Mowing machine, and support system and support method therefor

Abstract

To efficiently cut grass, etc., on the levee of a field.SOLUTION: A mowing work machine includes a traveling vehicle capable of automatically traveling in a field, and a work device including a mowing unit connected to the traveling vehicle and configured to perform a mowing work, and a position changing unit configured to change a relative position of the mowing unit with respect to the traveling vehicle. The traveling vehicle performs circling travel a plurality of times along a predetermined circling route in the field. The position changing unit is configured to change the relative position in accordance with each round of the circling traveling of the traveling vehicle to change a work area in a mowing region around the field.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a grass cutting machine for cutting ridges and the like around a farm field, and to a support system and support method for the same. [Background technology]

[0002] In the mowing machines disclosed in Patent Document 1 and Patent Document 2, while a tractor, which is a traveling vehicle, travels within a field along the ridges around the field, a mowing device connected to the tractor is positioned on the ridges (slopes) offset from the tractor within the field and cuts grass growing on the ridges.

[0003] In the brush cutter disclosed in Patent Document 1, the offset amount of the brush cutter from the tractor, the tilt angle, etc. are automatically controlled based on a program installed in the brush cutter. The document describes the tractor being driven by an operator, but suggests that automatic driving is also possible. In the brush cutter disclosed in Patent Document 2, the tractor travels around the field automatically, but the positioning of the brush cutter on the ridge is manually controlled. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-037167 [Patent Document 2] Japanese Patent Application Publication No. 10-234203 Summary of the Invention [Problem to be solved by the invention]

[0005] If the mowing area around the field, such as a ridge, is a wide area that exceeds the overall width of the mowing device in the mowing width direction (the offset direction of the mowing device from the tractor), it is not possible to mow the entire mowing area (entire width) with just one rotation of the tractor around the field.

[0006] The brush mower in Patent Document 1 automatically controls the relative position of the mowing device to the tractor, and for example, mowing the corners of ridges is achieved by automatically changing the position and tilt angle of the mowing device on the ridge. However, Patent Document 1 does not teach how to automatically control the mowing device or how to drive the tractor when mowing a wide mowing area such as the one described above.

[0007] Furthermore, Patent Document 2 only discloses mowing work that can be completed in one rotation of the tractor within the field, and does not suggest anything about automatic driving control of the tractor or operation of the work equipment for mowing grass on wide ridges, etc., as mentioned above.

[0008] SUMMARY OF THE INVENTION In view of the above problems, it is an object of the present invention to provide a grass cutting machine that can efficiently cut grass on the ridges of a farm field. [Means for solving the problem]

[0009] A brush cutting machine according to a first aspect of the present invention comprises a traveling vehicle capable of automatically traveling within a field, a work device having a mowing unit coupled to the traveling vehicle and performing mowing work, and a position change unit that changes the relative position of the mowing unit with respect to the traveling vehicle, and the traveling vehicle makes a plurality of circular travels along a predetermined circular route within the field. The relative position is changed according to each lap of the vehicle, and the work area in the mowing area around the field is changed.

[0010] A second aspect of the present invention provides an assistance system for a mowing work machine, which, when the traveling vehicle and / or the work device determines that the mowing unit has entered a prohibited area where mowing work is not permitted, executes an avoidance process to prevent the mowing unit from mowing in the prohibited area, a status detection device that detects the status of the work area, and a management device that manages information related to the circular route, the mowing area, and the work area, and the management device defines the prohibited area for the work area based on the detection results of the status detection device.

[0011] A support system for a mowing machine according to a third aspect of the present invention includes the mowing machine, and a management device that manages information relating to the circumferential route, the mowing area, and the work area.

[0012] A fourth aspect of the present invention provides a method for supporting a grass cutting machine comprising a traveling vehicle capable of automatic travel within a field, a work device having a grass cutting unit connected to the traveling vehicle and performing grass cutting work, and a position change unit that changes the relative position of the grass cutting unit with respect to the traveling vehicle, the method comprising: a first step in which the traveling vehicle performs multiple circular runs along a predetermined circular route within the field; and a second step in which the position change unit changes the relative position in accordance with each circular run of the traveling vehicle and changes the work area in the grass cutting region around the field. [Effects of the Invention]

[0013] According to the present invention, grass and the like on the ridges of a farm field can be efficiently cut. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 2 is a schematic diagram showing a brush cutter and a support system. [Figure 2] FIG. 2 is a rear perspective view of the mowing machine during mowing work. [Figure 3] This is a schematic diagram showing the arrangement of the mowing unit corresponding to each work area, including a cross-sectional view of the ridge and a rear view of the mowing machine. [Figure 4] 1 is a schematic plan view showing a field and a mowing area set on the ridges around the field. [Figure 5] 1 is a schematic plan view showing a plurality of work zones set in a mowing area, non-permitted zones, and a mowing machine with mowing units arranged to correspond to each work zone. [Figure 6] FIG. 10 is a plan view of the mowing machine during mowing work with the traveling vehicle traveling in circles. [Figure 7] 10 is a schematic diagram illustrating a plan view of the grass cutting machine, showing a change in the relative position of the grass cutting unit with respect to the traveling vehicle as the traveling vehicle transitions to circular travel. FIG. [Figure 8] 10 is a schematic plan view of a brush cutter operating according to a first process in response to a prohibited area set around a tree. [Figure 9] 9 is a schematic rear view of the brush cutter operating according to the first process in response to the disallowed area of ​​FIG. 8. [Figure 10] 10 is a schematic rear view of a brush cutter operating according to a first process in response to a prohibited area set on a road branching off from a footpath. [Figure 11] 10 is a schematic plan view of a brush cutter operating according to a second process in response to a prohibited area set around a warehouse. [Figure 12] 10 is a schematic plan view of a brush cutter operating according to a second process in response to a prohibited area set on a paved road that is a footpath. [Figure 13] 10 is a schematic plan view of a brush cutter operating according to a second process in response to a prohibited area set in a depression on the inner slope of a ridge. [Figure 14] 10 is a schematic plan view of a brush cutter operating according to a third process in response to a prohibited area set in a water gate. [Figure 15] 10 is a schematic plan view of a brush cutter operating according to a third process in response to a prohibited area set in a passage to a farm field. [Figure 16] FIG. 10 is a flowchart showing the steps of mowing work using a mowing machine. [Figure 17] FIG. 1 is a flowchart showing a first embodiment of a process for setting a circular route, a working area, etc. [Figure 18] FIG. 10 is a flowchart showing a second embodiment of the process for setting a circular route, a working area, etc. [Figure 19] FIG. 10 is a flowchart showing the steps for correcting the shape and state of the ridges. [Figure 20] FIG. 10 is a diagram showing a screen showing a mowed area and an unmowed area. [Figure 21] FIG. 10 is a diagram showing a screen showing work time, work results, etc. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0016] First, the structure of the mowing machine 1 will be described with reference to Figures 1 to 3 and 6. Figure 1 is a schematic diagram showing the mowing machine 1 and a support system 100. Figure 2 is a rear perspective view of the mowing machine 1 during mowing work. Figure 3 is a schematic diagram depicting a simplified cross-section of a ridge 42 and a rear view of the mowing machine 1, etc., to show the arrangement of the mowing units 34 corresponding to each work area W. Figure 6 is a plan view of the mowing machine 1 during mowing work with the traveling vehicle 2 traveling in circles.

[0017] The mowing machine 1 includes a traveling vehicle 2 that can travel automatically within a farm field 41 (see FIG. 4), and a work device 3 that is connected to the traveling vehicle 2.

[0018] The traveling vehicle 2 may be any vehicle that can be coupled to at least the work implement 3 and that can travel automatically within the field 41. The traveling vehicle 2 may be provided with a driver's seat so that an operator can ride in, or if the traveling vehicle 2 is capable of unmanned operation (automatic operation), it may not be provided with a driver's seat. In this embodiment, a tractor is used as the traveling vehicle 2. Below, the specific configuration of the mowing implement 1 will be described using the traveling vehicle 2 as a tractor as an example.

[0019] The traveling vehicle 2 includes a vehicle body 20, a motor 21, and left and right traveling devices 22.

[0020] The prime mover 21 is an internal combustion engine (such as a diesel engine), an electric motor, etc. Note that, for example, when an electric motor for driving each drive wheel of the left and right traveling devices 22 is interlocked with the corresponding drive wheel, the prime mover 21 may be a battery for supplying power to the electric motor.

[0021] The left and right traveling devices 22 each include a front traveling device 22a supported at the front of the vehicle body 20 and a rear traveling device 22b supported at the rear of the vehicle body 20. In this embodiment, the front traveling device 22a is a wheel (front wheel) consisting of one wheel tire, and the rear traveling device 22b is a crawler traveling device 22b having a plurality of wheels (rolling wheels) including a driving wheel (driving sprocket) 22b1 supported by the vehicle body 20, and crawlers wound around the plurality of wheels (rolling wheels).

[0022] The structure of the traveling device 22 is not limited to the above structure. For example, the front traveling device 22a and the rear traveling device 22b may have one wheel-tire type wheel and one crawler traveling device interchangeable, or both the front traveling device 22a and the rear traveling device 22b may be either wheel-tire type wheels or crawler traveling devices. Furthermore, the front traveling device 22a and the rear traveling device 22b may be the same, and may consist of only crawler traveling devices, one on each side of the vehicle body 20, for example.

[0023] The traveling vehicle 2 is equipped with a transmission (power transmission, speed change device) 23 for transmitting the power of the prime mover 21 to the drive wheels of the traveling device 22. The transmission 23 may have various configurations. As an example, the transmission 23 shown in Fig. 1 is a stepped gear type speed change device equipped with a forward / reverse switching mechanism 23a and a two-wheel / four-wheel drive mode switching clutch (hydraulic clutch) 23b. Alternatively, the transmission 23 may be configured to be able to change the rotation direction and rotation speed of the left and right drive wheels independently of each other, enabling the vehicle body 20 to make a pivot turn.

[0024] Also, for example, in cases where the rear traveling device 22b is a wheel-tire type driving wheel, the axles of the driving wheels serving as the left and right rear traveling devices 22b may be connected to each other by a differential gear device, and the transmission 23 may be configured to output the driving force shared by the left and right driving wheels to this differential gear device.

[0025] In order to turn the vehicle body 20 left and right, the traveling vehicle 2 has front traveling devices 22a as steered wheels (front wheels) attached to the vehicle body 20 via knuckle arms or the like so as to be able to turn left and right. In order to steer these left and right steering wheels, the traveling vehicle 2 is provided with a steering device 24 including, for example, a power steering cylinder 24a or the like. During the automatic traveling of the traveling vehicle 2, the steering device 24 is controlled by a control device 5 described below, and the steering angles of the left and right steering wheels are changed to turn the vehicle body 20.

[0026] The traveling vehicle 2 is provided with a coupling device 25 such as a three-point linkage mechanism at the rear. The working device 3 is coupled to the traveling vehicle 2 via the coupling device 25. The coupling device 25 is provided with a lifting device 26 including a hydraulic actuator such as a hydraulic cylinder, and by operating the lifting device 26, the up and down position of the working device 3 coupled to the traveling vehicle 2 can be changed.

[0027] The traveling vehicle 2 also has a power take-off (PTO) shaft 27 at the rear. The PTO shaft 27 is interlocked with a hydraulic oil supply device 31 (described later) provided on the working device 3 connected to the traveling vehicle 2 via the coupling device 25, and drives a hydraulic pump and the like included in the hydraulic oil supply device 31.

[0028] The working device 3 has a mower 34 that performs mowing work, and a position changer 32 that changes the relative position P of the mower 34 with respect to the traveling vehicle 2. More specifically, the working device 3 has a main body frame 30, a hydraulic oil supply device 31, a position changer 32, an angle changer 33, and the mower 34.

[0029] The front end of the main frame 30 is directly connected to the coupling device 25 (rear ends of the top link and lower link of the three-point linkage) of the traveling vehicle 2. The hydraulic oil supply device 31 is provided at the rear of the main frame 30. The hydraulic oil supply device 31 has a cover 31a attached to the main frame 30, and has hydraulic equipment such as a hydraulic pump 31p and multiple control valves 31v inside the cover 31a.

[0030] The hydraulic pump 31p is connected to the PTO shaft 27 of the traveling vehicle 2 via a universal joint or the like. As a result, the hydraulic pump 31p is driven by power from the prime mover 21 of the traveling vehicle 2 via the PTO shaft 27 or the like, and discharges hydraulic oil to each hydraulic actuator (described later) in the working device 3 via each control valve 31v.

[0031] The position change unit 32 is provided on one of the left and right sides (the left side in this embodiment) of the hydraulic oil supply device 31 so that the mowing unit 34 is positioned offset to one of the left and right sides from the main frame 30, i.e., the traveling vehicle 2.

[0032] The position change unit 32 changes the relative position P of the grass cutting unit 34 with respect to the traveling vehicle 2 (body 20 of the traveling vehicle 2). The position change unit 32 is considered to be able to change the relative position P in the left-right direction (vehicle body width direction), up-down direction, and / or front-rear direction of the traveling vehicle 2, but is assumed to be able to change the relative position P at least in the left-right direction.

[0033] That is, in this embodiment, the working device 3 has the grass cutting unit 34 positioned at a position offset to either the left or right side (left side in this embodiment) of the traveling vehicle 2 so as to cut grass growing in the left or right area (left side in this embodiment) along the route traveled by the traveling vehicle 2, and the position change unit 32 is configured to change at least the amount of left-right offset of this grass cutting unit 34 from the traveling vehicle 2.

[0034] The working implement 3 in this embodiment is a mower for mowing, which is of the boom mower type. In this type of working implement 3, the position changing unit 32 has a first boom 32a, a second boom 32b, a first boom cylinder (hydraulic actuator) 32c, and a second boom cylinder (hydraulic actuator) 32d.

[0035] Boom brackets 30a are formed on the rear of the main body frame 30 on the left and right sides of the hydraulic oil supply device 31, and the base end of a first boom 32a is pivotally supported by the boom brackets 30a. The tip of the first boom 32a is pivotally connected to the base end of the second boom 32b.

[0036] The base end (cylinder bottom) of the first boom cylinder 32c is pivotally supported on the boom bracket 30a above the base end of the first boom 32a. The tip end (cylinder head) of the first boom cylinder 32c is pivotally connected to an intermediate portion of the first boom 32a. The extension and contraction of the first boom cylinder 32c changes the angle of the first boom 32a relative to the boom bracket 30a, thereby changing the amount of left-right offset from the boom bracket 30a to the tip of the first boom 32a.

[0037] The second boom cylinder 32d is disposed below the tip of the first boom 32a and the base end of the second boom 32b, which are pivotally connected to each other. The base end (cylinder bottom) of the second boom cylinder 32d is pivotally connected to the middle of the first boom 32a, and the tip (cylinder head) of the second boom cylinder 32d is pivotally connected to the middle of the second boom 32b. The extension and contraction of the second boom cylinder 32d changes the angle between the first boom 32a and the second boom 32b, thereby changing the amount of left-right offset from the boom bracket 30a to the tip of the second boom 32b.

[0038] The angle changer 33 is configured as part of the position changer 32 or is interposed between the position changer 32 and the mowing unit 34 in order to change the angle of the mowing unit 34 relative to the horizontal plane. The angle changer 33 has an arm 33a and an arm cylinder (hydraulic actuator) 33b. The upper end of the arm 33a is pivotally connected to the tip of the second boom 32b, and the lower end of the arm 33a is bendable and extendable, and this lower end is pivotally connected to the left and right midway portions of a mowing cover 34a (described later) of the mowing unit 34.

[0039] The base end (cylinder bottom) of the arm cylinder 33b is pivotally connected to the second boom 32b, and the tip end (cylinder head) of the second boom cylinder 32d is pivotally connected to the arm 33a. The extension and contraction of the arm cylinder 33b changes the angle between the arm 33a and the second boom 32b, thereby changing the inclination angle of the mowing unit 34 with respect to the horizontal plane.

[0040] In the above example, the position changer 32 has the first boom 32a, the second boom 32b, the first boom cylinder 32c, and the second boom cylinder 32d, and the angle changer 33 has the arm 33a and the arm cylinder 33b. However, the present invention is not limited to this. For example, the members constituting the position changer 32 (the first boom 32a, the second boom 32b, the first boom cylinder 32c, and the second boom cylinder 32d) may be different from the above. , first boom cylinder 32c, and second boom cylinder 32d) may also serve as angle change unit 33, or the components that make up angle change unit 33 (arm 33a and arm cylinder 33b) may also serve as position change unit 32.

[0041] The grass cutting unit 34, which is the part that performs grass cutting, comprises a grass cutting cover 34a, a rotating drive shaft 34c provided within the grass cutting cover 34a, a cutting blade 34b provided on the rotating drive shaft 34c, and a hydraulic motor 34d for driving the rotating drive shaft 34c.

[0042] The working device 3 in this embodiment is a grass-cutting working device (mower) equipped with a grass-cutting section 34 in the form of a hammer knife mower (flail mower), and the cutting blades 34b are multiple hammer knives attached to a rotating drive shaft 34c with a left-right axis supported within the grass-cutting cover 34a.

[0043] Here, the left-right direction of the axis of the rotary drive shaft 34c is the same as the left-right direction of the traveling vehicle 2 to which the working implement 3 is coupled, and is based on the assumption that the rotary drive shaft 34c is arranged parallel to the horizontal plane by the angle change unit 33. The following description of the mowing unit 34 will be based on the assumption that in the initial state (a state in which the angle change unit 33 has set the tilt angle of the mowing unit 34 relative to the horizontal plane to 0), the rotary drive shaft 34c has an axis in the left-right direction that is parallel to the horizontal plane.

[0044] As described above, the working device 3 is equipped with first boom cylinder 32c, second boom cylinder 32d, arm cylinder 33b, and hydraulic motor 34d as hydraulic actuators. Hydraulic oil discharged from hydraulic pump 31p of hydraulic oil supply device 31 driven by PTO shaft 27 is supplied to these hydraulic actuators via hydraulic oil pipes extending from hydraulic oil supply device 31.

[0045] The working device 3 is not limited to the above structure. For example, the mowing unit 34 is not limited to a hammer knife mower, but may be a rotary mower having a structure in which a mowing blade is rotated by a vertically axial rotary drive shaft.

[0046] Furthermore, the working device 3 is not limited to a boom mower type having a position change unit 32 with multiple booms as described above, but may be, for example, an offset mower type in which a single transmission shaft is interposed between the PTO shaft 27 and the mowing unit 34 via a universal joint (free joint) as a position change unit for changing the offset amount of the mowing unit 34 relative to the traveling vehicle (tractor) 2.

[0047] Furthermore, the actuators in the position change unit 32, angle change unit 33, and mowing unit 34 are not limited to the hydraulic actuators described above, but may be pneumatic actuators or electric actuators.

[0048] The brush cutter 1 is equipped with a control device 5. The control device 5 includes a travel control unit 5a and an operation control unit 5b. The travel control unit 5a is, for example, configured by one ECU mounted on the traveling vehicle 2, or by linking multiple ECUs via a wireless communication network, a wired communication network, or the like.

[0049] The work control unit 5b is configured, for example, by one ECU mounted on the traveling vehicle 2 or the work implement 3, or by linking multiple ECUs via a wireless communication network, a wired communication network, etc. If the work control unit 5b is mounted on the work implement 3, when the work implement 3 is connected to the traveling vehicle 2 via the coupling device 25, the travel control unit 5a and the work control unit 5b are linked via a wireless or wired network, etc., to form the control device 5 of the brush cutting implement 1.

