vehicle according to claim 4, wherein, when either the center priority information or the headland priority information is input and the width of the non-working area is equal to or greater than the predetermined value, the vehicle body is turned in the non-working area without causing the traveling device to enter the headland working area or the center working area during the automatic direction change.

6. The control device performing work using the work device while traveling the vehicle body along each of a plurality of work lines that are included in the work route and that are set in the central work area; 6. A work vehicle as described in claim 5, wherein, when the center priority information is input and the width of the non-working area is less than the predetermined value, the vehicle body is turned around in part of the non-working area and the headland working area by the first turning control during the automatic direction change of the vehicle body from the end point of one of the work lines toward the start point of the next of the work line.

7. 7. The work vehicle according to claim 6, wherein, when the headland priority information is input and the width of the non-working area is less than the predetermined value, the control device turns the vehicle body around in the non-working area and part of the central working area by the second turning control during the automatic direction change of the vehicle body heading from the end point of one of the working lines to the start point of the next of the working line.

8. The work vehicle according to claim 7, wherein the control device, when turning the vehicle body by the second turning control, does not cause the vehicle body to enter the next work line, but causes the vehicle body to retreat to one of the work lines.

9. 4. The work vehicle according to claim 3, wherein when the center priority information is input, the control device executes the first turning control during the automatic direction change, which does not allow the traveling device to crush the ridges formed in the center work area, but allows the traveling device to crush the ridges formed in the headland work area.

10. 5. The work vehicle according to claim 4, wherein, when the headland priority information is input, the control device executes the second turning control during the automatic direction change, which does not allow the traveling device to trample over the ridges formed in the headland work area, but allows the traveling device to trample over the ridges formed in the central work area.

11. The control device When the working device is a towed type working device having an auxiliary traveling device that supports the working device so that the working device can travel, when information indicating that priority is given to the work accuracy in the work area is input, during the automatic direction change, the first turning control is executed to turn the vehicle body and the work device without allowing the traveling device and the auxiliary traveling device to enter the work area, 3. The work vehicle according to claim 2, wherein, when information indicating that work accuracy in the work area is not a priority is input, the second turning control is executed during the automatic direction change, to turn the vehicle body and the work device while allowing at least one of the traveling device and the auxiliary traveling device to enter the work area.

12. The control device When the working device is a towed type working device having an auxiliary traveling device that supports the working device so that the working device can travel, When the center priority information is input, during the automatic direction change, the first turning control is executed which does not allow the traveling device and the auxiliary traveling device to enter the center working area, but allows at least one of the traveling device and the auxiliary traveling device to enter the headland working area, 5. The work vehicle according to claim 4, wherein, when the headland priority information is input, the second turning control is executed during the automatic direction change, which does not allow the traveling device and the auxiliary traveling device to enter the headland work area, but allows at least one of the traveling device and the auxiliary traveling device to enter the central work area.

13. the input device; a positioning device that measures the position of the vehicle body; a sensing device that senses the surroundings of the vehicle body, The work vehicle according to claim 1 , wherein the control device automatically drives the vehicle body based on the work route, the position of the vehicle body, and sensing information from the sensing device.

14. A work assistance system that assists a work vehicle in performing work using a work device equipped on the work vehicle while automatically traveling the work vehicle in a field, the work vehicle and an input device, The work vehicle is a traveling device that causes the vehicle body equipped with the working device to travel; a steering device for steering the vehicle body; a control device that controls the traveling device and the steering device based on a work route for performing work by the work device in a work area of ​​the field, and causes the vehicle body to travel automatically; The control device is a work support system that selects and executes either a first turning control that turns the vehicle body using the traveling device and the steering device without allowing the traveling device to enter the work area, or a second turning control that turns the vehicle body using the traveling device and the steering device while allowing the traveling device to enter the work area, in accordance with input information from the input device, during an automatic direction change that automatically changes the direction of travel of the vehicle body in a non-work area that is not a work target based on the work route.

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