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

Abstract

To provide a control method of a work vehicle, a control program for the work vehicle, a control system for the work vehicle, and a work system in which work efficiency is hardly reduced.SOLUTION: The control method is a control method for a work machine capable of traveling autonomously in a work field F1. The control method includes interrupting automated driving when an interruption condition is satisfied, and performing automatic resumption control for automatically resuming the automated driving when the interruption condition is resolved.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] As a related technology, a work vehicle control system (autonomous driving system) that automatically drives (autonomously drives) a work vehicle along a predetermined route in a work area (field) is known (see, for example, Patent Document 1). The work vehicle control system according to the related technology acquires position information of the work vehicle calculated by a positioning system, and automatically drives the work vehicle based on the position information.

[0003] In addition, in the related art, when a pause button on a remote control terminal is operated while a work vehicle is traveling automatically, the work vehicle suspends its automatic traveling and stops (temporarily stops). Furthermore, after the work vehicle has been temporarily stopped, if a predetermined operation to resume traveling is performed on the remote control terminal, the work vehicle can resume traveling. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-131845 Summary of the Invention [Problem to be solved by the invention]

[0005] In the configuration of the related art described above, even if the work vehicle's position information calculated by the positioning system is temporarily disturbed (deterioration of the positioning status) and the information is quickly restored to normal, once the work vehicle's automatic driving has been suspended, the user must perform a driving restart operation on the remote control terminal. Therefore, for example, a delay in the user's driving restart operation may delay the completion time of the work, leading to a decrease in work efficiency.

[0006] An object of the present invention is to provide a control method for a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system that are less likely to reduce work efficiency. [Means for solving the problem]

[0007] A control method for a work vehicle according to one aspect of the present invention is a control method for a work vehicle capable of automatic driving on a work site, which includes suspending the automatic driving when an interruption condition is met, and performing automatic restart control to automatically resume the automatic driving when the interruption condition is resolved.

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

[0009] A work vehicle control system according to one aspect of the present invention is used in a work vehicle capable of autonomous driving in a work area. The work vehicle control system includes an interruption processing unit and a resume processing unit. The interruption processing unit interrupts the autonomous driving when an interruption condition is satisfied. The resume processing unit performs automatic resume control to automatically resume the autonomous driving when the interruption condition is resolved.

[0010] A work system according to one aspect of the present invention includes the work vehicle control system and a body of the work vehicle. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a control method for a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system that are less likely to reduce work efficiency. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic side view showing the appearance of a work vehicle according to a first embodiment. [Figure 2]FIG. 2 is a schematic block diagram of the operation system according to the first embodiment. [Figure 3] FIG. 3 is a schematic diagram showing an example of a target route in the work system according to the first embodiment. [Figure 4] FIG. 4 is a schematic plan view showing an example of operation of the work vehicle according to the first embodiment. [Figure 5] FIG. 5 is a schematic plan view showing an example of the operation of suspending and resuming automatic traveling by the work vehicle control system according to the first embodiment. [Figure 6] FIG. 6 is a schematic side view showing an example of the operation of suspending and resuming automatic traveling by the work vehicle control system according to the first embodiment. [Figure 7] FIG. 7 is a schematic side view showing an example of the operation of suspending and resuming automatic traveling by the work vehicle control system according to the first embodiment. [Figure 8] FIG. 8 is a schematic plan view showing an example of the operation of suspending and resuming automatic traveling by the work vehicle control system according to the first embodiment. [Figure 9] FIG. 9 is a schematic plan view showing an example of the operation of suspending and resuming automatic traveling by the work vehicle control system according to the first embodiment. [Figure 10] FIG. 10 is a flowchart showing an example of the operation of the work vehicle control system according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] (Embodiment 1) [1] Overall structure First, the overall configuration of a work system 100 according to this embodiment will be described with reference to Figures 1 and 2. A work vehicle control system 1 according to this embodiment (hereinafter also simply referred to as "control system 1") constitutes the work system 100 together with a body 11 of a work vehicle 10. A work implement 12 is attached to the body 11. That is, the work system 100 comprises the work vehicle control system 1 and the body 11 of the work vehicle 10.

[0014] In this embodiment, the control system 1 includes a control device 13 (see FIG. 2 ) mounted on the vehicle body 11 of the work vehicle 10, and a terminal device 20. The work vehicle 10 and the terminal device 20 are capable of communicating with each other. In this disclosure, "capable of communication" means that information can be exchanged directly or indirectly via a communication network N1 or a repeater, using an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light). The work vehicle 10 and the terminal device 20 can communicate with each other via a communication network N1, such as the Internet, a local area network (LAN), a wide area network (WAN), a public telephone line, a mobile phone network, a packet network, or a wireless LAN. The communication means between the work vehicle 10 and the terminal device 20 is not limited to the above examples and can be realized by any appropriate communication means. Furthermore, it is not essential for the control system 1 that the work vehicle 10 and the terminal device 20 be capable of communicating with each other.