[0050] The mowing machine 1 is equipped with a storage device 6. The storage device 6 includes a non-volatile memory, etc. The storage device 6 stores position information (map information) of a field 41 that is the target area for the traveling vehicle 2 to travel around, and ridges 42 that are the target areas for mowing work by the mowing unit 34 that may become the mowing area 40 around the field 41.

[0051] The brush cutter 1 (traveling vehicle 2) is equipped with a positioning device 7. The positioning device 7 receives positioning signals from positioning satellites 15 and measures the current position of the traveling vehicle 2. Information indicating the measurement results by the positioning device 7 is stored in the storage device 6. Position information of the traveling vehicle 2 measured by the positioning device 7 in order to set the circular route L of the traveling vehicle 2 in the field 41 is also stored in the storage device 6.

[0052] The brush cutting machine 1 is equipped with a sensing device 8. The sensing device 8 is equipped with an environment detection device 8a that senses (detects) the state (environment) around the traveling vehicle 2 and / or the work device 3. Possible examples of the environment detection device 8a include optical inspection equipment such as a camera or LiDAR, and ultrasonic measuring devices. The environment detection device 8a detects the state of the mowing area 40, which is the work area where the mowing unit 34 will perform mowing work, particularly ridges 42 around the field 41, and detects within that area, non-permitted areas K where mowing work by the mowing unit 34 should not be performed, etc.

[0053] The sensing device 8 also includes an equipment state detection device 8b that detects the state of the traveling vehicle 2 and / or the working device 3. For example, the equipment state detection device 8b includes a detection device (sensor) that detects the state of the working device 3 (mowing unit 34), such as a measuring device for measuring the relative position P of the mowing unit 34 with respect to the traveling vehicle 2 and the angle A with respect to the horizontal direction, and measuring devices of related parts for calculating these actual values.

[0054] The equipment state detection device 8b is, for example, a stroke sensor that measures the stroke (extension amount) of the hydraulic cylinders 32c, 32d, 33b, etc., and the relative position P and angle A of the mowing unit 34 may be determined by calculation or the like by the control device 5 (work control unit 5b) based on the measured values ​​of the stroke of the hydraulic cylinders 32c, 32d, 33b, etc. measured by the equipment state detection device 8b. Note that the equipment state detection device 8b is not limited to a stroke sensor and may be a potentiometer that detects the angle of the first boom 32a relative to the boom bracket 30a, the angle between the first boom 32a and the second boom 32b, and the angle between the arm 33a and the second boom 32b, respectively.

[0055] The mowing machine 1 is provided with various hydraulic actuators and separate control valves for controlling each hydraulic actuator. These control valves are combined as a control valve unit 29 and are provided on the traveling vehicle 2 (mowing machine 1).

[0056] The control valve unit 29 has one or more travel control valves 29a controlled by the travel control unit 5a of the control device 5, and one or more operation control valves 29b controlled by the operation control unit 5b of the control device 5.

[0057] The driving control unit 5a controls the prime mover 21, transmission 23 (shifter of stepped gear transmission, forward / reverse switching mechanism 23a, clutch 23b for switching between two-wheel and four-wheel drive modes), steering device 24, braking device, etc. of the driving vehicle 2 based on information indicating the current position of the driving vehicle 2 measured by the positioning device 7 and information indicating the circular route L obtained from the memory device 6, thereby controlling the rotation speed and direction of the drive wheels of the driving device 22 (rear driving device 22b) and the steering angle of the steering wheel of the driving device 22 (front driving device 22a), thereby causing the driving vehicle 2 to automatically drive along the circular route L.

[0058] In addition, the transmission 23 of the driving system (forward / reverse switching mechanism 23a, 2-wheel / 4-wheel drive motor When the clutch 23b for mode switching, the steering device 24, etc. include a hydraulic actuator, the travel control unit 5a controls the hydraulic actuator by controlling the travel control valve 29a for controlling the hydraulic actuator.

[0059] On the other hand, the work control unit 5b controls the lifting device 26 provided on the connecting device 25, the clutch in the PTO drive device 28 that drives and stops the PTO shaft 27, and the aforementioned hydraulic actuators provided in each of the position change unit 32, angle change unit 33, and grass cutting unit 34 of the work device 3.

[0060] The control valve unit 29 of the traveling vehicle 2 includes one or more work control valves 29b for controlling the flow of hydraulic oil to hydraulic actuators, etc. in the lifting device 26, the PTO drive device 28, etc. The work control unit 5b controls the work control valves 29b of the control valve unit 29 to control the operating states of the lifting device 26, the PTO drive device 28, etc.

[0061] Furthermore, as described above, the hydraulic oil supply device 31 of the working implement 3 is provided with a plurality of control valves 31v. The work control unit 5b controls each control valve 31v corresponding to each hydraulic actuator to control the operating state of each hydraulic actuator of the working implement 3, namely, the first boom cylinder 32c, the second boom cylinder 32d, the arm cylinder 33b, and the hydraulic motor 34d. In this way, it controls the amount of left-right offset of the grass cutting unit 34 from the traveling vehicle 2 (main body frame 30), the angle of inclination of the grass cutting unit 34 with respect to the horizontal plane, the rotation direction and / or rotation speed of the rotary drive shaft 34c of the grass cutting unit 34, etc.

[0062] The traveling vehicle 2 is provided with a driver's seat (the driver's seat is provided inside the cabin 20a in the traveling vehicle 2 shown in FIG. 2). The traveling vehicle 2 is also provided with a display device 9 for conveying various information to the operator sitting in the driver's seat. The display device 9 displays a map based on map information showing the fields 41 and ridges 42 stored in the storage device 6, position information of the traveling vehicle 2 obtained by the positioning device 7, detection results by the sensing device 8, calculation results based on the detection results, etc.

[0063] The display device 9 functions as an output interface that displays the information described above, but may also function as an input interface by displaying touch switches or the like that can be operated by the operator, such as a touch panel, on the screen. In other words, the display device 9 may be provided in the brush cutting machine 1 as an input / output interface.

[0064] The traveling vehicle 2 is also provided with a travel operation device 10 and a work operation device 11 that can be manually operated by an operator sitting in the driver's seat. The travel operation device 10 and the work operation device 11 are electrically connected to the control device 5 (travel control unit 5a, work control unit 5b). When the operator manually operates the travel operation device 10 and / or the work operation device 11, an operation signal indicating the state of the manual operation (operation amount, operation direction, etc.) is input to the control device 5 (travel control unit 5a, work control unit 5b), and based on the operation signal, the travel control unit 5a and / or the work control unit 5b outputs a command signal, etc. to the control valve unit 29, etc., to operate the corresponding actuator, etc.

[0065] That is, the driving control unit 5a can control the driving state of the traveling vehicle 2 (starting and stopping the driving, switching between forward and backward travel, setting the driving speed, etc.) in accordance with manual operation of the driving operation device 10 by an operator sitting in the driver's seat, in addition to automatic driving control based on the detection results of the positioning device 7 and the sensing device 8, etc. Also, the operator sitting in the driver's seat can manually operate the steering handle 24b to operate the steering device 24 and steer the front traveling device 22a, which is the steering wheel, to turn the vehicle body 20.

[0066] The work control unit 5b also controls the work based on the detection results of the positioning device 7, the sensing device 8, etc. In addition to automatically controlling the operating state (operating state of the work-related devices), the operating state of the work-related devices (such as the lifting device 26 and PTO drive device 28 of the traveling vehicle 2, and the hydraulic oil supply device 31 of the work device 3 connected to the traveling vehicle 2) can also be controlled based on the manual operation of the work operating tool 11 by the worker sitting in the driver's seat.

[0067] The traveling operation device 10 and / or the work operation device 11 may be a physically operable operation device such as a switch, a dial, a lever, a joystick, or a foot pedal, or may be an operation device without a physical substance such as a touch switch or an icon displayed on a touch panel that also serves as the display device 9. Furthermore, the traveling operation device 10 and / or the work operation device 11 may be a combination of multiple operation devices.

[0068] In addition, the traveling operation tool 10 and / or the work operation tool 11 may be connected to the corresponding control valves and corresponding actuators in the control valve unit 29 via a hydraulic circuit, a mechanical linkage mechanism, etc., without going through the control device 5 (travel control unit 5a, work control unit 5b).

[0069] The brush cutter 1 is also provided with a brush cutter mode input device 12 that includes an automatic work mode switch 12a, a manual work mode switch 12b, and a backup rotation mode switch 12c that can be turned on and off by the operator.

[0070] When any of the automatic operation mode switch 12a, manual operation mode switch 12b, and preliminary rotation mode switch 12c of the grass cutting operation mode input device 12 is turned ON, the control mode of the grass cutting machine 1 by the control device 5 is set to one of the automatic operation mode, manual operation mode, and preliminary rotation mode.

[0071] When the automatic operation mode switch 12a is turned ON, the control mode of the mowing work machine 1 by the control device 5 is set to automatic operation mode. In this case, as will be described in detail later, the traveling vehicle 2 travels around a predetermined circuit route L within the field 41 several times, and the mowing unit 34 of the work implement 3 connected to the traveling vehicle 2 is automatically positioned at an appropriate position in the mowing area 40 around the field 41 to carry out mowing.

[0072] When the manual operation mode switch 12b is turned ON, the control mode of the mowing work machine 1 by the control device 5 is set to manual operation mode. In this case, the operator gets into the traveling vehicle 2 and actually operates and steers the traveling vehicle 2, and also manually positions the mowing unit 34 of the work device 3 and turns the drive on and off.

[0073] Alternatively, when the manual operation mode switch 12b is ON (when the manual operation mode is set), the operator may remotely operate the traveling vehicle 2 and the work implement 3 using a terminal device (remote control device) 120, which will be described later. In this case, the travel control of the traveling vehicle 2 by remote control is not automatic travel control in which the traveling vehicle 2 travels along a preset travel route such as a circular route L, but rather travel control in which the operator watches a monitor screen displayed on the terminal device 120, for example, and manually operates a remote control device with the same function as the travel operation device 10 of the mowing implement 1.

[0074] Even if the automatic operation mode switch 12a is set to ON, if an operator performs any manual operation on the traveling vehicle 2 and / or the work device 3, the automatic operation mode may be turned OFF, and the operator may be able to manually (remotely) operate the traveling vehicle 2 and / or the work device 3.

[0075] When the preliminary run mode switch 12c is turned on, the control mode of the grass cutting implement 1 by the control device 5 is set to the preliminary run mode. In this case, while the traveling vehicle 2 is making a preliminary run (first preliminary run) in the field 41, the position information of the grass cutting implement 1 detected by the positioning device 7 is The position information is stored in the storage device 6, and the control device 5 determines the circular route L based on the position information.

[0076] The brush cutter 1 is also equipped with a ridge shape confirmation mode setting device 13 having a ridge shape recording mode switch 13a and a ridge shape correction mode switch 13b. The ridge shape recording mode switch 13a and the ridge shape correction mode switch 13b are each, for example, an ON / OFF switch.

[0077] When the ridge shape recording mode switch 13a is turned ON, the relative position (left / right position, vertical height, etc.) and tilt angle of the mowing unit 34 relative to the traveling vehicle 2, which have been adjusted by the operator to match the ridge shape, etc., are recorded as data indicating the shape of the ridge, etc. Furthermore, when the ridge shape correction mode switch 13b is turned ON while such data indicating the shape of the ridge has been recorded, the relative position (left / right position, vertical height, etc.) and tilt angle of the mowing unit 34 relative to the traveling vehicle 2, which have been adjusted to match the changed ridge shape, etc., are recorded as ridge shape correction data.

[0078] The switches 12a to 12d, 13a, 13b of the mowing operation mode input device 12 and / or the ridge shape confirmation mode setting device 13 may be intangible switches such as switches on a touch panel, or tangible switches such as levers (toggles), push buttons, slide switches, etc. In the former case, the switches may be images displayed on the display device 9.

[0079] Alternatively, the mowing operation mode input device 12 may be a single switch that can be switched to multiple positions to set the automatic operation mode, manual operation mode, and backup rotation mode, and the ridge shape confirmation mode setting device 13 may be a single switch that can be switched to multiple positions to set the ridge shape recording mode and ridge shape correction mode.

[0080] In this way, the mowing operation mode input device 12 and / or the ridge shape confirmation mode setting device 13 are not limited in terms of their installation location or structure.

[0081] The above is the structure of each part of the mowing machine 1. Next, the configuration of the support system 100 that supports mowing work by the mowing machine 1 with the traveling vehicle 2 automatically traveling will be described with reference to Figure 1 and other figures.

[0082] The support system 100 comprises a grass cutting machine 1 configured as described above, and a management device (server) 110 that manages information necessary for grass cutting work by the grass cutting machine 1 (information relating to the circular route L, grass cutting area 40, work area W, etc.).

[0083] The management device 110 is provided outside the brush cutting machine 1. The management device 110 has a CPU 111, a storage unit 112, a communication unit 113, an input / output interface 114, and the like.

[0084] The storage unit 112 stores map information related to work by the brush cutting machine 1, information related to work plans, information related to work results, information related to the current state of work, etc. The map information may include a driving route for automatic driving of the traveling vehicle 2.

[0085] The administrator of the support system 100 can know the contents of the information stored in the memory unit 112 via the input / output interface 114, and can also input information regarding work plans and information regarding correction of the information stored in the memory unit 112 and store it in the memory unit 112.

[0086] The communication section 113 of the management device 110 and the communication device 4 provided in the brush cutting machine 1 can communicate with each other via a wireless communication network or the like.

[0087] The input / output interface 114 of the management device 110 may have the same functions and structure as the travel operating tool 10, work operating tool 11, mowing work mode input device 12 and / or ridge shape confirmation mode setting device 13 of the mowing work machine 1. In this case, the information input by the manager through the input / output interface 114 of the management device 110 may be transmitted to the mowing work machine 1 via communication between the communication unit 113 and the communication device 4, and the traveling vehicle 2 and / or work device 3 may be remotely controlled.

[0088] The support system 100 also has a terminal device 120 for the worker (user) (hereinafter simply referred to as "terminal device 120"). The terminal device 120 has the same functions and structure as the communication device 4, control device 5, storage device 6, display device 9, travel operating tool 10, work operating tool 11, mowing work mode input device 12 and / or ridge shape confirmation mode setting device 13 of the mowing work machine 1, and is capable of communicating with the mowing work machine 1 and management device 110 via a wireless communication network.

[0089] For example, a user (worker) can have information such as a work plan stored in the memory unit 112 of the management device 110 or the memory device 6 of the mowing work machine 1 displayed on the terminal device 120, and can learn the contents of the information. Furthermore, the user (worker) can use the terminal device 120 to remotely control the traveling state of the traveling vehicle 2 of the mowing work machine 1, and can also remotely control the working state of the work device 3.

[0090] Furthermore, just as an operator can set each mode in the mowing work machine 1 by operating the mowing work mode input device 12 and / or the ridge shape confirmation mode setting device 13, an operator can set each mode by making the terminal device 120 function as the mowing work mode input device 12 and / or the ridge shape confirmation mode setting device 13. Information indicating the mode set in the terminal device 120 is transmitted to the communication device 4, and in the mowing work machine 1, the control device 5 recognizes the mode set in the terminal device 120 and controls the traveling vehicle 2 and / or the work device 3 according to that mode.

[0091] This concludes the explanation of the configuration of the mowing machine 1 and the support system 100. Next, we will explain the actual state of mowing work by the mowing machine 1, the actual state of mowing work by the mowing machine 1 with support from the support system 100, and the setting of the circular route L and work area W required for the mowing work, and the management of information related to the mowing work, by the support system 100.

[0092] First, with reference to Figures 3 to 7, the actual state of mowing work using the mowing machine 1 will be described. Figure 4 is a schematic plan view showing a field 41 and a mowing area 40 set in a ridge 42 surrounding the field 41. Figure 5 is a schematic plan view showing a plurality of work zones W set in the mowing area 40, non-permitted areas K, and the mowing machine 1 with the mowing unit 34 positioned to correspond to each work zone W. Figure 6 is a plan view of the mowing machine 1 during mowing work by the traveling vehicle 2 traveling in circles. Figure 7 is a schematic diagram depicting a schematic plan view of the mowing machine 1, etc., to show a change in the relative position P of the mowing unit 34 with respect to the traveling vehicle 2 that is carried out as the traveling vehicle 2 changes its traveling direction.

[0093] Below, we will explain the actual state of grass cutting work, assuming that the automatic work mode switch 12a in the grass cutting work mode input device 12 is turned on to set the automatic work mode, and that the control device 5 (travel control unit 5a, work control unit 5b) of the grass cutting work machine 1 is the entity that controls the traveling state of the traveling vehicle 2 and the working state of the work device 3, etc.

[0094] First, the grass cutting machine 1 uses the automatic driving function of the traveling vehicle 2 and the position change function of the position change unit 32 of the work device 3 to change the relative position P, to cut grass on a ridge 42 or the like that spreads around the field 41 and is so large that the grass cutting work cannot be completed in one rotation of the traveling vehicle 2 around the field 41. In the area 40, the grass cutting work by the grass cutting unit 34 can be carried out until the work is completed.

[0095] That is, in the mowing work machine 1, the traveling vehicle 2 makes multiple circular trips along a predetermined circular route L within the field 41. The position change unit 32 of the work implement 3 changes the relative position P in accordance with each circular trip of the traveling vehicle 2, and changes the work area W in the mowing region 40 around the field 41.

[0096] Specifically, the mowing area 40 includes a plurality of work areas W, each having a different distance from the circuit route L, for each of the plurality of circuits. Here, the work area W for the Nth circuit of the traveling vehicle 2 is referred to as the "work area W N When the traveling vehicle 2 shifts from the end of a certain (Nth) round to the start of the next (N+1th) round, the position change unit 32 of the working device 3 changes the position of one working area W corresponding to the certain (Nth) round. N From the next (N+1) lap, other work areas W N+1 The relative position P of the grass cutting unit 34 is changed to the above.

[0097] That is, the work area W for the Nth lap N The predetermined relative position P of the mowing unit 34 with respect to the traveling vehicle 2 corresponding to N", when the Nth circuit of the traveling vehicle 2 is shifted to the N+1th circuit, the grass cutting machine 1 changes the relative position P of the grass cutting unit 34 to the work area W N The predetermined relative position P N From work area W N+1 The predetermined relative position P N+1 Change it to.

[0098] With the above-described configuration, when the mowing machine 1 mows the mowing area 40 such as the ridges 42 around the field 41, the traveling vehicle 2 can automatically travel smoothly within the field 41 where no grass grows, and while traveling, the mowing unit 34, which is positioned in a suitable position for mowing within the mowing area 40, performs the mowing work, making it possible to perform efficient mowing work.

[0099] In this way, when the mowing area 40 has a relatively large width from the edge of the field 41 (the inner edge 40a of the mowing area 40) and the mowing work cannot be completed in one circular run, the mowing work in the mowing area 40 can be completed by the simple method of the traveling vehicle 2 traveling around one circular route L multiple times.

[0100] While the traveling vehicle 2 is traveling around the field 41 for one round (Nth round), the mowing unit 34 is positioned at a relative position P (predetermined relative position P N ), eliminating the need for the operator to frequently adjust the relative position P, thereby reducing the workload.