[0015] The work vehicle 10 travels through a work field F1 (see FIG. 3 ) while performing some kind of work within the work field F1 using the work implement 12. In this disclosure, "work" refers to a job that the work implement 12 performs on the work field F1, and includes various types of work, such as various agricultural work such as planting (rice planting), sowing, fertilizing, pesticide spraying, leveling or harvesting, and construction work. In this embodiment, as an example, the work performed by the work vehicle 10 is planting (rice planting) work, which involves planting seedlings in a rice paddy serving as the work field F1.

[0016] The work implement 12 performs work within the work site F1 when the machine body 11 of the work vehicle 10 moves through the work site F1. In this embodiment, as an example, the work implement 12 includes a seedling placing table on which a seedling mat is placed, and a planting arm that picks up seedlings from the seedling mat and plants them, so as to perform seedling planting work. Here, the work implement 12 is attached to the rear side of the machine body 11 (the side opposite to the forward direction of the machine body 11). In other words, the work implement 12 is connected to the rear side of the machine body 11, and performs work while moving forward together with the machine body 11 when the machine body 11 moves forward. In this embodiment, the work implement 12 is included as a component of the work vehicle 10, but the work implement 12 does not have to be included as a component of the work vehicle 10.

[0017] In this disclosure, "work vehicle" refers to a machine that performs various tasks in a work area F1, such as a farm field, and examples include agricultural machines (farm machinery) such as rice transplanters, tractors, seed sowers, spreaders, sprayers, transplanters, and harvesters. The work vehicle 10 may also be, for example, a construction machine (construction machinery). In this embodiment, unless otherwise specified, the work vehicle 10 will be described as a rice transplanter. This work vehicle 10 allows the machine body 11 to travel through the work area F1, such as a farm field, thereby enabling planting work to plant seedlings in the work area F1.

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

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

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

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

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

[0023] 2, the work vehicle 10 is equipped with a control device 13, a traveling device 14, a detection device 15, a positioning device 16, a communication device 17, and a display device 18 in addition to a machine body 11 and a work implement 12. The control device 13, the traveling device 14, the detection device 15, the positioning device 16, the communication device 17, and the display device 18 are all mounted on the machine body 11.

[0024] The machine body 11 has a driving section 111 (see FIG. 1) on which a person (operator) can ride. The driving section 111 is equipped with a steering device, a transmission, an operating device, etc. The steering device, the transmission, the operating device, etc. are operating sections that are operated by the operator or the control device 13. Therefore, the work vehicle 10 can be operated both manually by the operator and automatically by the control device 13. Furthermore, as described above, the work implement 12 is connected to the rear side of the machine body 11.

[0025] In this embodiment, the work implement 12 is coupled to the rear side of the machine body 11, and when the machine body 11 moves forward, planting work can be carried out in a field serving as the work site F1. Here, the work implement 12 is capable of planting multiple rows (for example, six, seven, or eight rows) and has a working width W1 (see FIG. 4) in the width direction (left-right direction D3) that corresponds to the number of rows it can plant. In other words, for example, a work implement 12 that is capable of planting seven rows can simultaneously accept seedlings for seven rows in the width direction (left-right direction D3). In this embodiment, as an example, it is assumed that the work vehicle 10 is an eight-row rice transplanter equipped with a work implement 12 that is capable of planting eight rows.

[0026] In this way, the work vehicle 10 according to this embodiment is capable of working on multiple work rows lined up in a direction (left-right direction D3) intersecting the direction of travel (forward-backward direction D2) while traveling through the work field F1. As an example in this embodiment, the work vehicle 10 is an eight-row rice transplanter, so the multiple work rows Vr1-Vr8 (see FIG. 4) are eight seedling rows, each consisting of multiple seedlings V1 (see FIG. 4) lined up in the direction of travel (forward-backward direction D2), and the seedling rows are lined up at a predetermined interval in the left-right direction D3. In other words, the work vehicle 10 is capable of planting the eight work rows Vr1-Vr8 in parallel (simultaneously). Therefore, the work vehicle 10 can plant up to eight work rows Vr1-Vr8 simultaneously while moving forward.

[0027] As shown in FIG. 1, the traveling device 14 has front wheels 141, rear wheels 142, and a power source (engine and / or motor, etc.). The front wheels 141 and rear wheels 142 are provided, for example, in pairs on the left and right. The traveling device 14 is capable of traveling (moving) the machine body 11 by driving the rear wheels 142 with power generated by the power source. Here, the front wheels 141 function as steering wheels, enabling turning in the left-right direction D3. This allows the machine body 11 to travel within the work site F1 in the forward-backward direction D2 and the left-right direction D3.