[0101] In addition, as described above, with regard to the work area W that changes in accordance with the transition of the lap of the traveling vehicle 2, the work area W corresponding to the (N+1)th lap N+1 is the work area W corresponding to the previous Nth lap. N The position change unit 32 changes the relative position P of the grass cutting unit 34 to the opposite side of the circular route L from the end of a certain (Nth) circular run to the start of the next (N+1th) circular run when the traveling vehicle 2 transitions from the end of a certain (Nth) circular run to the start of the next (N+1th) circular run. N From other work areas W N+1 , and change the direction away from the circular route L.

[0102] In other words, for example, if the position change unit 32 is an extendable boom or arm (hereinafter referred to as "boom, etc."), changing the relative position P from farther away from the circular route L to closer to it would result in the unmowed area being inside the already-mowed area (closer to the circular path), and the boom, etc. having to pass through the unmowed area, which could reduce the efficiency of the mowing work. However, by configuring the relative position P to change from closer to the circular route L to farther away as described above, the boom, etc. will pass over the already-mowed area, allowing for smooth mowing work.

[0103] Furthermore, the work implement 3 has an angle change unit 33 that changes the inclination angle A of the mowing unit 34 relative to the horizontal direction. The angle change unit 33 changes the inclination angle A of the mowing unit 34 depending on the state of the work area W.

[0104] Therefore, the mowing machine 1 according to the present invention keeps the relative position P (predetermined relative position P) of the mowing unit 34 as a result of the position change unit 32 of the work implement 3 changing the relative position P as the traveling vehicle 2 makes a plurality of turns within the field 41. N ) corresponding to the work area W (work area W N ) is a slope such as the slope of a ridge 42, the angle change unit 33 of the work device 3 changes the inclination angle A of the mowing unit 34 to correspond to the slope of the work area W, thereby enabling the mowing unit 34 to perform accurate mowing work in the work area W, which is a slope.

[0105] The mowing machine 1 may perform the above-described mowing work with assistance from the assistance system 100. That is, the assistance system 100 executes the following assistance method.

[0106] That is, the assistance method executed by the assistance system 100 is a method of assisting a mowing machine 1 that includes a traveling vehicle 2 capable of autonomously traveling within a field 41, a working device 3 that is coupled to the traveling vehicle 2 and has a mowing unit 34 that performs mowing work, and a position change unit 32 that changes the relative position P of the mowing unit 34 with respect to the traveling vehicle 2. This assistance method includes a first step in which the traveling vehicle 2 performs multiple circuits along a predetermined circuit route L within the field 41, and a second step in which the position change unit 32 changes the relative position P in accordance with each circuit of the traveling vehicle 2, and changes the work area W in the mowing region 40 around the field 41.

[0107] As described above, the support system 100 has a management device 110 that can be operated by an administrator, and a terminal device 120 that can be operated by an operator (user) who is not on board the mowing work machine 1 (traveling vehicle 2). Control of the traveling vehicle 2 and / or work equipment 3 (for example, control of the control valves of the control valve unit 29 that control the hydraulic actuators for traveling and / or work) performed by the control device 5 (travel control unit 5a, work control unit 5b) of the mowing work machine 1 for mowing work can also be performed by the management device 110 operated by the administrator and / or the terminal device 120 operated by the operator, by communicating with the communication device 4 of the mowing work machine 1.

[0108] That is, the management device 110 and / or the terminal device 120 in the support system 100 can execute the support method for the brush cutting machine 1 including the first and second steps described above.

[0109] Below, the actual state of control of various mowing work machines 1 (traveling vehicle 2 and / or work device 3) related to mowing work will be explained on the assumption that the control device 5 of the mowing work machine 1 is the main control device, but each control described below may also be performed with support from the support system 100, that is, with the management device 110 or terminal device 120 as the main control device. For this reason, hereinafter, the "control device 5" described as the main control device can be replaced with the "management device 110" and / or the "terminal device 120" unless otherwise specified.

[0110] Here, the method of dividing the mowing area 40 into a plurality of work areas W (actual state of division) will be described with reference to the embodiment shown in Figs.

[0111] The mowing unit 34 has a mowing width 35 in the left-right direction over which the cutting blades 34b act. In a hammer knife mower type mowing unit 34, the mowing width 35 is the left-right distance from the leftmost end of the left-most cutting blade 34b to the rightmost end of the right-most cutting blade 34b among multiple cutting blades (hammer knives) 34b attached to a rotary drive shaft 34c having a left-right axis.

[0112] On the other hand, in this embodiment, the mowing section set on the ridge 42 formed so as to surround the field 41 Area 40 has an area width 43, extending from the end (inner end 40a) that contacts the peripheral edge of field 41 to the end (outer end 40b) that is farthest from field 41. This area width 43 is not a length consisting only of a horizontal component set two-dimensionally on the plan view of ridge 42 shown in Figure 5, but is a length that includes horizontal and vertical components measured three-dimensionally along inner slope 42a, ridge 42b, and outer slope 42c that define the cross-sectional shape of ridge 42 shown in Figure 3.

[0113] The grass cutting machine 1 performs grass cutting work on the ridge 42 by positioning the grass cutting unit 34 of the work device 3 on the ridge 42, rotating the rotary drive shaft 34c of the grass cutting unit 34 to rotate the cutting blade 34b, while the traveling vehicle 2 automatically travels around the circular route L. However, because the area width 43 is larger than the grass cutting width 35, the traveling vehicle 2 cannot complete grass cutting work over the entire grass cutting area 40 (ridge 42) by traveling around the circular route L once.

[0114] Therefore, as shown in Figures 3, 5, and 6, the mowing area 40 is divided into a plurality of strip-shaped work areas W extending along the circular route L so as to divide the area width 43 into each mowing width 35. The number of work areas W is the number obtained by dividing the area width 43 by the width 45 (if there is a remainder, one work area W having a width narrower than the mowing width 35 is added to cover the remainder), and the traveling vehicle 2 travels around the circular route L the same number of times as the number of work areas W into which the mowing area 40 is divided, from the start to the completion of mowing work in the mowing area 40. Each work area W corresponds to the path of the mowing unit 34 of the traveling vehicle 2 during each lap.

[0115] Here, the area width 43, i.e., the overall width of the mowing area 40 in the offset direction of the mowing unit 34 from the traveling vehicle 2 on the circular route L, is defined in this embodiment by the position of the outermost end of the mowing unit 34 (the part farthest from the field 41) in the offset direction when the first boom cylinder 32c and the second boom cylinder 32d of the position changing unit 32 are extended to their maximum extent to maximize the offset amount of the mowing unit 34 from the traveling vehicle 2 (main body frame 30).The number of work zones W into which the mowing area 40 having such an area width 43 is divided is determined by the mowing width 35 of the mowing unit 34.

[0116] In this embodiment, the mowing area 40 is divided into four work areas W: a first work area W1, a second work area W2, a third work area W3, and a fourth work area W4.

[0117] Each work area W is a predetermined relative position P of the grass cutting unit 34 with respect to the traveling vehicle 2, which corresponds to the relevant (Nth) round of travel of the traveling vehicle 2 on the circular route L. N (or a predetermined offset amount of the mowing unit 34 from the traveling vehicle 2).

[0118] That is, the first work area W1 defines a first predetermined relative position P1 of the mowing unit 34 with respect to the traveling vehicle 2 during the first circuit. The second work area W2 defines a second predetermined relative position P2 of the mowing unit 34 with respect to the traveling vehicle 2 during the second circuit. The third work area W3 defines a third predetermined relative position P3 of the mowing unit 34 with respect to the traveling vehicle 2 during the third circuit. The fourth work area W4 defines a fourth predetermined relative position P4 of the mowing unit 34 with respect to the traveling vehicle 2 during the fourth circuit.

[0119] The inner slope 42a of the ridge 42 is a gently sloping surface, and as a result, the width from the lower edge that contacts the field 41 to the upper edge that contacts the ridge road 42b at the top end exceeds the mowing width 35. Therefore, of the mowing area 40, the area that forms the inner slope 42a of the ridge 42 is divided into two work areas W: a first work area W1 and a second work area W2. The first work area W1, which is closer to the field 41, serves as a passage for the mowing unit 34 during the first circuit of the traveling vehicle 2 on the circular route L. The second work area W2, which is farther from the field 41, serves as a passage for the mowing unit 34 during the second circuit of the traveling vehicle 2 on the circular route L.

[0120] The third work area W3, which is the next closest to the field 41 after the second work area W2, serves as a passageway for the mowing unit 34 during the third circuit of the traveling vehicle 2 on the circular route L. The fourth work area W4, which is farther from the field 41 than the third work area W3, serves as a passageway for the mowing unit 34 during the fourth circuit of the traveling vehicle 2 on the circular route L.

[0121] The ridge 42's ridge path 42b has a width of less than the mowing width 35 from the side end closest to the field 41 to the side end furthest from the field 41, and so defines a third work area W3, which is a single work area W. The outer slope 42c of the ridge 42 is a steeply sloping surface, and has a width of less than the mowing width 35 from the upper edge that contacts the ridge path 42b at the top to the lower edge, and so defines a fourth work area W4, which is a single work area W.

[0122] In this embodiment, as can be seen in Figure 3, the fourth work area W4 is an area corresponding to the mowing width 35 of the mowing unit 34 when the first boom cylinder 32c and the second boom cylinder 32d of the position change unit 32 are extended to approximately their maximum extent, and the position of the outermost end (the part farthest from the field 41) of the mowing unit 34 when placed in this area defines the outermost edge (the edge farthest from the field 41) of the fourth work area W4, i.e., the outermost edge (the edge farthest from the field 41) 40b of the mowing area 40.

[0123] 4 and 5, the outer area 42c1, in which the outer slope 42c extends beyond the outer edge of the ridge 42b beyond the mowing width 35, is an area that extends on the opposite side of the field 41 from the outer edge 40b of the mowing area 40. In other words, the outer area 42c1 is an area outside the mowing area 40, and is an area that is not subject to mowing work performed by the mowing machine 1 by moving the traveling vehicle 2 in a circular motion along the circular route L.

[0124] For areas outside the outer edge 40b of the mowing area 40, such as the outer area 42c1, which is defined by the relative position P of the mowing unit 34 when positioned farthest from the moving vehicle 2, in addition to mowing work by circular driving on the circular route L, it is possible to deviate the moving vehicle 2 from the circular route L and perform mowing work by automatic driving of the mowing work machine 1, remote control using a terminal device 120, or manual control by an operator on board the moving vehicle 2.

[0125] As described above, the path of the mowing unit 34 in the mowing area 40, which is defined by the first working area W1 to the fourth working area W4 and corresponds to each circular run of the traveling vehicle 2, is set to move away from the field 41 as the number of circular runs of the traveling vehicle 2 on the circular route L increases.

[0126] By setting the work area W as a passageway for the mowing unit 34 in this way, in the left-right direction of the mowing work machine 1, the mowing area 40 is such that the side closer to the traveling vehicle 2 from the mowing unit 34 is the already-mowed area, and the side farther from the traveling vehicle 2 from the mowing unit 34 is the unmowed area. Because the position changing unit 32 of the work device 3 is on the side closer to the traveling vehicle 2 from the mowing unit 34, it is positioned in the already-mowed area, which prevents problems such as the boom, cylinder, and other components of the position changing unit 32 coming into contact with long grass that may be present in the unmowed area.

[0127] The path of the mowing unit 34 in the mowing area 40 corresponding to each circular travel of the traveling vehicle 2 does not have to be set so as to move away from the field 41 as the number of circular travels increases, but may instead be set so as to move closer to the field 41. Alternatively, the path may be set in a complex manner so as to move away from and closer to the field 41. In short, it is sufficient that each of the work areas W (first work area W1 to fourth work area W4 in this embodiment) divided within the mowing area 40 in consideration of the mowing width 35 corresponds to one of the circular travels of the traveling vehicle 2.

[0128] Furthermore, the mowing area 40 is not limited to being divided into four work areas W such as the first work area W1 to the fourth work area W4 described above, and may be divided into any number of work areas W. Therefore, the number of times that the traveling vehicle 2 travels around the circular route L from the start to the completion of the mowing work in the mowing area 40 is not limited to four times, and the traveling vehicle 2 may travel around the circular route L any number of times.

[0129] These predetermined relative positions P NThat is, the position information indicating the first predetermined relative position P1, the second predetermined relative position P2, the third predetermined relative position P3, and the fourth predetermined relative position P4 is stored in the memory unit 112 of the management device 110, the memory unit 6 of the mowing work machine 1, etc. When starting mowing work, the control device 5 (work control unit 5b) acquires position information of the traveling vehicle 2 measured by the positioning device 7, and acquires position information indicating the relative position of the mowing unit 34 with respect to the traveling vehicle 2, and controls the relevant control valve 31v in the hydraulic oil supply device 31 to control the position change unit 32 (first boom cylinder 32c and second boom cylinder 32d) based on the position information, thereby positioning the mowing unit 34 at the predetermined relative position P.

[0130] 4 and 5, a transition point Lt is set at a position on the circuit route L where the traveling vehicle 2 switches the number of times of traveling around the circuit, i.e., the point where each traveling around the circuit starts and ends. When the traveling vehicle 2 travels beyond this transition point Lt, the traveling vehicle 2 transitions from a certain traveling around the circuit (Nth traveling around the circuit) to the next traveling around the circuit (N+1th traveling around the circuit).

[0131] Therefore, as shown in FIGS. 5 and 7, when the traveling vehicle 2 passes the transition point Lt, that is, when transitioning from a certain (Nth) round of traveling to the next (N+1th) round of traveling, the control device 5 (work control unit 5b) controls the position change unit 32 based on the acquired position information to change the relative position P of the grass cutting unit 34 with respect to the traveling vehicle 2 to a predetermined relative position P corresponding to the round of traveling (Nth) N to the predetermined relative position P corresponding to the next (N+1) lap of the current lap. N+1 That is, the grass cutting unit 34 is moved.

[0132] As an example, Figure 7 shows how, when the traveling vehicle 2 passes the transition point Lt to transition from the second circular run to the third circular run, the relative position P of the grass cutting unit 34 with respect to the traveling vehicle 2 is changed from the second predetermined relative position P2 corresponding to the second working area W2 to the third predetermined relative position P3 corresponding to the third working area W3.

[0133] Here, the relative position P of the mowing unit 34 with respect to the traveling vehicle 2 is considered to be the relative position in the left-right, up-down, and / or front-to-back directions of the mowing work machine 1 (traveling vehicle 2) on the circular route L, as described above, and the first to fourth predetermined relative positions P1 to P4 corresponding to the first to fourth working areas W1 to W4 are set so that at least the relative positions in the left-right direction are different.

[0134] Furthermore, as described above, as the number of circular runs of the traveling vehicle 2 increases, the path of the mowing section 34 in the mowing area 40 is set to move away from the field 41 in the left-right direction of the mowing work machine 1 (traveling vehicle 2) on the circular route L. Accordingly, the first to fourth predetermined relative positions P1 to P4 corresponding to each of the first to fourth circular runs are positioned in this order to gradually move away from the circular route L (traveling vehicle 2 on the circular route L).

[0135] That is, when the traveling vehicle 2 passes the transition point Lt, that is, when transitioning from one (Nth) circuit to the next (N+1th) circuit, the control device 5 (work control unit 5b) controls the position change unit 32 to increase the amount of left-right offset of the mowing unit 34 from the traveling vehicle 2. Specifically, the control unit 5b controls the corresponding control valves 31v of the hydraulic oil supply device 31 to increase the extension amounts of the first boom cylinder 32c and the second boom cylinder 32d.

[0136] For example, in the case shown in FIG. 7, the traveling vehicle 2 has completed the second lap and is about to begin the third lap. When the transition point Lt is crossed to transition to a row, the control device 5 (work control unit 5b) controls the position change unit 32 to change the relative position P of the mowing unit 34 with respect to the traveling vehicle 2 from the second predetermined relative position P2 to a third predetermined relative position P3 that is farther from the circular route L (field 41) than the second predetermined relative position P2.

[0137] The first to fourth predetermined relative positions P1 to P4 based on the map information in Figures 2 and 3 are set not only in the left-right direction of the grass cutting machine 1 (traveling vehicle 2) on the circular route L, but also as the relative position of the grass cutting unit 34 to the traveling vehicle 2 in the up-down direction.

[0138] For example, the first work area W1 and the second work area W2, which are set on the same inner slope 42a, not only differ in their distance from the field 41 in the left-right direction (the first work area W1 is closer to the field 41 than the second work area W2 in the left-right direction), but also differ in their distance from the field 41 in the up-down direction (the second work area W2 is higher than the first work area W1 in the up-down direction).

[0139] Therefore, when the traveling vehicle 2 crosses the transition point Lt to transition from the first circular run to the second circular run, the control device 5 (work control unit 5b) changes the relative position P of the grass cutting unit 34 with respect to the traveling vehicle 2 from the first predetermined relative position P1 to a second predetermined relative position P2 that is farther from and higher than the first predetermined relative position P1 from the field 41.

[0140] One possible method for the control device 5 (work control section 5b) to change the relative position of the mowing section 34 with respect to the traveling vehicle 2 in the up and down direction is to control the relevant control valve 30v in the hydraulic oil supply device 31 in order to control the position change section 32 and the angle change section 33 to change the angle between the first boom 32a and the boom bracket 30a, the angle between the first boom 32a and the second boom 32b, and / or the angle between the second boom 32b and the arm 33a. Also, one possible method is to control the relevant control valve included in the control valve unit 29 in the traveling vehicle 2 in order to control the lifting device 26 provided in the traveling vehicle 2.

[0141] The transition point Lt may be set at any position on the circular route L. In this embodiment, the transition point Lt is set at a position close to the passage 41a that the grass mower 1 uses to enter and exit the field 41. This allows the traveling vehicle 2 to be positioned at the transition point Lt on the circular route L immediately after the grass mower 1 enters the field 41 through the passage 41a, and the first circular trip can be started. Furthermore, when the traveling vehicle 2 reaches the transition point Lt and ends the final circular trip, the grass mower 1 can immediately move from there to the passage 41a and begin its return journey.

[0142] Before the traveling vehicle 2 starts a certain (Nth) round at the transition point Lt, the work control unit 5b calculates a predetermined relative position P N and controls the position change unit 32 to place the grass cutting unit 34 at the predetermined relative position P N The angle of the grass cutting unit 34 arranged in the work area W N The angle change unit 33 is controlled to correspond to the inclination angle of the ridge 42 in the

[0143] When controlling the angle change unit 33 for the above purpose, the control device 5 (work control unit 5b) acquires angle information indicating the set angle A of the mowing unit 34 relative to the horizontal plane.

[0144] In the present embodiment shown in FIG. 3, the set angle A1 of the mowing unit 34 arranged in the first work area W1 (first predetermined relative position P1) is set to an angle corresponding to the inclination angle θ1 of the inner slope 42a of the ridge 42. Similarly, the set angle A2 of the mowing unit 34 arranged in the second work area W2 (second predetermined relative position P2) is set to an angle corresponding to the inclination angle θ1 of the inner slope 42a. Similarly, the set angle A3 of the mowing unit 34 arranged in the third work area W3 (third predetermined relative position P3) is set to an angle corresponding to the inclination angle θ1 of the inner slope 42a. The set angle A3 of the mowing unit 34 is set to an angle (approximately 0 degrees) corresponding to the ridge 42b at the top end of the ridge 42. In addition, the set angle A4 of the mowing unit 34 positioned in the fourth work area W4 (fourth predetermined relative position P4) is set to an angle corresponding to the inclination angle θ2 of the outer slope 42c of the ridge 42.