[0028] At least during autonomous driving, the traveling device 14 operates in accordance with the operation of the steering device, transmission, operating device, etc. by the control device 13 as described above. For example, in the traveling device 14, the angle of the front wheels 141 is changed by a hydraulic power steering mechanism or the like in accordance with the operation of the steering device by the control device 13, and the traveling direction of the vehicle 11 is changed. Also, in accordance with the operation of the transmission device by the control device 13, the gear of the transmission is switched to a forward gear, a reverse gear, etc., and the traveling mode of the vehicle 11 is switched to forward, reverse, etc. The control device 13 also operates the accelerator or brake of the operating device to control the rotation speed of the power source, and brakes the front wheels 141 and rear wheels 142 using electromagnetic brakes.

[0029] The detection device 15 detects detection targets (obstacles) in the detection area As1 (see FIG. 4 ). In the present embodiment, as an example, the detection targets include people and other animals, moving objects such as vehicles (including other work vehicles), structures such as walls and pillars, plants, steps, or other obstacles. The detection device 15 may include various sensors, such as radar, sonar sensors, LiDAR (Light Detection and Ranging), motion sensors, or cameras (image sensors). The detection device 15 is preferably a three-dimensional sensor capable of measuring the distance and direction to the detection target using a time-of-flight (TOF) method that measures the distance to a ranging point based on the round-trip time it takes for light or sound to reach the ranging point and return, or a stereo camera method. This allows the detection device 15 to output measurement information, including the position of the detection target in a planar view, to the control device 13. In the present embodiment, as an example, the detection device 15 is assumed to be a radar using millimeter waves (millimeter-wave radar) or a sonar sensor using ultrasonic waves (or sound waves).

[0030] The positioning device 16 determines the current position (latitude, longitude, altitude, etc.) of the aircraft 11. Specifically, the positioning device 16 calculates the current position (latitude and longitude) of the aircraft 11 using a satellite positioning system such as the Global Navigation Satellite System (GNSS). That is, the positioning device 16 has a positioning antenna that receives positioning signals from satellites, and calculates the current position based on the positioning signals. Furthermore, the positioning device 16 includes an inertial sensor, and can also detect the attitude, such as the current heading, of the aircraft 11.

[0031] Furthermore, the positioning device 16 may detect the current position with relatively high accuracy, such as by RTK (Real Time Kinematic) positioning, which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. The current position of the vehicle 11 may be the same as the positioning position (position of the positioning antenna), or may be a position displaced from the positioning position, such as the center position of the vehicle 11 in a planar view. The positioning device 16 may be substituted with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0032] The communication device 17 is a communication interface for connecting the work vehicle 10 (control device 13, positioning device 16, etc.) to external devices via a wired or wireless connection and for executing data communication with the external devices in accordance with a predetermined communication protocol. In this embodiment, the communication device 17 is capable of mutual communication with at least the external device, the terminal device 20, via the communication network N1. Furthermore, the communication device 17 is capable of connecting to the communication network N1 at least wirelessly, and is capable of communicating with the terminal device 20 at any time even while the work vehicle 10 is moving (traveling) in the work site F1. For example, a mobile phone terminal, a smartphone, a tablet terminal, etc. may be used as the communication device 17.

[0033] The display device 18 is a user interface for presenting information to a user (operator), such as a liquid crystal display or organic EL display that displays various types of information. The display device 18 is disposed, for example, in the driving unit 111, and presents various types of information to the operator by displaying a screen containing the various types of information. In this disclosure, the term "screen" refers to a video (image) displayed on the display device 18 or the like, and includes icons, figures, photographs, text, and videos. The screen displayed on the display device 18 includes not only still images but also videos (videos) that change from moment to moment. Furthermore, the display device 18 has a function for outputting sounds (including voice) to the user (operator) and a function for accepting operations from the user (operator).

[0034] The control device 13 is primarily configured as a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and performs various processes (information processing). In this embodiment, the control device 13 is primarily configured as a computer system having one or more processors, and the control device 13 is realized by the one or more processors executing a work vehicle control program. In this embodiment, the control device 13 is an integrated controller that controls the entire work vehicle 10, and is made up of, for example, an electronic control unit (ECU). However, the control device 13 may be provided separately from the integrated controller.

[0035] The control device 13 is configured to be able to communicate with devices provided in each part of the machine body 11. In other words, the control device 13 is electrically connected to the work implement 12, the traveling device 14, the detection device 15, the positioning device 16, the communication device 17, the display device 18, etc. This allows the control device 13 to control the work implement 12, the traveling device 14, etc., and to obtain the detection results of the detection device 15 and the positioning device 16. Here, the control device 13 may exchange various types of information (data) directly with each device, or indirectly via a repeater or the like.

[0036] In this embodiment, the control device 13 includes an acquisition processing unit 131, a driving processing unit 132, a work support processing unit 133, a memory unit 134, an interruption processing unit 135, and a resumption processing unit 136, as shown in FIG.

[0037] The acquisition processing unit 131 executes an acquisition process to acquire work site information related to the work site F1. Here, the work site information includes outline information based on the outline (outline) of the work site F1. That is, the acquisition processing unit 131 acquires outline information based on the outline of the work site F1.

[0038] The driving processing unit 132 executes driving processing to control the driving device 14. As an example, the driving processing unit 132 controls the driving device 14 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a preset target route, thereby causing the work vehicle 10 to automatically drive. Furthermore, the driving processing unit 132 controls the work implement 12 based on the current position of the work vehicle 10 calculated by the positioning device 16 and the preset target route, thereby causing the work vehicle 10 to perform work (planting work in this embodiment) at an appropriate position on the target route.

[0039] Specifically, the driving processing unit 132 starts the automatic driving of the work vehicle 10 when it receives a driving start command from the terminal device 20. For example, when the operator operates the start button on the operation screen of the terminal device 20, the terminal device 20 outputs a driving start command to the work vehicle 10. As a result, for example, the work vehicle 10 starts automatic driving within the work site F1 according to the target route R1 (see FIG. 3 ), and performs work (planting work in this embodiment) using the work implement 12.

[0040] A target route R1 for the automatic driving of the work vehicle 10 is generated, for example, by the terminal device 20. That is, the work vehicle 10 acquires route data corresponding to the target route R1 from the terminal device 20, and performs automatic driving according to the target route R1.

[0041] Furthermore, the driving processing unit 132 stops the automatic driving of the work vehicle 10 when it receives a driving stop instruction from the terminal device 20. For example, when the operator operates the stop button on the operation screen of the terminal device 20, the terminal device 20 outputs a driving stop instruction to the work vehicle 10.

[0042] Furthermore, "automatic driving" as referred to in this disclosure includes "autonomous driving" in which the work vehicle 10 drives autonomously without the operation of an operator, and "semi-automatic driving" in which only steering is automated, such as straight-line assist.

[0043] "Autonomous driving" is a driving mode in which, for example, the steering wheels (front wheels 141) are automatically steered and the vehicle speed and other controls are also performed automatically so that the work vehicle 10 travels along the target route R1. "Straight-line assist" is a driving mode in which, for example, only the steering wheels (front wheels 141) are automatically steered so that the work vehicle 10 travels along a straight route parallel to a reference straight line (reference line), and the vehicle speed and other controls are controlled by the operator.

[0044] As another example, the work vehicle 10 may be driven by manual steering by an operator. For example, the operator gets on the work vehicle 10 and drives the work vehicle 10 by manual steering while checking the target route R1.

[0045] The work support processing unit 133 executes work support processing that supports work (planting work in this embodiment) performed by the work implement 12. The work support processing includes, for example, processing that supports the operator's operation of the work implement 12 by presenting (displaying or outputting sound, etc.) information related to the operation of the work implement 12 on a user interface such as the display device 18, and processing that directly controls the work implement 12. In this embodiment, the work support processing unit 133 basically executes the former processing (i.e., processing that supports the operator's operation of the work implement 12) as the work support processing.

[0046] The storage unit 134 is a non-volatile memory or the like that stores various data such as a work vehicle control program and target route information related to the target route R1. In other words, the driving processing unit 132 can cause the traveling device 14 to automatically travel along the target route R1 based on the target route information stored in the storage unit 134.

[0047] The interruption processing unit 135 executes interruption processing to interrupt automatic driving when an interruption condition is met. In this disclosure, "interruption" means stopping an ongoing operation (automatic driving of the work vehicle 10) midway, and more specifically, stopping the automatic driving of the work vehicle 10 in a state where it can be resumed. In this disclosure, the "interruption condition" is a condition for interrupting automatic driving, and examples include a temporary disruption of the position information of the work vehicle 10 calculated by the positioning device 16 (deterioration of the positioning status), an abnormality in each part of the work vehicle 10, and detection of an obstacle in the traveling direction by the detection device 15.

[0048] Specifically, when the automated driving of the work vehicle 10 is interrupted, the interruption processing unit 135 issues a stop instruction to the driving processing unit 132 to stop (park) the work vehicle 10. At this time, the driving processing unit 132 basically stops the work vehicle 10 at the location where the stop instruction was received, but it is preferable to stop the work vehicle 10 after performing control such as deceleration (braking) and / or steering as necessary. Therefore, for example, if an interruption condition such as a deterioration in the positioning status is met while the work vehicle 10 is automatically driving (autonomous driving) along the target route R1, the work vehicle 10 will basically interrupt the automated driving partway along the target route R1 and stop at that location. This makes it possible to avoid, for example, a situation in which the work vehicle 10 continues to drive automatically without any control while the positioning status is degraded.