[0145] In the present embodiment, the set angles A1 and A2 may be the same value because they both correspond to the inclination angle θ1 of the inner slope 42a. Therefore, when the traveling vehicle 2 passes the transition point Lt to transition from the first circular travel to the second circular travel, the control device 5 (work control unit 5b) needs to change the extension amount of the first boom cylinder 32c and the second boom cylinder 32d of the position change unit 32 to change the relative position of the mowing unit 34 to the traveling vehicle 2 (the offset amount from the traveling vehicle 2), but it is not necessary to change the inclination angle (with respect to the horizontal plane) of the mowing unit 34.

[0146] In this way, when transitioning from the first circular travel to the second circular travel, there is no need to change the tilt angle of the mowing unit 34. Therefore, the extension amount of the arm cylinder 33b of the angle change unit 33 is controlled so as to maintain that tilt angle. Note that in this case, it cannot be said that there will be no change in the extension amount of the arm cylinder 33b, and it is possible that the extension amount of the arm cylinder 33b will be changed in relation to changes in the extension amounts of the boom cylinders 32c, 32d in order to keep the tilt angle of the mowing unit 34 constant.

[0147] As described above, each work area W in the mowing area 40 N The predetermined relative position P N The first to fourth predetermined relative positions P1 to P4 are necessarily changed to different values ​​each time the number of times the traveling vehicle 2 makes a circuit changes, and the relative position P of the mowing unit 34 with respect to the traveling vehicle 2 (the amount of offset from the traveling vehicle 2) must be changed each time the transition point Lt is exceeded. On the other hand, the angle A (tilt angle) of the mowing unit 34 with respect to the horizontal plane is not necessarily a value that needs to be changed, and it is also possible that the tilt angle of the mowing unit 34 from the previous circuit will be maintained.

[0148] The control device 5 (work control unit 5b) determines whether the set angle A N The control device 5 (the work control unit 5b) acquires information indicating the set angle A NThe information indicating the above may be obtained from information stored in the memory unit 112 of the management device 110, the memory device 6 of the mowing machine 1, or the terminal device 120, or may be obtained from information input by the operator to the display device 9 (hereinafter referred to as the "input / output interface 9") serving as an input / output interface in the mowing machine 1 or to the terminal device 120 when the operator starts the circular run.

[0149] The support system 100 may store information input by the operator to the input / output interface 9 of the mowing machine 1, the user terminal device 120, or the like, in the memory unit 112 of the management device 110, the memory device 6 of the mowing machine 1, or the terminal device 120, and the control device 5 (work control unit 5b) may calculate the set angle A from the stored information. N Alternatively, information indicating the above may be acquired.

[0150] Each work area W N Setting angle A corresponding to N When setting the angle A, it is necessary to check the shape of the ridge 42. The method for setting the angle A, including the work of checking the topography, will be described in detail later.

[0151] As described above, the control device 5 causes the traveling vehicle 2 to automatically travel around the circular route L a number of times equal to the number of work areas W divided within the mowing area 40, from the start to the completion of mowing work in the mowing area 40, with the transition point Lt as the starting point and end point of each circular travel.

[0152] Furthermore, when the traveling vehicle 2 starts each circuit at the transition point Lt, the control device 5 causes the position change unit 32 of the working device 3 to change the predetermined phase defined by the working area W corresponding to the circuit. The mowing unit 34 is placed at the opposing position P, and the angle change unit 33 of the work device 3 is caused to adjust the angle of the mowing unit 34 to the set angle A that corresponds to the state of the work area W.

[0153] In addition, after determining the position and angle of the mowing unit 34 at the transition point Lt, the control device 5 causes the traveling vehicle 2 to start traveling around the circuit route L for that round, and while the traveling vehicle 2 is traveling around the circuit, the rotary drive shaft 34c of the mowing unit 34 is driven to rotate by the hydraulic motor 34d, and the mowing of the work area W is performed by the cutting blade 34b of the mowing unit 34.

[0154] Basically, the control device 5 repeatedly executes the above-described steps, and thereby the mowing work in the mowing area 40 is completed.

[0155] 5, the mowing area 40 includes areas where mowing work by the mowing units 34 located in each work area W is not permitted, or areas where mowing work by the mowing units 34 is not possible due to the traveling vehicle 2 traveling around the circular route L. Such areas within the mowing area 40 are referred to as "non-permitted areas K."

[0156] When the control device 5 determines that the grass cutting unit 34 has entered the non-permission area K, it executes an "avoidance process" to prevent the grass cutting unit 34 from performing grass cutting work in the non-permission area K.

[0157] That is, when the control device 5 determines that the grass cutting unit 34 is about to enter the unauthorized area K, it activates the traveling vehicle 2 and / or the work device 3 to prevent the grass cutting unit 34 from performing grass cutting work in the unauthorized area K.

[0158] It should be noted that "entry of the grass cutting unit 34 into the disallowed area K" refers to a state immediately before the grass cutting unit 34 enters the disallowed area K or a state where the grass cutting unit 34 is about to enter the disallowed area K.

[0159] The non-permitted area K within the mowing area 40 is an area in which the placement of the mowing unit 34 within the area or the performance of mowing work by the mowing unit 34 within the area is not permitted (or there are reasons for not permitting this), and there are various possible situations and reasons for this.

[0160] For example, the unauthorized areas K include areas where the mowing unit 34 cannot physically enter (for example, areas where trees or buildings exist), areas where the mowing unit 34 can be placed but mowing work is not necessary (for example, paved farm paths, etc.), and areas where mowing work is necessary but mowing work by the mowing unit 34 can be performed by placing the traveling vehicle 2 in a location other than the circular route L within the field 41 (for example, a depression that is angled sharply from the field 41, etc.).

[0161] The "avoidance process" is, for example, the process in which the position change unit 32 moves the grass cutting unit 34 to the work area W corresponding to a certain (Nth) round of travel of the traveling vehicle 2. N The process includes at least one of a first process in which the traveling vehicle 2 deviates from the circular route L, a second process in which the traveling vehicle 2 deviates from the circular route L, and a third process in which the grass cutting unit 34 stops grass cutting work in the non-permission area K.

[0162] The movement of the mowing unit 34 in the first process includes not only movement in the left-right direction (lateral direction) as seen from the traveling vehicle 2, but also movement in the up-down direction.

[0163] As mentioned above, there are various situations and reasons why the placement of the mowing unit 34 or mowing work by the mowing unit 34 is not permitted in the prohibited area K, and depending on the situation and reason, it is recommended that the most appropriate avoidance process be selected and executed from the various ``avoidance processes'' including the above-mentioned processes 1 to 3, etc., in terms of work efficiency, protection of the mowing unit 34, etc.

[0164] After the avoidance process has been performed as described above, the traveling vehicle 2 and / or the work device 3 will exit the prohibited area. When it is determined that K has been passed, the avoidance process is ended and the mowing work is resumed. In other words, the period during which the avoidance process is executed and the mowing unit 34 does not perform the mowing work is shortened as much as possible to improve the work efficiency.

[0165] As described above, the brush cutting machine 1 is provided with the environment detection device 8a as the sensing device 8 that senses (detects) the surroundings of the traveling vehicle 2 and / or the work implement 3.

[0166] In this case, the control device 5 determines that the mowing unit 34 has entered the non-permission area K based on the sensing results of the environment detection device 8a (sensing device 8), and executes the avoidance process (the first to third processes described above, etc.).

[0167] That is, when the control device 5 determines, based on the sensing results of the environment detection device 8a (sensing device 8), that the grass cutting unit 34 is about to enter (or has nearly entered) the unauthorized area K, it activates the traveling vehicle 2 and / or the work device 3 to prevent the grass cutting unit 34 from performing grass cutting work in the unauthorized area K.

[0168] The sensing device 8 as the environment detection device 8a in the above configuration may be a visual sensing device such as a camera or LiDAR, or an auditory sensing device such as sonar. As long as it is appropriate for determining whether the mowing unit 34 has entered the prohibited area K, which is a prerequisite for executing the avoidance process, there is no particular restriction on the configuration of the device itself as the environment detection device 8a (sensing device 8), the number of such devices, their location on the mowing machine 1, etc.

[0169] As another example of a configuration that enables "determining whether the mowing unit 34 has entered the prohibited area K," the mowing machine 1 is equipped with a position detection device that detects the position of the traveling vehicle 2 and / or the work device 3, and a memory device 6 that stores position information of the prohibited area K.

[0170] In this case, the control device 5 determines that the grass cutting unit 34 has entered the disallowed area K based on the detection results of the position detection device and the position information of the disallowed area K obtained from the storage device 6, and executes avoidance processing.

[0171] In other words, when the control device 5 of the grass cutting machine 1 determines that the grass cutting unit 34 is about to enter the prohibited area K based on the detection result of the actual position of the traveling vehicle 2 and / or work device 3 by the position detection device and the position information of the prohibited area K contained in map information etc. obtained from the memory device 6, it activates the traveling vehicle 2 and / or work device 3 to prevent the grass cutting unit 34 from performing grass cutting work in the prohibited area K.

[0172] As a position detection device for the moving vehicle 2 and / or work equipment 3 for determining whether the mowing unit 34 has entered the unauthorized area K, it is possible to apply, for example, a positioning device 7 that is provided on the moving vehicle 2 capable of autonomous driving and that can detect the current position of the moving vehicle 2 by communicating GPS signals with a communication satellite.

[0173] As mentioned above, the grass cutting machine 1 is equipped with a sensing device 8 in addition to the positioning device 7, and the sensing device 8 may be used as a position detection device for determining whether the grass cutting unit 34 has entered the unauthorized area K.

[0174] As mentioned above, the sensing device 8 includes an environment detection device 8a that detects the state of the surroundings of the traveling vehicle 2 and / or the working device 3, and an equipment state detection device 8b that detects the state of the traveling vehicle 2 and / or the working device 3. Here, the control device 5 may calculate the actual position of the traveling vehicle 2 and / or the working device 3 from the state of the surroundings of the traveling vehicle 2 and / or the working device 3 detected by the environment detection device 8a (for example, a photographed image). Alternatively, the control device 5 may calculate the actual position of the traveling vehicle 2 and / or the working device 3 from the state of the surroundings of the traveling vehicle 2 and / or the working device 3 detected by the environment detection device 8a. The actual position of the traveling vehicle 2 and / or the working device 3 may be calculated from the state of the traveling vehicle 2 and / or the working device 3 detected by the state detection device 8b (for example, a stroke sensor that measures the extension amount of a hydraulic cylinder as an actuator).

[0175] Hereinafter, specific examples of the non-permission area K and the avoidance process will be described with reference to FIGS. 4, 5, and 8 to 15. FIG.

[0176] 4 and 5, a tree 50 grows on the outer slope 42c of the ridge 42, and this tree 50 poses an obstacle to the mowing work and movement in the fourth work area W4 for the mowing unit 34. The area of ​​the outer slope 42c occupied by the tree 50 and the area around the trunk near the base of the tree 50 are designated as the prohibited area Ka. In other words, the fourth work area W4 on the outer slope 42c is interrupted (encroached upon) midway by the prohibited area Ka.

[0177] Furthermore, a branch road 44 (in this embodiment, multiple branch roads 44) extending away from the field 41 branches off from the ridge road 42b that extends to surround the field 41. The branch road 44 extends through an area that should be the fourth work area W4 within the mowing area 40, but because the road surface is approximately horizontal, the mowing unit 34, which is inclined at the set angle A4 corresponding to the outer slope 42c (fourth work area W4), cannot accommodate it. Therefore, the area within the mowing area 40 that is occupied by the branch road 44 is designated as the prohibited area Kb. In other words, the fourth work area W4 is interrupted (encroached upon) partway through by the branch road 44, which serves as the prohibited area Kb.

[0178] 4 and 5, a warehouse 51 has been built on the inner slope 42a of the ridge 42, which obstructs the movement and mowing work of the mowing unit 34 in the first work area W1, and the warehouse 51 and the area around it are designated as the prohibited area Kc. The prohibited area Kc not only includes the area that should be the first work area W1, but also the area within the inner slope 42a that should be the second work area W2, where the warehouse 51 blocks the extension of the booms 32a, 32b and prevents the mowing machine 1 from reaching the mowing unit 34 in the field 41. In other words, the first work area W1 and the second work area W2 are interrupted (encroached upon) partway by the prohibited area Kc.

[0179] In this embodiment, by extending the booms 32a, 32b beyond the warehouse 51, the mowing unit 34 can reach the ridge 42b and outer slope 42c on the other side of the warehouse 51 from the field 41, and therefore the prohibited area Kb does not extend into the third work area W3 and the fourth work area W4. However, if the mowing unit 34 cannot reach the ridge 42b and / or outer slope 42c on the other side of the warehouse 51 by extending the booms 32a, 32b beyond the warehouse 51, the areas that should be the third work area W3 and / or the fourth work area W4 may also be included in the prohibited area Kc. In this case, the third work area W3 and / or the fourth work area W4 will also be interrupted (encroached upon) midway by the prohibited area Kc.

[0180] 4 and 5, the ridge 42b includes a paved road 42b1 on which no grass grows that can be used for mowing, and the paved road 42b1 is designated as a prohibited area Kd. In other words, the third work area W3 on the ridge 42b is interrupted (eroded) by the prohibited area Kd, which is the paved road 42b1.

[0181] 4 and 5, a portion of the inner slope 42a of the ridge 42 forms a depression 42a1 that is recessed toward the outer slope 42c when viewed from the field 41. The curvature of the depression 42a1 exceeds the limit value of the curvature that can be ensured on the circuit route L, which is the travel route of the traveling vehicle 2. As a result, the edge of the depression 42a1 on the field 41 side is closer to the inner edge 40a of the mowing area 40, which is set to extend at a certain distance from the circuit route L when viewed from the field 41. The grass cutting unit 34 positioned at the first predetermined relative position P1 corresponding to the first work area W1 does not reach the part of the depression 42a1 that is closest to the field 41. In addition, the grass cutting unit 34 positioned at the second predetermined relative position P2 corresponding to the second work area W2 does not reach the depression 42a1 on the inner slope 42a.

[0182] Therefore, the depression 42a1 on the inner slope 42a is set as the non-permitted area Kf, which is an area that cannot be reached by the mowing unit 34 arranged at the first predetermined relative position P1 or the second predetermined relative position P2 while the traveling vehicle 2 travels around the circular route L. In other words, the first work area W1 and the second work area W2 on the inner slope 42a of the ridge 42 are interrupted (eroded) by the non-permitted area Ke.

[0183] In this embodiment, the mowing unit 34, which is positioned at a third predetermined relative position P3 with respect to the traveling vehicle 2 on the circular route L, can reach the portion of the ridge 42b along the depression 42a1, and therefore this portion is included in the third work area W3. Also, the mowing unit 34, which is positioned at a fourth predetermined relative position P4 with respect to the traveling vehicle 2 on the circular route L, can reach the portion of the outer slope 42c along the depression 42a1, and therefore this portion is included in the fourth work area W4. However, if the portion of the ridge 42b and / or outer slope 42c along the depression 42a1 bends so far back as seen from the field 41 that the mowing unit 34 positioned at the third predetermined relative position P3 and / or the fourth predetermined relative position P4 relative to the traveling vehicle 2 on the circular route L cannot reach it, then that portion of the ridge 42b and / or outer slope 42c will also be included in the non-permitted area Ke, and the third working area W3 and / or the fourth working area W4 will be interrupted (eroded) by the non-permitted area Ke.

[0184] 4 and 5, a water gate 53 is provided on the inner slope 42a of the ridge 42. As shown in FIG. 13, for example, an irrigation channel 54 is formed along the inner edge 40a of the mowing area 40, and when the water gate 53 is opened, agricultural water is introduced into the irrigation channel 54. The water gate 53 and the area around it are not subject to mowing work by the mowing unit 34, and therefore this area is designated as a prohibited area Kf. In other words, the first work area W1 and the second work area W2 on the inner slope 42a are interrupted (eroded) partway by the prohibited area Kf.

[0185] 4 and 5, a passage 41a is provided from the ridge 42b to the field 41. No grass grows on the surface of the passage 41a, or even if grass does grow, the grass growing on the passage 41a must be cut before the grass cutting machine 1 passes through the passage 41a to enter the field 41, that is, before the grass cutting work in the grass cutting area 40 is performed by the grass cutting unit 34 as the traveling vehicle 2 travels around on the circular route L (i.e., separately from the grass cutting work). Therefore, the passage 41a is designated as a prohibited area Kg, and the first work area W1 and the second work area W2 on the inner slope 42a are interrupted (eroded) partway by the prohibited area Kg.

[0186] Now, while the grass cutting machine 1 is performing grass cutting work in the grass cutting area 40, the control device 5 determines that the grass cutting unit 34 on the work area W has entered or is about to enter the prohibited area K (Ka to Kg) by reading the measurement results of the positioning device 7 and / or the sensing device 8, or map information obtained from the memory device 6, etc. (simply referred to as ``determining that the grass cutting unit 34 has entered the prohibited area K''), and then performs an avoidance process to prevent the grass cutting unit 34 from performing grass cutting work in the prohibited area K.

[0187] As the avoidance process, several modes of process such as the above-mentioned first to third processes are conceivable. Here, the first process, second process, and third process corresponding to the above-mentioned non-permission areas Ka to Kg will be specifically explained with reference to Figs. 8 to 15.

[0188] The work area W shown in Figures 8 to 15 is set to the default value to make the explanation easier to understand. The shape and other details of the work area W shown in Figures 4 and 5 are not necessarily the same.

[0189] In the first process, the traveling vehicle 2 continues traveling around the circular route L, while the grass cutting unit 34 is moved to the work area W so as to avoid the non-permitted area K. N (corresponding to a given relative position P N ) is moved from

[0190] Specifically, during the execution of the first process, the control device 5 controls the control valve 31v for supplying hydraulic oil to the boom cylinders 32c, 32d of the position change unit 32 in the hydraulic oil supply device 31 while continuing the automatic travel of the traveling vehicle 2 on the circular route L, and changes the relative position of the grass cutting unit 34 with respect to the traveling vehicle 2 (offset amount from the traveling vehicle 2) to the work area W. N The predetermined relative position P N (Predetermined relative position P N This causes the grass cutting unit 34 that follows the traveling vehicle 2 to detour around the non-permission area K.

[0191] While the traveling vehicle 2 is traveling on the circular route L so that the grass cutting unit 34 detours around the prohibited area K, the control device 5 N continues without interruption and is located at a predetermined relative position P N It is assumed that the grass cutting unit 34 is moving, and when the virtual grass cutting unit 34 is about to leave or has left the prohibited area K, that is, when the grass cutting unit 34 has completed avoiding entry into the prohibited area K, the actual (predetermined relative position P N The grass cutting unit 34 (moved from the work area W N The position change unit 32 is controlled to return the position to the original position.

[0192] There are no particular restrictions on the direction in which the mowing unit 34 moves to bypass the non-permitted area K by the first process. However, in this embodiment, as described above, the first to fourth work areas W1 to W4 are set so that the mowing unit 34 moves farther away from the field 41 as the number of times the traveling vehicle 2 makes a circuit increases, and within the mowing area 40, the side of the mowing unit 34 that is closer to the field 41 than the mowing unit 34 becomes the already-mowed area. Therefore, by moving the mowing unit 34 in a direction approaching the field 41 (by operating the first boom 32a and second boom 32b of the position change unit 32 configured as described above in the folding direction), the control device 5 can move the mowing unit 34 without the mowing unit 34 coming into contact with unmowed grass, etc.