[0049] However, the interruption processing unit 135 only needs to interrupt automatic driving when the interruption conditions are met, and is not required to stop the work vehicle 10. For example, the interruption processing unit 135 may switch from automatic driving to manual driving (in association with operator operation) when the interruption conditions are met. In this case, the work vehicle 10 can continue traveling through the operation of the operator. Furthermore, the interruption processing unit 135 can interrupt automatic driving (semi-automatic driving) by interruption processing not only during "autonomous driving" of the work vehicle 10, but also during "semi-automatic driving" such as straight line assist.

[0050] The resume processing unit 136 executes a resume process that performs automatic resume control to automatically resume autonomous driving when the interruption condition is resolved. In other words, when the interruption condition is met, the interruption processing unit 135 interrupts the autonomous driving of the work vehicle 10, and when the interruption condition is no longer met (the interruption condition is resolved), the resume processing unit 136 automatically resumes the autonomous driving of the work vehicle 10. For example, the autonomous driving of the work vehicle 10 is interrupted due to various interruption reasons (interruption causes) such as deterioration of the positioning status, an abnormality in each part of the work vehicle 10, or detection of an obstacle in the traveling direction by the detection device 15, and when these interruption reasons disappear (are eliminated), the autonomous driving of the work vehicle 10 resumes.

[0051] Specifically, when resuming the automated driving of the work vehicle 10, the resume processing unit 136 issues a resume instruction to the driving processing unit 132 to cause the work vehicle 10 to resume automated driving. At this time, the driving processing unit 132 basically resumes automated driving at the location where the resume instruction was received, but may also move (drive) the work vehicle 10 to a restart position and then resume automated driving, as necessary. In other words, the resume instruction may include a "restart position" that is the position at which the work vehicle 10 will resume automated driving. Thus, for example, if the automated driving of the work vehicle 10 is interrupted due to deterioration of the positioning status while the work vehicle 10 is automatically driving (autonomous driving) along the target route R1, and the work vehicle 10 is stopped partway along the target route R1, and the positioning status that caused the interruption improves, the work vehicle 10 will resume automated driving from partway along the target route R1.

[0052] Furthermore, in this embodiment, the resume processing unit 136 can also perform manual resume control to resume autonomous driving when a predetermined resume operation is performed by the user (operator) on the terminal device 20 or another operating terminal. That is, the resume processing unit 136 not only automatically resumes autonomous driving of the work vehicle 10 when the resolution of the interruption condition is triggered, but can also resume autonomous driving of the work vehicle 10 when a resume operation by the user is triggered. In particular, in this embodiment, when the work vehicle 10 is moved after autonomous driving is interrupted, the resume processing unit 136 performs manual resume control to resume autonomous driving by such a user operation (resume operation).

[0053] Furthermore, when the detection device 15 detects an obstacle as a detection target during at least the automatic traveling of the work vehicle 10, the control device 13 outputs an alarm (including an alarm by sound and / or light) and executes obstacle avoidance processing (including detouring, slowing down, stopping, etc.) by controlling the traveling device 14. Furthermore, the control device 13 may output obstacle position information and the execution history of the avoidance processing to the terminal device 20 and cause the terminal device 20 to display, etc.

[0054] In addition to the above-mentioned configuration, the work vehicle 10 is further equipped with a battery, a fuel tank, various sensors, etc. The battery supplies power for operation to each part of the work vehicle 10, such as the control device 13. In particular, electronic devices such as the control device 13, detection device 15, positioning device 16, communication device 17, and display device 18 operate using power supplied from the battery, and can therefore operate even when the power source (engine) of the traveling device 14 is stopped.

[0055] [3] Terminal device configuration Next, the configuration of the terminal device 20 according to this embodiment will be described in detail with reference to FIGS.

[0056] In this embodiment, the terminal device 20 is capable of communicating with the work vehicle 10 as described above, and constitutes the control system 1 together with the control device 13 of the work vehicle 10. In other words, the components of the control system 1 are distributed across at least the work vehicle 10 and the terminal device 20. However, this configuration is not limiting, and for example, the functions of the control device 13 may be provided in the terminal device 20, in which case the components of the control system 1 would be realized only by the terminal device 20. Conversely, for example, the functions of the terminal device 20 may be provided in the control device 13, in which case the components of the control system 1 would be realized only by the control device 13.