[0193] The control device 5 may execute the first process as described above in response to a prohibited area Ka around a tree 50 on the outer slope 42c, for example, as shown in Figures 8 and 9. Figure 8 is a schematic plan view of the mowing machine 1 operating according to the first process in response to a prohibited area Ka set around a tree 50. Figure 9 is a schematic rear view of the mowing machine 1 operating according to the first process in response to the prohibited area Ka in Figure 8.

[0194] When the control device 5 determines that the mowing unit 34, which is positioned at the fourth predetermined relative position P4 and performing mowing work within the fourth work area W4, has entered the non-permitted area Ka during the fourth circular movement of the traveling vehicle 2 on the circular route L, the control device 5 immediately controls the position change unit 32, etc. to change the relative position P of the mowing unit 34 with respect to the traveling vehicle 2 from the fourth predetermined relative position P4 to, for example, the third predetermined relative position P3 or the second predetermined relative position P2, etc.

[0195] After changing the position of the mowing unit 34, the control device 5 controls the traveling vehicle 2 to continue traveling around the circular route L, so that the mowing unit 34 whose position has been changed moves around the non-permitted area Ka, i.e., moves on the ridge 42b or the inner slope 42a, for example, while avoiding interference with the trees 50. During this movement, the rotational drive of the rotary drive shaft 34c may be continued or stopped. The control device 5 determines that the mowing unit 34 has completed detouring the non-permitted area Ka through this movement, i.e., moves the mowing unit 34 out of the work area W. N At the point when it is determined that the relative position P of the grass cutting unit 34 with respect to the traveling vehicle 2 can be returned to the fourth predetermined relative position P4, the position changing unit 32 and the like are controlled to return the relative position P of the grass cutting unit 34 with respect to the traveling vehicle 2 to the fourth predetermined relative position P4.

[0196] The first process may also be to prevent the mowing unit 34 from entering the prohibited area K by moving the mowing unit 34 up and down. For example, if the tree 50 defining the prohibited area Ka is a shrub, the control device 5 controls the position change unit 32, the lifting device 26, etc. to move the mowing unit 34 upward, causing the mowing unit 34 to straddle the tree 50 as the traveling vehicle 2 continues traveling around on the circular route L, and when the mowing unit 34 has straddled the tree 50 and re-enters the space above the fourth work area W4, the mowing unit 34 is lowered to the vicinity of the outer slope 42c, and mowing work in the fourth work area W4 is resumed.

[0197] Furthermore, such vertical movement of the mowing unit 34 can be applied, for example, to the mowing unit 34 responding to a branch road 44 serving as a non-permitted area Kb during the fourth circuit of the traveling vehicle 2, as shown in Figure 10. Figure 10 is a schematic rear view of the mowing implement 1 operating according to the first process in response to a non-permitted area Kb set in a branch road 44 from a ridge 42b.

[0198] The non-permitted area Kb (branch road 44) ​​that interrupts (encroaches on) the fourth work area W4 is generally higher than the outer slope 42c that defines the fourth work area W4 (more specifically, it extends horizontally at the same height as the upper end of the outer slope 42c and the ridge 42b). During the fourth lap of the traveling vehicle 2, the control device 5 controls the position changing unit 32 to move the grass cutting unit 34 upward from the fourth predetermined relative position P4 so that it crosses the branch road 44.

[0199] In addition, when the non-permitted area Kb consisting of the branch road 44 is an un-mowed area, the control device 5 may move the grass cutting unit 34 upward from the fourth predetermined relative position P4 to, for example, the same height as the third predetermined relative position P3, and may also adjust the angle of the grass cutting unit 34 to, for example, the same angle as the set angle A3, so that the grass cutting unit 34 can cut the grass on the branch road 44.

[0200] The second process is a process for preventing the grass cutting unit 34 from entering the non-permission area K by temporarily deviating the traveling vehicle 2 from the circular route L.

[0201] Specifically, while the second process is being executed, the control device 5 continues the automatic driving of the traveling vehicle 2, but uses automatic steering or the like to temporarily deviate the traveling vehicle 2 from the circular route L. By making the work device 3 follow the movement of the traveling vehicle 2, the mowing unit 34 is made to detour around the non-permitted area K.

[0202] While the traveling vehicle 2 deviates from the circular route L, the control device 5 controls the relative position P of the grass cutting unit 34 with respect to the traveling vehicle 2 to a predetermined relative position P N Even if the N The rotational drive of the rotary drive shaft 34c of the grass cutting unit 34 may be continued or stopped.

[0203] As in the first process, the control device 5 automatically drives the traveling vehicle 2 that has deviated from the circular route L, and when it determines that the grass-cutting unit 34 has finished detouring the non-permitted area K and is ready to return to the corresponding work area W, it returns the traveling vehicle 2 to the circular route L, returns the grass-cutting unit 34 to the corresponding work area W, and causes the grass-cutting unit 34 to resume grass-cutting work.

[0204] The control device 5 may execute the second process as described above in response to a prohibited area Kc around a warehouse 51 on the inner slope 42a, for example, as shown in Figure 11. Figure 11 is a schematic plan view of a brush cutter operating according to the second process in response to a prohibited area Kc set around the warehouse 51.

[0205] In particular, if the offset amount in the left-right direction of the grass cutting unit 34 in the first work area W1 corresponding to the first circular travel of the traveling vehicle 2 on the circular route L is small and the offset amount cannot be reduced any further, or if the offset amount reduction amount sufficient to bypass the non-permitted area Kc cannot be secured, or if the warehouse 51 exceeds the upward movement limit of the grass cutting unit 34, In this case, the relative position P of the grass cutting unit 34 with respect to the traveling vehicle 2 is set to a predetermined relative position P while the traveling vehicle 2 continues traveling along the circular route L. N This cannot be achieved by the first process of changing from the (first predetermined relative position P1).

[0206] On the other hand, if the second process is to cause the moving vehicle 2 to deviate from the circular route L, the mowing unit 34 can be moved to follow the movement of the moving vehicle 2 regardless of the relative position P of the mowing unit 34 to the moving vehicle 2, thereby avoiding entry into the non-permitted area Kb.

[0207] Therefore, the control device 5 may be set (programmed) to execute the second process in response to the non-permission area Kc during the first circuit of the traveling vehicle 2 on the circuit route L.

[0208] In this case, when the control device 5 determines that the mowing unit 34, which is performing mowing work in the first work area W1, has entered the non-permitted area Kc during the first circular travel of the traveling vehicle 2 on the circular route L, it immediately controls the steering device 24 etc. to steer the traveling vehicle 2 (front traveling device 22a) to the inside of the circular route L within the field 41. As a result, the mowing unit 34 moves to a position closer to the field 41 (or within the field 41) that cannot be reached simply by changing the relative position P with respect to the traveling vehicle 2 under the control of the position change unit 32 (reducing the offset amount).

[0209] Thereafter, the control device 5 automatically causes the traveling vehicle 2 to travel on a detour route Lb set inside the circular route L within the field 41. As a result, the grass cutting unit 34 passes through the space on the field 41 side of the warehouse 51 and bypasses the warehouse 51 (non-permission area Kc).

[0210] For example, when causing the moving vehicle 2 to deviate from the circular route L as a second process corresponding to the non-permitted area Kc during the second circular run of the moving vehicle 2, the relative position of the grass cutting unit 34 with respect to the moving vehicle 2 can be changed from the second predetermined relative position P2 with a large offset amount (or from the third predetermined relative position P3, or from the fourth predetermined relative position P4) to the first predetermined relative position P1 with a small offset amount, thereby reducing the amount of deviation (amount of movement) of the moving vehicle 2 from the circular route L to the same extent as the amount of deviation (latitude amount) caused by the second process during the first circular run.

[0211] Furthermore, the control device 5 may execute the second process in response to a non-permitted area Kd defined by a paved road 42b1 of the ridge 42b during the third circuit of the traveling vehicle 2, as shown in Fig. 12. Fig. 12 is a schematic plan view of the mowing machine operating according to the second process in response to a non-permitted area defined on the paved road 42b1 of the ridge 42b.

[0212] Here, since there are no obstacles on the paved road 42b1, which is the prohibited area Kd, it is possible to place the mowing unit 34 located in the third work area W3 as it is on the paved road 42b1, and in this state have the traveling vehicle 2 continue traveling around on the circular route L, thereby allowing the mowing unit 34 to pass through the prohibited area Kd. In other words, the control device 5 may execute the third process described below in response to the prohibited area Kd consisting of the paved road 42b1.

[0213] However, the paved road 42b1 and the inner slopes 42a and outer slopes 42c formed on both the inside and outside of the paved road 42b1 are curved overall, and the circular route L within the field 41 is also curved along the inner slope 42a along the paved road 42b1. Therefore, in the third process, the mowing unit 34 does not perform any mowing work within the prohibited area Kd, and the traveling vehicle 2 travels along the curved circular route L, and the non-working state of the mowing machine 1 continues for the time it takes for the mowing unit 34 to pass through the prohibited area Kd.

[0214] Therefore, as shown in Figs. 5 and 12, the non-permission area Kd of the brush cutting machine 1 is set to be in the non-permission area Kd. To shorten the duration of the work state as much as possible, a short-cut path Ls is set in the field 41. In this embodiment, the short-cut path Ls is set as a short-cut path Ls1 that extends in a straight line connecting the start point and end point of the curved portion of the circular route L. Then, when it is determined that the mowing unit 34, which is positioned at the third predetermined relative position P3 corresponding to the third work area W3, has entered the non-permitted area Kd, the control device 5 executes a second process to deviate the traveling vehicle 2 from the circular route L and travel on the short-cut path Ls1.

[0215] The time taken for the traveling vehicle 2 to travel on the straight short-cut road Ls1 in accordance with the second processing in response to the non-permitted area Kd is shorter than the time taken for the traveling vehicle 2 to travel on the curved circuit route L in accordance with the third processing in response to the non-permitted area Kd. That is, in this embodiment, the control device 5 executes the second processing in response to the non-permitted area Kd, thereby shortening the time that the brush mower 1 is in a non-working state. Note that the traveling speed of the traveling vehicle 2 on the short-cut road Ls1 may be increased to further shorten the time that the brush mower 1 is in a non-working state.

[0216] In addition, when the mowing unit 34, which is performing mowing work in the third work area W3 on the ridge 42b, approaches the paved road 42b1 (non-permitted area Kc), the control device 5 may execute the third process described below, stopping the rotation of the rotary drive shaft 34c while maintaining the relative position P of the mowing unit 34 at the third predetermined relative position P3, and continuing the circular travel of the traveling vehicle 2 on the circular route L, thereby moving the mowing unit 34 on the paved road 42b1.

[0217] For example, if the paved road 42b1 is straight, the portion of the circular route L along the paved road 42b1 may also be straight. In such a case, there is no need to provide a short-circuit road Ls1 that bypasses the circular route L, and the most efficient way to deal with the non-permitted area Kd may be to have the control device 5 execute the third process to move the mowing unit 34 on the paved road 42b1 while allowing the traveling vehicle 2 to continue traveling around on the circular route L.

[0218] The control device 5 may also execute the second process in response to a non-permitted area Ke set in a depression 42a1 on the inner slope 42a during the first or second circuit of the traveling vehicle 2, as shown in Fig. 13. Fig. 13 is a schematic plan view of the grass cutting machine 1 operating according to the second process in response to a non-permitted area Ke set in a depression 42a1 on the inner slope 42a of the ridge 42.

[0219] Here, the depression 42a1 of the ridge 42 is a non-permitted area Kc during the first and second circular runs of the traveling vehicle 2, because the grass cutting unit 34, which is positioned at the first predetermined relative position P1 or the second predetermined relative position P2 relative to the traveling vehicle 2 on the circular route L, cannot reach the depression 42a1, which is recessed in a sharp valley shape.

[0220] The control device 5 can shorten the work time by executing a second process that causes the traveling vehicle 2 to deviate from the circular route L in response to the non-permitted area Ke during the first and second circular runs of the traveling vehicle 2 on the circular route L.

[0221] That is, within the field 41, a short-cut road Ls is set to shorten the travel distance (time) of the traveling vehicle 2 in accordance with the non-permitted area K. In this embodiment, a straight short-cut road Ls2 is set inside a curved portion of the circular route L that corresponds to the ridge 42b along the depression 42a1 as the short-cut road Ls corresponding to the non-permitted area Ke.

[0222] During the first and second rounds of travel, the traveling vehicle 2 moves on the short-cut path Ls2 in accordance with the non-permitted area Kc, thereby shortening the time that the mowing unit 34 passes through the portion where the first work area W1 and the second work area W2 are interrupted in the non-permitted area Kc without performing mowing work, thereby shortening the time from the start to the end of mowing work in the mowing area 40. It is possible to further shorten the time that the brush cutter 1 is in a non-working state by increasing the traveling speed of the traveling vehicle 2 on the short-cut road Ls2.

[0223] Note that, for example, if the portion of the circular route L near the depression 42a1 is linear, the short-cut Ls2 may not be provided. In this case, when the mowing unit 34, which is performing grass cutting work in the first work area W1 or the second work area W2 on the inner slope 42a, approaches the non-permitted area Ke, the control device 5 may execute the third process described below to allow the traveling vehicle 2 to continue traveling around the circular route L. At this time, the mowing unit 34, which is positioned at the first predetermined relative position P1 or the second predetermined relative position P2, has not reached the depression 42a1 and is therefore floating in the air. Therefore, there is no problem with the traveling vehicle 2 traveling along the circular route L with the mowing unit 34 maintained in this state.

[0224] As described above, depending on the situation in the non-permitted area K (whether there is an obstacle, such as in the non-permitted area Kc, and a collision with the mowing unit 34 must be avoided, or whether there is no obstacle, such as in the non-permitted areas Kd and Ke, but mowing by the mowing unit 34 is not necessary, or whether the mowing unit 34 has difficulty reaching the area), the control device 5 may execute the second process of deviating the traveling vehicle 2 from the circular route L in order to move the traveling vehicle 2 on the detour route Lb to avoid contact between the work device 3 and an obstacle, as shown in Figure 11, or may execute the second process in order to move the traveling vehicle 2 on the short-cut route Ls (Ls1, Ls2) to shorten the work time, as shown in Figures 12 and 13.

[0225] Furthermore, while the traveling vehicle 2 is moving on the short-circuit road Ls (Ls1, Ls2), the relative position P of the grass cutting unit 34 with respect to the traveling vehicle 2 may or may not be changed, and the rotational drive of the rotating drive shaft 34c of the grass cutting unit 34 may be continued or stopped.

[0226] Furthermore, in response to the non-permitted area Kd in Figure 12 and the non-permitted area Ke in Figure 13, as described above, it is conceivable to configure (program) the control device 5 in advance to execute the second process as an avoidance process and move the traveling vehicle 2 from the circular route L to the short-cut road Ls. However, in addition to this, for example, an input device (switch, etc.) for making such a selection may be provided in the brush cutting machine 1, terminal device 120, etc. so that the operator can choose whether to continue the circular travel of the traveling vehicle 2 on the circular route L or to move it to the short-cut road Ls.

[0227] In addition, the depression 42a1 on the inner slope 42a of the ridge 42, which is a non-permitted area Ke, may be left as an unmowed area by the second process as described above, for example, during the first and second circular runs of the traveling vehicle 2, and after the traveling vehicle 2 has completed its final (fourth) circular run on the circular route L, the traveling vehicle 2 and the work equipment 3 may be directly operated manually by the worker or remotely controlled via the terminal device 120 to perform grass cutting work on the depression 42a1 that remains as an unmowed area.

[0228] Alternatively, for example, when the mowing unit 34 approaches a prohibited area Ke, which is a depression 42a1 in the ridge 42, during the second circular travel of the traveling vehicle 2, the automatic travel of the traveling vehicle 2 on the circular route L may be stopped, and an operator may manually operate the traveling operation device 10 and the work operation device 11, etc., directly or remotely via the terminal device 120, to manually drive the traveling vehicle 2 and the work device 3 and perform the mowing work in the depression 42a1 in the prohibited area K. In this case, once the mowing of the depression 42a1 is completed, the second circular travel by the traveling vehicle 2 on the circular route L may be resumed, and mowing of the unmowed area of ​​the second work area W2 may be resumed.

[0229] Alternatively, the control device 5 may be programmed to mow the depression 42a1 of the ridge 42, and when the mowing unit 34 approaches the non-permitted area Ke, which is the depression 42a1 of the ridge 42, during the first or second round of travel of the traveling vehicle 2, the traveling vehicle 2 is automatically steered (even if the steering angle of the left and right front traveling devices 22a, which are the steering wheels, is changed, the crawler type traveling device The depression 42a1 may be mowed by changing the relative position P of the mowing unit 34 with respect to the traveling vehicle 2 from the first predetermined relative position P1 or the second predetermined relative position P2 to a position suitable for mowing the depression 42a1 (the rotation speed and / or the rotation direction of the drive wheels of the left and right rear traveling devices 22b may be made different).

[0230] The third process is a process in which the traveling vehicle 2 continues traveling around the area and the mowing unit 34 enters the prohibited area K, but stops mowing work in the prohibited area K. The mowing unit 34 does not need to perform mowing work in the prohibited area K, and even if the mowing unit 34 changes its relative position P with respect to the traveling vehicle 2 in the prohibited area K, the predetermined relative position P corresponding to the work area W is not changed. N The sine wave may remain held in the sine wave.

[0231] Furthermore, the third avoidance operation may stop the rotational drive of the rotary drive shaft 34c of the grass cutting unit 34 while the grass cutting unit 34 passes through the prohibited area K, so that the grass cutting unit 34 is unable to perform grass cutting work, or the rotary drive shaft 34c may continue to rotate, but as a result, grass cutting work is not performed while the grass cutting unit 34 passes through the prohibited area K due to reasons such as the absence of grass to be cut.

[0232] For example, as shown in Fig. 14, the control device 5 may execute the third process in response to the non-permitted area Kf set by the water gate 53 during the first and second laps of the traveling vehicle 2. Fig. 14 is a schematic plan view of the brush cutter 1 operating according to the third process in response to the non-permitted area Kf set by the water gate 53.

[0233] The sluice gate 53 and its surrounding area (such as the waterway that cuts through the inner slope 42a from the sluice gate 53) do not have any grass to be cut by the mowing unit 34. On the other hand, because the sluice gate 53 is recessed into the inner slope 42a, even if the mowing unit 34 enters the non-permitted area Kf while being held at the first predetermined relative position P1 or the second predetermined relative position P2, there is nothing in the non-permitted area Kf that physically obstructs the progress of the mowing unit 34.

[0234] Here, because the width of the water gate 53 in the direction of travel of the brush cutting machine 1 along the circular route L is small, it is more efficient to have the brush cutting unit 34, which is positioned at the first predetermined relative position P1 or the second predetermined relative position P2, pass through the non-permitted area Kf by continuing the circular travel of the traveling vehicle 2 on the circular route L in the third process, rather than changing the relative position P of the brush cutting unit 34 in the first process or causing the traveling vehicle 2 to deviate from the circular route L in the second process. For this reason, the third process is an avoidance process that corresponds to the non-permitted area Kf.

[0235] While passing through the non-permission area Kf, the mowing unit 34 may keep the rotary drive shaft 34c rotating or may stop rotating. In either case, the mowing unit 34 does not perform mowing work while passing through the non-permission area Kf.

[0236] Furthermore, for example, the control device 5 may execute the third process in response to a non-permitted area Kg set in the passage 41a from the ridge 42b to the field 41 during the first and second circular travel of the traveling vehicle 2, as shown in Figure 15. Figure 15 is a schematic plan view of the grass cutting machine 1 operating according to the third process in response to the non-permitted area Kg set in the passage 41a to the field 41.

[0237] For the reasons why the passage 41a was designated as the non-permitted area Kg, it is not a target area for mowing work by the traveling vehicle 2 traveling around on the circular route L within the field 41. On the other hand, there is nothing on the passage 41a that can obstruct the progress of the grass cutting unit 34, and the width of the passage 41a in the direction of progress of the grass cutting machine 1 along the circular route L is also small, so in the third process, the control device 5 allows the traveling vehicle 2 to continue traveling around on the circular route L, and prevents the grass cutting unit 34 from passing through the non-permitted area Kg. It is intended to allow this to happen.

[0238] While passing through the passage 41a, which is the non-permission area Kg, the grass cutting unit 34 may either keep the rotary drive shaft 34c rotating or stop rotating. In either case, the grass cutting unit 34 will not perform grass cutting work while passing through.

[0239] In this embodiment, as described above, the transition point Lt is set near the passage 41a on the circular route L within the field 41. In other words, when the traveling vehicle 2 passes through the transition point Lt, the mowing unit 34 passes through the passage 41a, which is the non-permitted area Kg.

[0240] Therefore, the control device 5 is configured (programmed) to change the relative position P of the mowing unit 34 with respect to the traveling vehicle 2 when the mowing unit 34 passes through the passage 41a, which is the non-permitted area Kg, in the third processing, when the mowing unit 34 transitions to circular traveling as shown in Figure 7.

[0241] With this configuration, as shown in Figure 15, for example, when a traveling vehicle 2 has completed its first circuit, passes the transition point Lt and transitions to its second circuit, the grass cutting unit 34, which was positioned at the first predetermined relative position P1 corresponding to the first working area W1, is repositioned to the second predetermined relative position P2 corresponding to the second working area W2 while passing through the passage 41a, which is the non-permitted area Kg.

[0242] Furthermore, when the traveling vehicle 2, having completed the second circuit, passes the transition point Lt and transitions to the third circuit, the grass cutting unit 34, which was positioned at the second predetermined relative position P2 corresponding to the second working area W2 on the inner slope 42a, enters the passage 41a, which is the non-permitted area Kg, and while passing through this passage 41a, is repositioned to the third predetermined relative position P3 corresponding to the third working area W3 on the ridge 42b.

[0243] In this way, in this embodiment, the passage 41a, which is the non-permission area Kg, is set by the third process as an area through which the mowing unit 34 passes without mowing, and when the traveling vehicle 2 transitions from a certain (Nth) round to the next (N+1) round, the mowing unit 34 changes the relative position P with respect to the traveling vehicle 2 to a predetermined relative position P corresponding to the certain (Nth) round. N to the predetermined relative position P corresponding to the next (N+1) lap N+1 It is set as an area for changing to.

[0244] Note that various avoidance processes, including the first process to the third process, can be considered as responses to the above-mentioned disallowed areas K, and as described above, it is possible to have the control device 5 recognize in advance what kind of avoidance process should be executed in response to each disallowed area K. Alternatively, it is also possible to configure the brush cutting machine 1 etc. so that when the grass cutting unit 34 is about to enter each disallowed area K, several avoidance processes, such as the first process to the third process, that are considered as responses to the disallowed area K are displayed on the display device 9 etc., and the operator can select one of the avoidance processes each time.

[0245] As described above, the mowing machine 1 sequentially mows the multiple work areas W (W1 to W4) within the mowing area 40 from the start to the end of mowing in the mowing area 40 around the field 41 as the traveling vehicle 2 travels around the field 41 a number of times. Furthermore, if the work area W is interrupted midway by a non-permitted area K, an appropriate avoidance process is carried out.

[0246] Fig. 16 is a flow chart showing the process from start to finish of the mowing work performed by the mowing machine 1 in the mowing area 40. The flow of the mowing work described above will be explained using the flow chart in Fig. 16. Note that, in the following explanation, the control device 5 will be described as the entity that executes each step, but as mentioned above, this entity can be replaced by the management device 110 or the terminal device 120. be.

[0247] When the automatic operation mode switch (SW) 12a of the grass cutting operation mode input device 12 is turned ON (step S01: YES), etc., and the automatic operation mode is set, the control device 5 determines whether the traveling vehicle 2 has reached the transition point Lt for the Nth time (in this embodiment, any of the first to fourth times) (step S02), and when it is confirmed that the traveling vehicle 2 has reached the transition point Lt for the Nth time (step S02: YES), it determines the predetermined relative position P of the grass cutting unit 34 corresponding to the Nth round of traveling of the traveling vehicle 2. N and setting angle A N(Step S03), and controls the work device 3 (the position change unit 32 and the angle change unit 33) to move the grass cutting unit 34 to the corresponding Nth work area W N (Step S04).

[0248] In this way, when the traveling vehicle 2 is at the transition point Lt (more specifically, either while passing through the transition point Lt, immediately before passing through, or immediately after passing through), the mowing unit 34 is placed in the work area W (first work area W1) corresponding to the relevant (Nth) circular travel, and then the control device 5 controls the travel device, steering device, etc. of the traveling vehicle 2 to start the relevant (Nth) circular travel of the traveling vehicle 2 on the circular route L, starts driving the cutting blade 34b of the mowing unit 34 (rotation of the rotary drive shaft 34c), and moves the mowing unit 34 to the relevant Nth work area W N Then, the grass cutting work is started (step S05).

[0249] The above steps S02 to S05 are also executed when mowing work in the mowing area 40 is started. That is, when the control device 5 confirms that the traveling vehicle 2 has first reached the transition point Lt (step S02: YES), it acquires a first predetermined relative position P1 and a first set angle A1 of the mowing unit 34 corresponding to the first circular travel of the traveling vehicle 2 (step S03), and controls the work device 3 (the position change unit 32 and the angle change unit 33) to position the mowing unit 34 in the first work area W1 (step S04). From this state, the control device 5 starts the first circular travel of the traveling vehicle 2 on the circular route L, starts driving the cutting blade 34b of the mowing unit 34 (step S05), and starts mowing work in the first work area W1, thereby starting mowing work in the mowing area 40, which is the target area for this mowing work.

[0250] The grass cutting unit 34 is in the Nth work area W NWhile moving and mowing, the control device 5 checks whether the mowing unit 34 has entered the disallowed area K (step S06). If it determines that the mowing unit 34 has entered the disallowed area K (a state in which the mowing unit 34 has started to enter the disallowed area K or a state in which the mowing unit 34 is about to enter the disallowed area K) (step S06: YES), the control device 5 executes an avoidance process corresponding to the disallowed area K, such as any of the above-mentioned first to third avoidance processes (step S07).

[0251] Note that "executing the avoidance process" here means, for example, that the traveling vehicle 2 travels on a circular route L, a detour route Lb, or a short-cut route Ls in the field 41 in response to the prohibited area K, after avoiding the mowing unit 34 from entering the prohibited area K, or after stopping the mowing work while causing the mowing unit 34 to enter the prohibited area K, and then, after avoiding the mowing work, the traveling vehicle 2 travels on a circular route L, a detour route Lb, or a short-cut route Ls in the field 41 in response to the prohibited area K, after avoiding the mowing work N The operator confirms that the mowing operation of the mowing unit 34 in the work area W can be resumed, and the operator confirms that the mowing operation of the mowing unit 34 in the work area W can be resumed. N This refers to the process including the restart of the grass cutting unit 34 at the same time.

[0252] When the traveling vehicle 2 completes the Nth circuit and reaches the transition point Lt (step S08: YES), the control device 5 checks whether the traveling vehicle 2 has completed the final (fourth in this embodiment) circuit and reached the transition point Lt (step S09). If it is determined that the traveling vehicle 2 has not completed the final circuit (step S09: NO), this corresponds to the case where the traveling vehicle 2 has reached the transition point Ltd for the Nth circuit (step S02: YES), so the control device 5 causes the traveling vehicle 2 to make the next circuit and instructs the mowing unit 34 to move the traveling vehicle 2 to the corresponding work area W. N In order to perform the above-mentioned weed-cutting work, the process of steps S03 to S07 is repeatedly carried out.

[0253] The control device 5 determines that the traveling vehicle 2 has completed the final lap and reached the transition point Lt. If this is determined (step S09: YES), the mowing work in the mowing area 40, which was the target area for this mowing work, is terminated (step S10). Note that the process of ending the mowing work in the mowing area 40 may involve, for example, stopping the drive of the cutting blade 34b (rotary drive shaft 34c) of the mowing unit 34, controlling the position change unit 32, angle change unit 33, etc. to return the mowing unit 34 to its initial position, and controlling the transmission 23, steering device 24, etc. to retreat the traveling vehicle 2 from the field 41.

[0254] As described above, during mowing work, the mowing machine 1 performs avoidance processes such as the first to third processes in response to the prohibited area K set (defined) for each work area W. The definition (setting) of this prohibited area K may be performed by the operator operating the control device 5 and / or terminal device 120 of the mowing machine 1, or may be performed automatically.

[0255] Alternatively, the definition (setting) of the disallowed area K may be performed automatically by the management device 110 (CPU 111) in the support system 100 or by an administrator's operation.

[0256] In other words, in such a case, the support system 100 is equipped with a brush cutting machine 1 that performs avoidance processing in response to the disallowed area K as described above, an environment detection device 8a (sensing device 8) as a state detection device that detects the state of the work area W, and a management device 110 that manages information related to the circular route L, the brush cutting area 40, and the work area W, and the management device 110 defines the disallowed area K for the work area W based on the detection results of the environment detection device 8a (state detection device).

[0257] If the management device 110 manages (stores) the farmland map M as described above, when updating the farmland map M, the management device 110 redefines (updates) the disallowed areas K for the work area W based on the newly acquired detection results of a state detection device such as the environment detection device 8a of the brush cutter 1. The management device 110 also redefines (updates) the avoidance process corresponding to the disallowed areas K.

[0258] In addition to the definition (setting) of the non-permission area K as described above, the mowing machine 1 receives various types of support from the support system 100, such as the provision and management of information in various situations, such as the preparation stage before mowing work, during mowing work, when work is interrupted, etc. The actual state of support provided by this support system 100 will be described below.

[0259] First, we will explain how the assistance system 100 shown in Figure 1 sets a circular route L for automatic driving of the traveling vehicle 2 within the field 41, and how it sets a mowing area 40 including multiple work areas W as areas to be mowed by the mowing unit 34.

[0260] In the following explanation, the "control device 5" described as the entity that executes each step can be replaced with the management device 110 (CPU 111) and / or the terminal device 120, as mentioned above. Furthermore, "storage device 6, etc." means "storage device 6 of the grass cutting machine 1, memory unit 112 of the management device 110, and / or (storage device provided in) the terminal device 120," and "display device 9, etc." means "display device 9 of the grass cutting machine 1, input / output interface 114 of the management device 110, and / or (display device provided in) the terminal device 120."

[0261] To create (set) the circular route L, the assistance system 100 includes a position detection device that detects the position of the traveling vehicle 2 and / or the work implement 3, and a route creation unit 101 that creates the circular route L based on the results of a preparatory drive in which the traveling vehicle 2 travels around the field 41 before performing grass cutting work. The management device 110 manages the circular route L created by the route creation unit 101.

[0262] While the position detection device described above may be the positioning device 7 of the brush cutting implement 1, the sensing device 8 can also be the position detection device. For example, as described below, in cases where the route creation unit 101 does not have information indicating the shape of the field 41 or the ridges 42 in advance, a preliminary driving path for the traveling vehicle 2 is determined based on the ridge edge detected by the environment detection device 8a of the sensing device 8 (an imaging device such as a camera or LiDAR). Furthermore, the relative position P of the mowing unit 34 of the working implement 3 with respect to the traveling vehicle 2 is calculated based on the detection results of the device status detection device 8b of the sensing device 8 (a stroke sensor that measures the extension amount of a hydraulic cylinder, for example). Furthermore, the data on the relative position P calculated in this manner is combined with data indicating the current position of the traveling vehicle 2 detected by the positioning device 7, thereby calculating the actual current position of the mowing unit 34. In other words, the positioning device 7 and the sensing device 8 may work together to function as the position detection device.

[0263] The route creation unit 101 only needs to have a function of creating a circular route L based on the results of the preliminary driving of the traveling vehicle 2. In the assistance system 100 shown in FIG. 1 , the route creation unit 101 is not provided in addition to the control device 5, the management device 110, and the terminal device 120, but rather the control device 5, the management device 110, and / or the terminal device 120 function as the route creation unit 101.

[0264] Furthermore, when determining (setting) the mowing area 40 including multiple work areas W, the support system 100 is equipped with a state detection device that detects the state (slope angle, etc.) of the work area W (land that is to be the work area W). The management device 110 manages the state of the work area W detected by the state detection device when the traveling vehicle 2 makes a preliminary run around the circular route L before the mowing machine 1 performs mowing work.

[0265] That is, the support system 100 uses the state detection device to grasp the state of the land that will be each work area W in the mowing area 40 before the mowing machine 1 starts mowing work, and manages the information indicating the state by storing it in the management device 110. Based on the information indicating the state thus managed, the support system 100N A predetermined relative position P of the grass cutting unit 34 with respect to the traveling vehicle 2 that is adapted to N and setting angle A N can be determined, and the brush cutting machine 1 can be N When carrying out the grass cutting work, the control device 5 and the like will accurately position the grass cutting unit 34.

[0266] Two examples of the process of using the route creation unit 101 to create a circular route L and simultaneously set a mowing area 40 including multiple work areas W will be described with reference to Fig. 17 and Fig. 18. Fig. 17 is a flowchart showing a first embodiment of the process of setting the circular route L, work areas W, etc., and Fig. 18 is a flowchart showing a second embodiment of the process of setting the circular route L, work areas W, etc.

[0267] The difference between the steps (flowchart) in Figure 17 and the steps (flowchart) in Figure 18 is whether or not a field map M showing the shape of the ridges 42 (field 41) is used when creating the circular route L. First, the steps in Figure 17 that do not use the field map M will be described.

[0268] 17, first, the ridge shape recording mode is set by turning on the ridge shape recording mode switch (SW) 13a of the ridge shape confirmation mode setting device 13 (step S11), etc. As a result, the control device 5 functions as the route creation unit 101 and executes the following example of the process.

[0269] As mentioned above, the terminal device 120 also has the same functions as the ridge shape confirmation mode setting device 13, and when the ridge shape recording mode is set by the terminal device 120, the terminal device 120 may perform the same process as the route creation unit 101.

[0270] The route creation unit 101 first places the traveling vehicle 2 on a preliminary circuit path within the field 41. In order to define (demarcate) this preliminary circuit path, the detection results of a state detection device that the assistance system 100 has and that detects the state of the ridges 42 are used.

[0271] In this embodiment, the sensing device 8 provided in the mowing machine 1 has an environment detection device 8a or the like as the state detection device. The support system 100 may have, as the state detection device, a fixed-point observation device made up of a camera or the like installed in the field 41, for example.

[0272] That is, the route creation unit 101 recognizes the ridge (the inner edge of the ridge 42), which is the outer edge of the field 41 (defining the inner edge 40a of the mowing area 40), based on the detection results of the environment detection device 8a, etc. (for example, if the environment detection device 8a is a camera, an image of the ridge captured by the camera), draws a line parallel to the ridge at a certain distance (for example, several tens of cm) from the ridge, and places the outermost end of the running device 22 on the corresponding left or right side that is located outermost in the left-right direction of the running vehicle 2 (in this embodiment, the rear running device 22b, which is a crawler running device; if the running vehicle 2 is a wheeled tractor, the rear wheel) on that line.

[0273] The route creation unit 101 then detects the edge of the field using the environment detection device 8a, and automatically drives the traveling vehicle 2 around the field 41 in a preliminary circuit (preliminary circuit) while maintaining a constant distance between the edge of the field (inner edge 40a) and the outermost end of the traveling device 22 (step S12).

[0274] The route creation unit 101 accumulates position information of the traveling vehicle 2 detected by the positioning device 7 during the preliminary loop running. The accumulated position information thus obtained defines the trajectory of the preliminary loop running, and this trajectory of the preliminary loop running is defined (created) as the loop route L (step S13).

[0275] Furthermore, while the traveling vehicle 2 is making its preliminary circuit, the worker operates the work operation tool 11 of the mowing work machine 1 or a device having a similar function in the terminal device 120 (including an operation tool for operating the angle change unit 33) to activate the position change unit 32 and the angle change unit 33, and position the mowing unit 34 on the ridge 42. Specifically, for example, the worker manually operates the work operation tool 11 etc. while checking the state of the ridge 42 detected (imaged, etc.) by the environment detection device 8a etc. displayed on the display device 9, thereby positioning the mowing unit 34 at a relative position P with respect to the traveling vehicle 2 that defines the position that will become each work area W, and at an angle A that corresponds to the inclination angle (θ1, θ2) of the ridge 42 that is the work area W.

[0276] The relative position P and angle A of the mowing unit 34 thus arranged are detected by an equipment state detection device 8b, which detects the extension amount of the hydraulic cylinder, etc. This information represents the position and angle of the mowing unit 34 in relation to the shape and state of the ridge 42, and also represents the shape and state of the ridge 42. In addition, the information on the relative position P, angle A, etc. detected by the equipment state detection device 8b is used to detect the position and angle of the mowing unit 34 in relation to the inner end edge 40a and outer end edge 40b of the mowing area 40 and the multiple work areas W within the mowing area 40. N This is the information that defines the

[0277] Furthermore, during the preliminary lap of the traveling vehicle 2, instead of detecting the state of the mowing unit 34, the shape and state of the ridge 42 may be continuously detected by the environment detection device 8a, which detects the state of the ridge 42 itself. Information such as images detected by this environment detection device 8a is information that serves as the basis for defining, for example, a non-permitted area K that interrupts the work area W.

[0278] As described above, the route creation unit 101 detects the above-mentioned ridge 4 based on the detection results of the sensing device 8 (environment detection device 8a, device state detection device 8b) during the preliminary lap of the traveling vehicle 2. The information indicating the shape and state of 2 is acquired, and the information is recorded and saved in the storage device 6, the terminal device 120, or the like (step S14).

[0279] In this way, based on the information obtained from the detection results during the preliminary lap of the traveling vehicle 2, a mowing area 40 including multiple work areas W and non-permitted areas K (which may not include the non-permitted areas K) is defined (step S15).

[0280] The mowing area 40 may be defined by the route creation unit 101 together with the definition of the circular route L. Alternatively, if the information received by the communication unit 113 of the management device 110 from the communication device 4 of the mowing work machine 1 includes information indicating the shape and state of the ridge 42 detected by the sensing device 8 or the like, the CPU 111 of the management device 110 may set (define) the mowing area 40 (and the non-permitted area K) including multiple work areas W based on this information.

[0281] Furthermore, the traveling vehicle 2 may perform a plurality of preliminary laps to define a plurality of work areas W. In this case, for example, the circuit route L and the first work area W1 are defined in the first preliminary lap (corresponding to the first preliminary lap described below), and then the traveling vehicle 2 performs one or more preliminary laps (corresponding to the second preliminary lap described below) on the defined circuit route L, and the second work area W2 to the final work area W are defined in the first preliminary laps (corresponding to the second preliminary lap described below). N (In this embodiment, a fourth working area W4) may be defined.