[0057] In this embodiment, as an example, the terminal device 20 is configured as a general-purpose terminal such as a tablet terminal, a smartphone, or a laptop computer. As shown in Fig. 2, the terminal device 20 includes an information processing unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. Furthermore, the terminal device 20 further includes a sound output unit that outputs sounds (including voice) to the user (operator), a battery, etc.

[0058] The information processing unit 21 is primarily configured as a computer system having one or more processors such as a CPU and one or more memories such as a ROM and a RAM, and executes various processes (information processing). In this embodiment, the information processing unit 21 is primarily configured as a computer system having one or more processors, and the information processing unit 21 is realized by the one or more processors executing a work vehicle control program. In other words, the control system 1 is realized by the control unit 13 and the terminal device 20 working together as a result of the one or more processors of the control unit 13 included in the control system 1 and the one or more processors of the information processing unit 21 each executing a work vehicle control program.

[0059] The information processing unit 21 is configured to be able to communicate with each unit (storage unit 22, operation display unit 23, and communication unit 24) of the terminal device 20. In other words, the information processing unit 21 is electrically connected to the storage unit 22, the operation display unit 23, the communication unit 24, etc. This allows the information processing unit 21 to read and write information from and to the storage unit 22, control the display of the operation display unit 23, and obtain operation inputs to the operation display unit 23. Here, the information processing unit 21 may exchange various types of information (data) with each unit directly, or indirectly via a repeater or the like.

[0060] Such a terminal device 20 is a user interface for accepting operation inputs by a user (operator) and outputting various information to the user. For example, the terminal device 20 accepts various operations by the user by outputting electrical signals in response to the user's operations on the operation display unit 23. Furthermore, the terminal device 20 outputs various information to the user by displaying various screens on the operation display unit 23.

[0061] The memory unit 22 is a non-volatile memory or the like that stores various data such as a work vehicle control program and target route information related to the target route R1. Furthermore, the memory unit 22 is capable of storing various data such as work implement information, work vehicle information, field information, and work information. The work implement information is information about the work implement 12 attached to the machine body 11, and includes, for example, information such as the type, identification information, model name, type, and size (dimensions) of the work implement 12. The work vehicle information is information about the machine body 11 (vehicle body) of the work vehicle 10, and includes, for example, information such as the type of machine body 11 (e.g., half-crawler type / wheel type, etc.), identification information, model name, type, and size (dimensions). The field information is information about the field to be used as the work area F1, and includes information such as the field identification information, field name, position, shape, size, work start position (travel start position) where work is to begin, work end position (travel end position) where work is to end, and work direction. The work information is information relating to the work performed by the work vehicle 10, and includes, for example, the type of work and information on how the work is specifically performed. Furthermore, the work information may also include information on whether or not cooperative work is being performed by the work vehicles 10, the width of the headland and the width of the uncultivated land, etc.

[0062] This information (target route information, work implement information, work vehicle information, field information, work information, etc.) stored in the memory unit 22 is set (registered) by operation input by the user (operator) to the operation display unit 23, or by acquisition from the work vehicle 10. For example, the type of work implement 12 in the work implement information may be specified by the user operating the operation display unit 23, or the work vehicle 10 may automatically identify the work implement 12 attached to the body 11 and send it to the terminal device 20. This information may also be acquired by the terminal device 20 from an external device other than the work vehicle 10 (for example, a server, an external storage medium, or another terminal device, etc.).

[0063] The operation display unit 23 is a user interface that includes a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, keyboard, mechanical switch, or encoder that accepts operations. As an example, an operator can operate the operation unit of the operation display unit 23 to set (register) various information on an operation screen displayed on the display unit of the operation display unit 23. For example, the operator can set automatic driving information (including target route information) related to the automatic driving of the work vehicle 10.

[0064] The operation display unit 23 also displays the progress of work in the work site F1, as well as the operating status of the work vehicle 10, including the target route R1, (actual) movement trajectory, current position, and movement speed of the work vehicle 10, thereby enabling the operator to perform short-range and remote monitoring of the work vehicle 10 during autonomous driving. Short-range monitoring, for example, refers to monitoring within the operator's visual range, and remote monitoring, for example, refers to monitoring using video of the area around the work vehicle 10 displayed on the terminal device 20. Remote monitoring also allows multiple work vehicles 10 to be monitored using a single terminal device 20. However, these definitions are merely examples, and other definitions may be used. Here, the operating status of the work vehicle 10 also includes the detection results of the detection device 15. Furthermore, the operation display unit 23 can receive instructions from the operator to start or stop the work vehicle 10. The terminal device 20 can remotely control the work vehicle 10 by transmitting these instructions to start or stop the work vehicle 10. Therefore, the operator can remotely control the work vehicle 10.