[0282] The management device 110 manages information indicating the circular route L and the mowing area 40 (including multiple work areas W (and non-permitted areas K)) based on information received by the communication unit 113 from the mowing work machine 1 and the terminal device 120. The management device 110 manages the angle A of the mowing unit 34, which is changed by the angle change unit 33 through operation of an operating tool such as the work operating tool 11 and detected by a status detection device such as the device status detection device 8b, by associating it with the work area W as the status of the work area W.

[0283] The "management" of the management device 110 includes, for example, storing information regarding the circular route L, the mowing area 40, the work area W (and the non-permitted area K) in the memory unit 112 so that the information can be provided to the mowing machine 1 or the terminal device 120 as soon as a request is received from the mowing machine 1 (its control device 5) or the terminal device 120.

[0284] When the ridge shape recording mode switch 13a is turned OFF (step S17), a series of steps for setting the circular route L and the mowing area 40 (including multiple work areas W (and non-permitted areas K)) corresponding to the shape and condition of the ridge 42 is completed.

[0285] Next, we will explain the process in Fig. 18 using the field map M. Note that, as a premise for the process in Fig. 18, it is assumed that the storage device 6, the terminal device 120 and / or the storage unit 112 of the management device 110 (hereinafter referred to as "storage device 6, etc.") stores a field map M that shows, for example, one or more fields 41 that are the subject of agricultural work for the traveling vehicle 2 and the ridges 42 formed around each field 41.

[0286] First, when the preparatory circuit mode switch (SW) 12c is turned on (step S21), the preparatory circuit mode is set, and the control device 5 functions as the route creation unit 101.

[0287] When the ridges 42 surrounding a certain field 41 are to be the target area for mowing work, in setting a circular route L within the field 41, the route creation unit 101 acquires a field map M from the field maps M stored in that indicates the field 41 and ridges 42 to be worked on (step S22).

[0288] The route creation unit 101 positions the traveling vehicle 2 on the preliminary circuit path based on the field map M acquired as described above (step S23). This preliminary circuit path is defined by, for example, recognizing the ridge edge (the inner edge of the ridge 42 that defines the inner edge 40a of the mowing area 40) that is the outer edge of the field 41, drawing a line parallel to the ridge several tens of centimeters away from the ridge, and positioning the outermost end of the traveling device 22 on that line, similar to the process in FIG. 17 . Note that while the definition of this preliminary circuit path was based on the detection of the ridge edge (the inner edge of the ridge 42 that defines the inner edge 40a of the mowing area 40) by the environment detection device 8a in the process in FIG. 17 , in the process in FIG. 18 , it is based on the shapes of the field 41 and the ridge 42 shown in the field map M.

[0289] The route creation unit 101 automatically drives the traveling vehicle 2 around the field 41 in a preliminary circular motion (first preliminary run) while maintaining a constant distance between the edge of the ridge (inner edge 40a) and the outermost end of the traveling device 22 (step S24).

[0290] The route creation unit 101 accumulates position information of the traveling vehicle 2 detected by the positioning device 7 during the preliminary circuit running (first preliminary circuit running). The accumulated position information thus obtained defines the trajectory of the preliminary circuit running, and this trajectory of the preliminary circuit running is defined as the circuit route L.

[0291] In addition, the route creation unit 101 writes a circuit route L that defines the preliminary circuit travel trajectory of the traveling vehicle 2 into the field map M obtained before the preliminary circuit travel, thereby making it possible to display the circuit route L on the display device 9, the management device 110 (input / output interface 114), and / or the terminal device 120.

[0292] In this way, during the preliminary circuit run (first preliminary run) of the traveling vehicle 2, a series of data processing steps such as acquiring, accumulating, storing, and displaying data (position information) defining the preliminary circuit run path of the traveling vehicle 2 for one circuit within the field 41 are executed by the route creation unit 101 as "creating the circuit route L" (step S25).

[0293] In this way, once the circular route L, which is the automatic driving path for the traveling vehicle 2, is set within the field 41, the mowing area 40 around the field 41 is set (defined) taking into consideration the shape of the ridges 42 shown on the field map M, the size of the traveling vehicle 2 traveling on the circular route L, the range of motion of the first boom 32a and second boom 32b of the work device 3, the range of up and down rotation of the mowing unit 34, etc.

[0294] Based on the circular route L created by the route creation unit 101, the mowing area 40 including multiple work areas W may be set (defined) by any of the control device 5, the management device 110 (CPU 111), and the terminal device 120 in the support system 100. For example, similar to the process in Fig. 17, when the traveling vehicle 2 makes a preliminary circular run (as a first preliminary run), the control device 5 of the mowing machine 1 may act as the route creation unit 101 to create the circular route L and also define the work areas W.

[0295] 18, the shape of the field 41 and the ridges 42 can be recognized with a certain degree of accuracy using the field map M. However, if the field map M is two-dimensional data, the slope of the ridges 42 cannot be clearly determined from the field map M. The mowing width 35 that defines the width of each work area W is a dimension that should be measured with the rotary drive shaft 34c positioned parallel to the slope. Taking this into consideration, unless information indicating the slope of the ridge 42 (the slope angle θ1 of the inner slope 42a and the slope angle θ2 of the outer slope 42c) is obtained separately from the field map M, it will be impossible to set a work area W along the circular route L that is accurately suited to the mowing unit 34 having that mowing width 35.

[0296] Therefore, before carrying out the mowing work, the assistance system 100 causes the traveling vehicle 2 to perform a preliminary circuit run (second preliminary run) again on the circuit route L created in the preliminary circuit run as described above, and during the second preliminary run, the operator operates the work operating tool 11 of the mowing work machine 1 in the same manner as in the process of FIG. The position change unit 32 and angle change unit 33 are operated using a terminal device 120 or the like to position the grass cutting unit 34 at a position on the ridge 42 that will become each work area W, and at an angle A that corresponds to the inclination angle (θ1, θ2) of the ridge 42 that is the work area W.

[0297] The relative position P and angle A of the mowing unit 34 thus arranged are N 17, the information defining the ridge 42 and the information representing the shape and state of the ridge 42 are detected by the device state detection device 8b and recorded and saved in the storage device 6, terminal device 120, etc. (step S27). Note that the shape and state of the ridge 42 may be detected by the environment detection device 8a while the traveling vehicle 2 is traveling on the second preliminary lap. The detection results of the environment detection device 8a may be used as the information that defines the non-permitted area K.

[0298] In this way, based on the information obtained from the detection results during the preliminary lap of the traveling vehicle 2, a mowing area 40 including multiple work areas W and non-permitted areas K (which may not include the non-permitted areas K) is defined (step S28).

[0299] The mowing area 40 may be defined by the route creation unit 101 together with the definition of the circular route L. Alternatively, if the information received by the communication unit 113 of the management device 110 from the communication device 4 of the mowing work machine 1 includes information indicating the shape and state of the ridge 42 detected by the sensing device 8 or the like, the CPU 111 of the management device 110 may set (define) the mowing area 40 (and the non-permitted area K) including multiple work areas W based on this information.

[0300] Furthermore, the traveling vehicle 2 may perform a plurality of preliminary circuit runs in order to define a plurality of work areas W. In this case, for example, the circuit route L and the first work area W1 are defined in the first preliminary circuit run, and then the traveling vehicle 2 performs a second preliminary circuit run on the defined circuit route L one or more times, and in this one or more second preliminary circuit runs, the second work area W2 to the final work area W are defined. N (In this embodiment, a fourth working area W4) may be defined.

[0301] The management device 110 manages information indicating the circular route L and the mowing area 40 (including multiple work areas W (and non-permitted areas K)) based on information received by the communication unit 113 from the mowing work machine 1 and the terminal device 120. Here, the management device 110 manages the relative position P and angle A of the mowing unit 34 detected by, for example, the device status detection device 8b, etc., in association with the work area W as the status of the work area W. The "management" of the management device 110 is as explained in relation to step S16 in Figure 17.

[0302] When the preliminary circuit mode switch 12c is turned OFF (step S30), a series of steps for setting the circuit route L and the mowing area 40 (including multiple work areas W (and non-permitted areas K)) corresponding to the shape and condition of the ridge 42 is completed.

[0303] Next, the process of correcting information indicating the shape and state of the ridge 42 while the mowing machine 1 is mowing will be described with reference to the flowchart in Figure 19. Figure 19 is a flowchart showing the process of correcting the shape and state of the ridge 42.

[0304] When the mowing machine 1 is automatically driving the traveling vehicle 2 around the circular route L and the mowing unit 34 is mowing the mowing area 40 around the field 41 (step S31), when the ridge shape correction mode switch (SW) 13b (or a device with a similar function in the terminal device 120) is turned ON (step S31), the ridge shape correction mode is set.

[0305] During the Nth round of travel of the traveling vehicle 2, the grass cutting unit 34 moves to the predetermined relative position P N and setting angle A N When placed in the work area W N In addition, we will carry out grass cutting work for the areas that have already been identified. When the vehicle approaches the permitted area K, a programmed "avoidance process" is performed.

[0306] However, when the state of the ridge 42 changes from the state already recognized by the support system 100 (managed by the management device 110) (for example, when an obstacle occurs that requires the ridge 42 to be newly set as a non-permitted area K), the grass cutting machine 1 deviates the traveling vehicle 2 from the circular route L, or changes the relative position P and / or angle A of the grass cutting unit 34 to the predetermined relative position P N and / or setting angle A N Conversely, such deviation from the circular route L or change in the relative position P and / or angle A can be said to represent a change in the shape or state of the ridge 42 (indicating that a new disallowed area K should be set).

[0307] Therefore, when the ridge shape correction mode is set, the traveling vehicle 2 deviates from the circular route L, the mowing unit 34 moves to the predetermined relative position P N Change of relative position P from and / or setting angle A N If a change in angle A from the position is confirmed (step S33: YES), the control device 5 etc. records and saves this change in position and / or angle as information indicating a change in the shape or state of the ridge 42 in the storage device 6, the storage unit 112 of the management device 110, and / or the terminal device 120 (step S34), and corrects the already recognized circular route L, work area W, and / or prohibited area K based on this information (step S35). Note that correction of the prohibited area K also includes adding a new prohibited area K. The management device 110 also manages information indicating the mowing area 40 after the circular route L, work area W, and / or prohibited area K have been corrected as described above (step S36).

[0308] The ridge shape correction mode as described above is cancelled by turning off the ridge shape correction mode switch 13b (step S37), etc. Even if the ridge shape correction mode is not in effect, the ridge shape correction mode may be cancelled in response to a malfunction or other problem, such as deviation of the traveling vehicle 2 from the circular route L, or the grass cutting unit 34 moving to the predetermined relative position P N Change of relative position P from and / or setting angle A NHowever, if the ridge shape correction mode is not set, the support system 100 will not record or save information indicating the ridge shape and state, nor will it manage the corrected circular route L or mowing area 40 (work area W or prohibited area K).

[0309] Next, the actual state of the support system 100 in response to the interruption of mowing work will be described with reference to Fig. 20. Fig. 20 is a screen diagram showing a mowed area 46 and an unmowed area 47.

[0310] The assistance system 100 is equipped with a position detection device that detects the position of the traveling vehicle 2 and / or the work device 3. The management device 110 manages the interruption position, which is position information detected by the position detection device when the mowing unit 34 interrupts mowing work and the traveling vehicle 2 deviates from the circular route L. The traveling vehicle 2 and the work device 3 resume mowing work based on the interruption position managed by the management device 110.

[0311] In the support system 100 shown in FIG. 1, the positioning device 7 and sensing device 8 (environment detection device 8a, equipment state detection device 8b) of the grass cutting machine 1 can function as position detection devices that detect the position of the traveling vehicle 2 and / or the work equipment 3.

[0312] The above configuration will be described in detail below. In the assistance system 100, while the mowing machine 1 is performing mowing work by causing the traveling vehicle 2 to travel around the circular route L and causing the mowing unit 34 to mow the grass in each work area W, the control device 5 acquires various data related to the mowing work, stores the data and calculation results based on the data in the storage device 6, the terminal device 120, and / or the storage unit 112 of the management device 110, and / or displays information indicating the data, calculation results, etc. on the display device 9, the terminal device 120, and / or the input / output interface 114 of the management device 110.

[0313] For example, the data relating to the above-mentioned mowing work includes a predetermined relative position P of the mowing unit 34 with respect to the traveling vehicle 2 during the relevant (Nth) round of travel of the traveling vehicle 2. NThe information includes information indicating the number of laps the moving vehicle 2 is currently making (or information indicating which work area W the mowing unit 34 is currently mowing) and information indicating the current position of the moving vehicle 2 detected by the positioning device 7. Based on this information, the control device 5 can calculate the current position of the mowing unit 34 in the mowing area 40 (not the relative position P with respect to the moving vehicle 2, but the actual current position within the mowing area 40).

[0314] Furthermore, the control device 5 can divide all work areas W (first to fourth work areas W1 to W4) in the mowing area 40 into an already-mowed area 46 and an unmowed area 47 based on the current position of the mowing unit 34.

[0315] Specifically, for the work area W where the mowing unit 34 is currently located (in the embodiment shown in Figure 20, the third work area W3), the area that the mowing unit 34 has already passed through, from the position corresponding to the transition point Lt on the circular route L of the traveling vehicle 2 to the current position of the mowing unit 34, is the already-mowed area 46, and the area that the mowing unit 34 has not yet entered, from the current position of the mowing unit 34 to the transition point Lt, is the unmowed area 47.

[0316] The work areas W (first work area W1 and second work area W2) on the field 41 side of the work area W (third work area W3) where the grass cutting unit 34 is located are the already-mowed area, and the work area W (fourth work area W4) on the opposite side of the field 41 from the work area W (third work area W3) is the unmowed area.

[0317] The control device 5, for example, displays a mowing work map 45 as shown in Figure 20 on the display device 9, and on this mowing work map 45, the entire work area W in the mowing area 40 is divided into a mowed area 46 and an unmowed area 47.

[0318] In Figure 20, the densely hatched diagonal stripes represent the already-mowed areas 46, and the sparsely hatched diagonal stripes represent the unmowed areas 47. However, there are no restrictions on how the already-mowed areas 46 and the unmowed areas 47 are depicted, and it is sufficient that the worker viewing the display can distinguish and recognize each of them, and other methods such as color coding can also be used to distinguish them.

[0319] The displayed mowed area 46 and unmowed area 47 change as the mowing unit 34 moves, following the traveling vehicle 2 traveling around the circular route L. By looking at the changes in the mowed area 46 and unmowed area 47 displayed on the display device 9, terminal device 120, etc., workers can understand the progress of the mowing work.

[0320] Changes in the mowing work map 45 between the mowed areas 46 and the unmowed areas 47 occur periodically, each time the position information indicating the current position of the traveling vehicle 2 based on the detection results read by the positioning device 7 is updated. The control device 5 stores the mowing work map 45 in the storage device 6, and each time the position information is updated, it updates the mowing work map 45 by changing the display of the mowed areas 46 and the unmowed areas 47, and then stores the updated mowing work map 45.

[0321] In addition, the control device 5 can use the communication function of the communication device 4 to send information indicating the grass cutting work map 45 to the management device 110 each time it is updated, and store the updated grass cutting work map 45 in the memory unit 112 of the management device 110.

[0322] Next, the actual state of time management by the support system 100 will be described with reference to FIG. 21. FIG. 21 is a screen diagram showing work time, work performance, etc. The control device 5 is In this way, information relating to the work time and information relating to the work performance are displayed on the display device 9 or the like.

[0323] The information about work time displayed in Figure 21 includes scheduled work start time 61, scheduled work end time 62, scheduled work time 63, work start time 64, work suspension time 65, work resumption time 66, work end time 67, work time 68, remaining work time 69, and cumulative operating time 70.

[0324] Of the times and durations displayed on the screen shown in Fig. 21, for example, scheduled work start time 61, scheduled work end time 62, and scheduled work duration 63 can be considered as input values ​​for the worker to enter numbers in. On the other hand, work start time 64, work interruption time 65, work restart time 66, and work end time 67 are determined by control device 5 or the like based on the start and / or stop of driving of prime mover 21, and are displayed on the screen as shown in Fig. 21.

[0325] The control device 5 counts the time (work time 68) from the start of the mowing work, and also subtracts the work time 68 from the scheduled work time 63 to calculate the remaining work time 69 required until the work is completed.

[0326] These displays allow the worker or the administrator of the support system 100 to recognize the planned working time 63 for mowing work in the target mowing area 40, the working time 68 spent on mowing work in the mowing area 40, the remaining working time 69, and the cumulative operating time 70 which is the sum of the mowing work time in other mowing areas in the past and the working time in the current mowing area 40 (the time the engine is operating).

[0327] Alternatively, before the start of mowing work (the first circular run of the moving vehicle 2), the control device 5 may obtain the planned driving speed (vehicle speed) of the moving vehicle 2 traveling on the circular route L within the field 41 based on, for example, a work plan input using the input / output interface 114 of the management device 110, and may also obtain the planned travel distance of the mowing unit 34 when traversing all work areas W as paths for the mowing unit 34 (including the travel distance of the mowing unit 34 when detouring around or passing through the prohibited areas K in the above-mentioned avoidance processing) based on information regarding the status of all work areas W and all prohibited areas K in the mowing area 40 shown on the field map.

[0328] Then, the control device 5 may calculate a planned work time 63 required for mowing work in the mowing area 40 that is the work target, based on the planned traveling speed and planned travel distance thus acquired.

[0329] In addition, when the mowing machine 1 interrupts mowing work in a certain mowing area 40 midway and leaves the field 41, the control device 5 stores the time of interruption 65 in the memory device 6, etc., along with the current positions of the traveling vehicle 2 and the mowing unit 34 at the time of interruption as described above and shown in Figure 21 (i.e., the point that divides the work area W into a mowed area 46 and an unmowed area 47).

[0330] When the mowing machine 1 resumes the interrupted mowing work, the control device 5 acquires information stored in the storage device 6 or the like indicating the positions of the traveling vehicle 2 and the mowing unit 34 at the time the mowing work was interrupted, causes the traveling vehicle 2 to automatically travel to reach the position on the circular route L at the time the work was interrupted, and controls the position change unit 32 and angle change unit 33 to place the mowing unit 34 at the position in the work area W at the time the work was interrupted. From this state, the control device 5 starts the rotational drive of the rotary drive shaft 34c of the mowing unit 34, starts the traveling vehicle 2, resumes the interrupted mowing work, records the time 66 of resumption in the storage device 6 or the like, and calculates the length of time the work was interrupted.

[0331] When the traveling vehicle 2 is automatically returned to the position on the circular route L at the time of interruption in order to resume the mowing work, the traveling vehicle 2 does not necessarily have to be placed at the transition point Lt and then return to the position on the circular route L. It is not necessary to automatically travel the vehicle, and the vehicle may be returned directly to the relevant position on the circuit route L without being restricted to traveling on the circuit route L.

[0332] 21 also displays a planned work area 71, a worked area 72, and a work completion rate 73 as indicators of work performance. Planned work area 71 can be a field in which (the CPU 111 of) the management device 110 recognizes which of one or more mowing areas 40 already stored in the memory unit 112, etc., is the target of the mowing work in the current plan based on the work plan input to the management device 110, etc., and displays the area occupied by the entire mowing area 40.

[0333] The completed area 72 corresponds to the area occupied by the already-mowed area 46 in Figure 20, and the number displayed in this column increases as the mowing work progresses. The work completion rate 73 indicates the ratio of the completed area 72 to the planned work area 71, and the number displayed in this column also increases.

[0334] As described above, the mowing machine 1 performs mowing work in the mowing area 40 surrounding the field 41 by having the traveling vehicle 2 travel multiple times around the circular route L set within the field 41, and having the mowing unit 34 perform mowing in each work area W set in the mowing area 40 corresponding to each circular travel.