[0065] The communication unit 24 is a communication interface that connects the terminal device 20 to the work vehicle 10 by wire or wirelessly and executes data communication with the work vehicle 10 in accordance with a predetermined communication protocol. In this embodiment, the communication unit 24 is capable of mutual communication with at least the work vehicle 10 (communication device 17) via the communication network N1. Furthermore, because the communication unit 24 is connectable to the communication network N1 at least wirelessly, it is possible to communicate with the work vehicle 10 at any time even when the communication unit 24 is located sufficiently far away from the work vehicle 10.

[0066] In this embodiment, the information processing unit 21 has a generation processing unit 211, a registration processing unit 212, and an output processing unit 213, as shown in Fig. 2. As an example in this embodiment, the information processing unit 21 is mainly configured as a computer system having one or more processors, and these multiple functional units (such as the generation processing unit 211) are realized by the one or more processors executing a work vehicle control program. These multiple functional units included in the information processing unit 21 may be provided in a distributed manner across multiple housings, or may be provided in a single housing.

[0067] The generation processing unit 211 executes route generation processing to generate a route (target route R1) for the work vehicle 10 to travel (automatically travel) in the work site F1. Here, the generation processing unit 211 generates the target route R1 based on generation data including work implement information, work vehicle information, field information, work information, etc., stored in the storage unit 22. In other words, the generation processing unit 211 generates the target route R1 based on the work implement information, work vehicle information, field information, work information, etc., that are set (registered) by operation input by the user (operator) to the operation display unit 23, for example.

[0068] Specifically, the generation processing unit 211 generates a target route R1 within the work site F1 based on a travel start position P1 (see FIG. 3) and a travel end position P2 (see FIG. 3) included in the field information. For example, the generation processing unit 211 generates a target route R1 for moving the body 11 of the work vehicle 10 within the work site F1 from the travel start position P1 to the travel end position P2 based on the generation data.

[0069] The generation processing unit 211 executes route generation processing to generate a route (target route R1) for the work vehicle 10 to travel (automatically travel) in the work site F1. Here, the generation processing unit 211 generates the target route R1 based on generation data including work implement information, work vehicle information, field information, work information, etc., stored in the storage unit 22. In other words, the generation processing unit 211 generates the target route R1 based on the work implement information, work vehicle information, field information, work information, etc., that are set (registered) by operation input by the user (operator) to the operation display unit 23, for example.

[0070] In this embodiment, the field information included in the generation data includes outline information based on the outline of the work site F1. Because the work vehicle 10 travels within the work site F1 along the target route R1, the generation processing unit 211 basically generates, based on the generation data, a route (target route R1) for the work vehicle 10 to travel without straying from the outline of the work site F1 specified by the outline information.

[0071] The registration processing unit 212 executes registration processing to register work implement information, work vehicle information, field information, work information, etc. That is, the work implement information, work vehicle information, field information, work information, etc. used to generate the target route R1 are each registered (set) by the registration processing unit 212, for example, by operation input by the user (operator) to the operation display unit 23.

[0072] The output processing unit 213 executes output processing, for example, to output route data of the target route R1 to the work vehicle 10. That is, the route data regarding the target route R1 generated by the generation processing unit 211 is output from the output processing unit 213 to, for example, the communication unit 24, and transmitted from the communication unit 24 to the work vehicle 10.

[0073] For example, when starting work, the operator selects a field (work area F1), selects a task, confirms the target route R1, and issues a command to start work. When the operator issues a command to start work, the output processing unit 213 transmits (outputs) the route data of the target route R1 generated by the generation processing unit 211 to the work vehicle 10. When the work vehicle 10 receives the route data generated by the terminal device 20, it stores the route data in the memory unit 134. The work vehicle 10 then performs automatic driving (autonomous driving and autonomous work) based on the current position of the work vehicle 10 calculated by the positioning device 16 and the target route R1 specified by the route data.

[0074] Furthermore, the output processing unit 213 can output the generated target route R1 to the operation display unit 23, thereby displaying it on the operation display unit 23. The manner of output from the output processing unit 213 is not limited to transmission to or display on the work vehicle 10 as described above, but may also be transmission to another device (such as a user terminal), printing (printout), writing to a non-temporary recording medium, audio output, or the like.

[0075] The terminal device 20 may be able to access a website (agricultural support site) for an agricultural support service provided by the server via the communication network N1. In this case, the terminal device 20 can function as a terminal for operating the server by executing a browser program by the information processing unit 21. The server is provided with each of the processing units described above and executes each process.

[0076] [4] Control method for work vehicles An example of a control method for the work vehicle 10 (hereinafter simply referred to as "control method") executed mainly by the control system 1 (control device 13 and terminal device 20) will be described below with reference to FIGS.