[0335] Next, the effects of each component of the mowing machine 1 and the effects of each component of the support system 100 will be described.

[0336] (Item 1) A mowing work machine 1 comprising a traveling vehicle 2 capable of automatic travel within a field 41, a working device 3 (working device) having a mowing unit 34 coupled to the traveling vehicle 2 and performing mowing work, and a position change unit 32 that changes the relative position of the mowing unit 34 with respect to the traveling vehicle 2, wherein the traveling vehicle 2 performs multiple circular runs along a predetermined circular route L within the field 41, and the position change unit 32 changes the relative position in accordance with each circular run of the traveling vehicle 2, thereby changing the working area W in the mowing region 40 around the field 41.

[0337] As a result, when mowing a mowing area 40 such as a ridge 42 around the field 41, the traveling vehicle 2 can automatically travel smoothly within the field 41 where no grass grows. During this travel, the mowing unit 34, which is positioned in an optimal position for mowing within the mowing area 40, performs the mowing work, enabling efficient mowing work. If the mowing area 40 has a fairly large width from the edge of the field 41 and the mowing work cannot be completed in one circular travel, this can be addressed by the simple method of the traveling vehicle 2 traveling around one circular route L multiple times. During one rotation of the traveling vehicle 2, the mowing unit 34 is held in a relative position P appropriate for mowing the area around the field 41, eliminating the need for the operator to frequently adjust the relative position P and reducing the workload.

[0338] (Item 2) The working device 3 has an angle change unit 33 that changes the inclination angle of the mowing unit 34 relative to the horizontal direction, and the angle change unit 33 changes the inclination angle of the mowing unit 34 depending on the condition of the work area W.

[0339] As a result, the grass cutting unit 34 moves to a predetermined relative position P N At the same time, a predetermined inclination angle A N For example, by tilting the grass cutting unit 34 in accordance with the slopes 42a, 42c of the ridge 42, reliable grass cutting work can be performed.

[0340] (Item 3) The grass-cutting area 40 includes a plurality of work areas W whose distances from the circuit route L vary depending on the number of circuits, and the position change unit 32 changes the position of one work area W corresponding to the circuit of the certain time (Nth time) when the traveling vehicle 2 transitions from the end of the circuit of a certain time (Nth time) to the start of the next circuit of the certain time (N+1th time). N From the next lap, the other work area W N+1 The grass mowing machine 1 according to item 1 or 2, wherein the relative position P of the grass mowing unit 34 is changed to the position P of the grass mowing unit 34.

[0341] This makes it possible to provide a grass cutting machine 1 that can efficiently perform grass cutting work in a wide grass cutting area 40 by using the automatic driving of the traveling vehicle 2, simply by controlling the position change unit 32 to change the relative position P each time the traveling vehicle 2 makes a transition in its circular driving.

[0342] (Item 4) The other work area W N+1 is the one work area W N The position change unit 32 is located on the opposite side of the circuit route L from the other work area W when the traveling vehicle 2 transitions from the end of a certain circuit (Nth circuit) to the start of the next circuit (N+1th circuit). N+1 and the relative position P of the mowing unit 34 is changed to a position away from the circumferential route L.

[0343] As a result, for example, if the position change unit 32 is an extendable boom or arm (hereinafter referred to as "boom, etc."), changing the relative position P from farther away from the circular route L to closer to it would cause the uncut area 47 to be inside the already-cut area 46 (closer to the circular route L), which could reduce the efficiency of the mowing work, but by configuring the relative position P to be changed from closer to the circular route L to farther away, the boom, etc. will pass over the already-cut area, making it possible to perform smooth mowing work.

[0344] (Item 5) The mowing work machine 1 described in any of items 1 to 4, wherein when the traveling vehicle 2 and / or the work device 3 determines that the mowing unit 34 has entered a prohibited area K where mowing work by the mowing unit 34 is not permitted, executes an avoidance process to prevent the mowing unit 34 from performing mowing work in the prohibited area K.

[0345] As a result, when the mowing unit 34 attempts to enter the non-permitted area K during circular travel, the mowing unit 34 is automatically prevented from mowing the grass in the non-permitted area K, which leads to the protection of the mowing unit 34 and anything present in the non-permitted area K (trees, buildings, etc.), thereby ensuring safety.

[0346] (Item 6) The brush cutting machine 1 described in item 5, wherein the avoidance process includes a first process in which the position change unit 32 moves the brush cutting unit 34 from the work area W corresponding to a certain circular movement of the traveling vehicle 2.

[0347] As a result, while the traveling vehicle 2 continues traveling in a circular direction along the circular route L, the mowing unit 34 can be prevented from entering the prohibited area K simply by changing the relative position of the mowing unit 34 under the control of the position change unit 32. Note that the movement of the mowing unit 34 as part of the avoidance process includes not only lateral movement but also vertical movement.

[0348] (Item 7) The brush mowing machine (1) according to item 5, wherein the avoidance process includes a second process in which the traveling vehicle (2) deviates from the circular route (L).

[0349] This allows the position change unit 32 to maintain the relative position P of the mowing unit 34 with respect to the traveling vehicle 2, and simply cause the traveling vehicle 2 to deviate from the circular route L, thereby preventing the mowing unit 34 from entering the unauthorized area K.

[0350] (Item 8) The brush mowing machine 1 according to item 5, wherein the avoidance process includes a third process in which the brush mowing unit 34 stops the brush mowing operation in the non-permission area K.

[0351] This allows the traveling vehicle 2 to continue traveling along the circular route L, and even if the position change unit 32 maintains the relative position P of the grass cutting unit 34 with respect to the traveling vehicle 2, the grass cutting work of the grass cutting unit 34 that has entered the unauthorized area K can be stopped.

[0352] (Item 9) The grass cutting machine 1 described in item 5, wherein after performing the avoidance processing, if the traveling vehicle and / or the work device determines that it has passed through the non-permitted area, it terminates the avoidance processing and resumes grass cutting work.

[0353] As a result, if the grass cutting unit 34 is retracted and passes through the non-permitted area K during circular travel and safety is confirmed, the grass cutting unit 34 can be quickly returned to the work area W where work is being carried out and grass cutting can be resumed.

[0354] (Item 10) A grass cutting machine 1 described in any of items 5 to 9, which is equipped with a sensing device 8 that senses the surroundings of the traveling vehicle 2 and / or the work device 3, and the traveling vehicle 2 and / or the work device 3 determine whether the grass cutting unit 34 has entered the prohibited area K based on the sensing results of the sensing device 8, and executes the avoidance processing.

[0355] By using a camera, LiDAR, etc. as the sensing device 8, the control device 5 can reliably grasp the prohibited area K within the mowing area 40, and can accurately determine whether the mowing unit 34 corresponds to the prohibited area K.

[0356] (Item 11) A grass cutting machine 1 according to any one of items 5 to 10, comprising position detection devices 7, 8 that detect the position of the traveling vehicle 2 and / or the work device 3, and a storage device 6 that stores position information of the disallowed area K, and the traveling vehicle 2 and / or the work device 3 determine whether the grass cutting unit 34 has entered the disallowed area K based on the detection results of the position detection devices 7, 8 and the position information of the disallowed area K obtained from the storage device 6, and executes the avoidance processing.

[0357] As a result, by storing the detected position information using the position detection devices 7 and 8 in the memory device 6, information on the non-permitted area K is stored in the memory device 6 in advance, and information for avoiding mowing work in the non-permitted area K by the mowing unit 34 can be easily obtained from the memory device 6.

[0358] (Item 12) A support system 100 for a grass cutting machine 1, comprising: a state detection device 8 for detecting the state of the work area W; and a management device 110 for managing information relating to the circular route L, the grass cutting region 40, and the work area W, wherein the management device 110 defines the non-permitted area K for the work area W based on the detection results of the state detection device 8.

[0359] As a result, the state detection device 8 newly detects the non-permitted area K and stores the non-permitted area K in the map. You can write.

[0360] (Item 12) A support system 100 for a mowing machine 1, comprising: a mowing machine 1 according to any one of items 1 to 11; and a management device 110 that manages information relating to the circular route L, the mowing area 40, and the work area W.

[0361] As a result, when mowing the mowing area 40 such as the ridges 42 around the field 41, the traveling vehicle 2 can automatically travel smoothly within the grassless field 41, and while traveling, the mowing unit 34, which is positioned in an optimal position for mowing within the mowing area 40, can perform the mowing work, making for efficient mowing work. If the mowing area 40 has a fairly large width from the edge of the field 41, a simple method can be used in which the traveling vehicle 2 travels around one circular route L multiple times, eliminating the need for the operator to precisely move the mowing unit 34 while staring at it, thereby reducing the burden on the operator.

[0362] (Item 13) The support system 100 for the mowing work machine 1 described in item 12 includes position detection devices 7, 8 that detect the position of the traveling vehicle 2 and / or the work device 3, and a route creation unit 101 that creates the circular route L based on the results of a first preliminary drive in which the traveling vehicle 2 travels around the field 41 before performing the mowing work, and the management device 110 manages the circular route L created by the route creation unit 101.

[0363] As a result, by using vehicle position measurement using a positioning device 7 or the like as a method for creating a circular route L, the information can be created simply by having the traveling vehicle 2 make a preliminary circular drive once through a field 41 where a circular route L has not yet been set, making it possible to perform efficient and easy-to-operate grass cutting work.

[0364] (Item 14) A support system 100 for a grass cutting machine 1 described in item 12 or 13, which is equipped with a state detection device 8 that detects the state of the work area W, and the management device 110 manages the state of the work area W detected by the state detection device 8 when the traveling vehicle 2 performs a second preliminary run around the circular route L before performing the grass cutting work.

[0365] As a result, with one preliminary circuit run by the traveling vehicle 2, information on the surroundings of the field 41 (shape, slope, unevenness, etc. of the ridges 42) can be obtained, which will serve as the basis for information indicating the work area W and the mowing area 40.

[0366] (Item 15) The support system 100 for the grass cutting machine 1 described in item 14 is provided with an operating tool 11 for operating the angle change unit 33, the state detection device 8 detects the actual inclination angle A of the grass cutting unit 34 by the angle change unit 33, and the management device 110 manages the actual inclination angle A changed by the angle change unit 33 by operating the operating tool 11 and detected by the state detection device 8 as the state of the work area W by correlating it with the work area W when the traveling vehicle 2 performs the second preliminary run.

[0367] This allows the worker to position the mowing unit 34 according to the actual conditions around the field 41 and obtain its position information, thereby obtaining more detailed and precise information about the surroundings of the field 41.

[0368] (Item 16) 16. The support system 100 for a brush mowing machine 1 according to item 14 or 15, wherein the state detection device 8 is a sensing device 8 that senses the surroundings of the traveling vehicle 2 and / or the work implement 3.

[0369] As a result, by utilizing the results sensed by the sensing device 8, information indicating the state of the surroundings of the field 41 can be easily obtained as the traveling vehicle 2 travels around the field 41 in a preliminary circuit.

[0370] (Item 17) The support system 100 for a grass cutting machine 1 described in any one of items 12 to 16 is provided with operation devices 10, 11 for operating the traveling vehicle 2 and / or the work device 3, and the management device 110 updates and manages the traveling route L based on the operation of the operation devices 10, 11 when the operation devices 10, 11 are operated to operate the traveling vehicle 2 while the traveling vehicle 2 is performing the grass cutting work along the circular route L, and updates and manages the state of the work area W based on the operation of the operation devices 10, 11 when the operation devices 10, 11 are operated to operate the work device 3.

[0371] This makes it possible to correct information indicating the state of the circular route L and the work area W by detecting the state of the operation devices 10, 11 as they are during work.

[0372] (Item 19) A support system 100 for a mowing work machine 1 described in any of items 12 to 18, which is equipped with position detection devices 7, 8 that detect the position of the traveling vehicle 2 and / or the work device 3, and the management device 110 manages the interruption position, which is position information detected by the position detection devices 7, 8, when the mowing unit 34 interrupts the mowing work and the traveling vehicle 2 deviates from the circular route L, and the traveling vehicle 2 and the work device 3 resume the mowing work based on the interruption position managed by the management device 110.

[0373] This allows smooth resumption of work after interruption when mowing is interrupted leaving an unmowed area 47 in the mowing area 40.

[0374] (Item 20) A method for supporting a mowing work machine (1) comprising a traveling vehicle (2) capable of automatic travel within a field (41), a working device (3) having a mowing unit (34) coupled to the traveling vehicle (2) and performing mowing work, and a position change unit (32) that changes the relative position (P) of the mowing unit (34) relative to the traveling vehicle (2), the method comprising: a first step in which the traveling vehicle (2) performs multiple circular runs along a predetermined circular route (L) within the field (41); and a second step in which the position change unit (32) changes the relative position (P) in accordance with each circular run of the traveling vehicle (2), and changes the working area (W) in a mowing region (40) around the field (41).

[0375] As a result, when mowing a mowing area 40 such as a ridge 42 around a field 41, the traveling vehicle 2 can automatically travel smoothly within the grassless field 41, and while traveling, the mowing unit 34, which is positioned at an optimum position for mowing within the mowing area 40, performs the mowing work, enabling efficient mowing work. If the mowing area 40 has a fairly large width from the edge of the field 41, this can be achieved by the simple method of the traveling vehicle 2 traveling around one circular route L multiple times. Furthermore, during one rotation of the traveling vehicle 2, the mowing unit 34 is held at a relative position P appropriate for mowing around the field, eliminating the need for the operator to frequently adjust the relative position P and reducing the workload.

[0376] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description. It is intended to include all modifications that come within the meaning and scope of the claims. [Explanation of symbols]

[0377] 1. Grass cutting machine 2. Vehicles in operation 3 Work equipment 32 Position change section 33 Angle change section 34 Grass cutting department 40 Grass-cutting area 41 Field 42 ridge A angle L circular route P Relative position (of the mowing unit relative to the moving vehicle) W Work Area

Claims

1. a vehicle capable of autonomous driving within a farm field; a working device including a mowing unit connected to the traveling vehicle and performing mowing work, and a position changing unit that changes the relative position of the mowing unit with respect to the traveling vehicle; Equipped with the traveling vehicle makes a plurality of circular trips along a predetermined circular route within the field, The position change unit changes the relative position in accordance with each circumnavigation of the traveling vehicle, thereby changing the work area in the mowing region around the field.

2. The working device has an angle change unit that changes the inclination angle of the mowing unit relative to the horizontal direction, The brush mowing machine according to claim 1, wherein the angle changer changes the inclination angle of the mowing unit in accordance with the state of the work area.

3. The mowing area includes a plurality of work areas that are different in distance from the circuit route for each of a plurality of circuits, The brush cutting machine according to claim 1, wherein the position change unit changes the relative position of the mowing unit from one working area corresponding to a certain circular run to another working area corresponding to the next circular run when the traveling vehicle transitions from the end of the certain circular run to the start of the next circular run.

4. the other work area is located on the opposite side of the circular route from the one work area, The mowing machine according to claim 3, wherein the position change unit changes the relative position of the mowing unit from one work area to another work area, in a direction away from the circular route, when the traveling vehicle transitions from the end of one circular run to the start of the next circular run.

5. The mowing work machine according to claim 1, wherein when the traveling vehicle and / or the work device determines that the mowing unit has entered a prohibited area where mowing work by the mowing unit is not permitted, the traveling vehicle and / or the work device executes an avoidance process to prevent the mowing unit from mowing in the prohibited area.

6. The brush cutter according to claim 5, wherein the avoidance process includes a first process in which the position change unit moves the brush cutter from the work area corresponding to a certain circular travel of the traveling vehicle.

7. The brush cutter according to claim 5, wherein the avoidance process includes a second process in which the traveling vehicle deviates from the circular route.

8. The brush mowing machine according to claim 5, wherein the avoidance process includes a third process in which the mowing unit stops the mowing operation in the prohibited area.

9. The brush cutting machine according to claim 5, wherein the traveling vehicle and / or the work implement terminates the avoidance process and resumes brush cutting work when it is determined that the traveling vehicle and / or the work implement has passed through the prohibited area after performing the avoidance process.

10. a sensing device that senses the surroundings of the traveling vehicle and / or the working device; The brush cutting machine according to claim 5, wherein the traveling vehicle and / or the work device determines that the mowing unit has entered the prohibited area based on the sensing result of the sensing device, and executes the avoidance process.

11. a position detection device that detects the position of the traveling vehicle and / or the working device; a storage device that stores position information of the unauthorized area; Equipped with The mowing work machine described in claim 5, wherein the traveling vehicle and / or the work device determines the intrusion of the mowing unit into the prohibited area based on the detection results of the position detection device and the position information of the prohibited area obtained from the storage device, and performs the avoidance processing.

12. A brush cutting machine according to any one of claims 5 to 11, a condition detection device for detecting the condition of the work area; a management device that manages information about the circular route, the mowing area, and the work area; Equipped with The management device is a brush cutting machine support system that defines the prohibited area in the work area based on the detection result of the state detection device.

13. A brush cutting machine according to any one of claims 1 to 11, a management device that manages information about the circular route, the mowing area, and the work area; A support system for a brush cutter.

14. a position detection device that detects the position of the traveling vehicle and / or the working device; a route creation unit that creates the traveling route based on the results of a first preliminary traveling in which the traveling vehicle travels around the field before performing the mowing work; Equipped with The brush-mowing machine support system according to claim 13, wherein the management device manages the circular route created by the route creation unit.

15. a condition detection device for detecting the condition of the work area; The support system for a mowing machine according to claim 13, wherein the management device manages the state of the work area detected by the state detection device when the traveling vehicle performs a second preliminary run around the circular route before performing the mowing work.

16. an operating tool for operating the angle change unit, the state detection device detects the actual tilt angle of the mowing unit caused by the angle change unit, The support system for a mowing machine as described in claim 15, wherein when the traveling vehicle performs the second preparatory run, the management device manages the actual inclination angle changed by the angle change unit through operation of the operating tool and detected by the state detection device as the state of the work area, by correlating it with the work area.

17. 16. The brush-mowing machine support system according to claim 15, wherein the state detection device is a sensing device that senses the surroundings of the traveling vehicle and / or the working device.

18. an operating device for operating the traveling vehicle and / or the working device; When the traveling vehicle is performing the grass cutting work along the circular route, the management device When the operation device is operated to operate the traveling vehicle, the route is updated and managed based on the operation of the operation device; The brush-mowing machine support system according to claim 13, wherein when the operating device is operated to operate the work device, the state of the work area is updated and managed based on the operation of the operating device. 。

19. a position detection device for detecting the position of the traveling vehicle and / or the working device; the management device manages an interruption position, which is position information detected by the position detection device, when the mowing unit interrupts the mowing work and the traveling vehicle deviates from the circular route; The support system for a mowing machine according to claim 13, wherein the traveling vehicle and the work implement resume the mowing work based on the interruption position managed by the management device.

20. A method for supporting a grass cutting machine comprising a traveling vehicle capable of automatically traveling in a farm field, a work device having a grass cutting unit connected to the traveling vehicle and performing grass cutting work, and a position change unit that changes the relative position of the grass cutting unit with respect to the traveling vehicle, a first step in which the traveling vehicle travels around the field a plurality of times along a predetermined circular route; a second step in which the position change unit changes the relative position in accordance with each circumnavigation of the traveling vehicle, thereby changing a work area in a mowing area around the field; A method for supporting a grass cutting machine equipped with the same.

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