[0077] The control method according to this embodiment is executed by a control system 1 whose main component is a computer system, and in other words, is embodied in a work vehicle control program (hereinafter simply referred to as a "control program"). In other words, the control program according to this embodiment is a computer program that causes one or more processors to execute each process related to the control method.

[0078] Here, the control system 1 executes the following various processes related to the control method when a specific, preset start operation is performed to execute the control program. The start operation is, for example, an operation to start an application program (control program for a work vehicle) on the terminal device 20. On the other hand, the control system 1 terminates the following various processes related to the control method when a specific, preset end operation is performed. The end operation is, for example, an operation to end the application program (control program for a work vehicle) on the terminal device 20.

[0079] In the following, it is assumed that the work land F1 is a quadrangular field in plan view, as shown in Figure 3, and that of the outlines (periphery) of the work land F1, one short side is the "first outline f11," the other short side is the "second outline f12," one long side is the "third outline f13," and the other long side is the "fourth outline f14." In the work land F1, the travel start position P1 is located near the corner between the first outline f11 and the third outline f13, and the travel end position P2 is located near the corner between the second outline f12 and the third outline f13.

[0080] [4.1] Basic operation First, the basic operation of the control system 1 according to this embodiment when the work vehicle 10 is automatically driven along a target route R1 in a work site F1 consisting of a farm field will be described with reference to Figures 3 and 4. Figure 4 is a schematic enlarged view of the vicinity of the corner between the first outline f11 and the fourth outline f14 in Figure 3.

[0081] 3 and 4, the target route R1 includes a work route r11, a connecting route r12, and a peripheral route r13. The work route r11 and the peripheral route r13 are routes along which the work vehicle 10 travels (moves) while performing work with the work implement 12. The connecting route r12 connects multiple work routes r11, and is a route along which the work vehicle 10 can make turns to change its direction of travel, and is a route along which the work vehicle 10 travels (moves) without performing work with the work implement 12 (a non-work route).

[0082] In drawings showing the target route R1 such as Figure 3, routes along which the work vehicle 10 will perform work (work route r11 and outer periphery route r13) are shown by solid lines, and routes along which the work vehicle 10 will not perform work (connecting route r12) are shown by dotted lines. In drawings showing the target route R1 such as Figure 3, the target route R1 (and the work vehicle 10) generated for the work site F1 is shown schematically in a plan view. In Figures 3 and 4, the longitudinal direction D2 and the lateral direction D3 are directions based on the orientation of the body 11 of the work vehicle 10 shown in Figures 3 and 4.

[0083] More specifically, as shown in Fig. 3, the target route R1 includes multiple work routes r11 extending between a pair of long sides (third outer line f13 and fourth outer line f14) of the work area F1. That is, in the target route R1 illustrated in Fig. 3, a work route r11 is arranged extending upward in the figure from a travel start position P1 set in the lower left corner of the figure, and multiple work routes r11 along (parallel to) this work route r11 are arranged at regular intervals on the right side of the figure. The multiple work routes r11 are arranged so that work routes r11 heading from one long side (third outer line f13) of the work area F1 to the other long side (fourth outer line f14) alternate with work routes r11 heading in the opposite direction.

[0084] Here, the multiple work paths r11 are all linear paths (straight-line paths) along which the work vehicle 10 moves forward while performing work with the work implement 12. The distance between adjacent work paths r11 is set based on the width dimension (working width W1) of the work implement 12 in the left-right direction D3, and the work vehicle 10 travels along the multiple work paths r11, thereby performing planting work in substantially the entire area of ​​the work land F1 (excluding the headland area which forms the periphery). A pair of adjacent work paths r11 are connected by a connecting path r12 which connects the end of one work path r11 on the first outline f11 side to the start of the other work path r11 on the second outline f12 side.

[0085] Furthermore, the outer periphery route r13 is a route that continues to the end of the final (closer to the second outer line f12) of the multiple work routes r11 and circles the outer periphery of the work area F1 along the outer lines (first to fourth outer lines f11 to f14) of the work area F1. In the example of Figure 3, the outer periphery route r13 extends from the lower right corner to the lower left corner, from the lower left corner to the upper left corner, from the upper left corner to the upper right corner, and from the upper right corner to the travel end position P2 at the lower right corner, thereby completing one lap around the headland area that is the outer periphery of the work area F1.

[0086] According to this target route R1, the work vehicle 10 performs planting work while traveling back and forth from the travel start position P1 along the work route r11 in parallel in an inner region F11 (inside the dashed dotted line in FIG. 3 ) of the work land F1, excluding the outer periphery region F12, which is the outer periphery. The work vehicle 10 then performs planting work while traveling clockwise along the outer periphery route r13 in the outer periphery region F12 toward the travel end position P2. However, when the work vehicle 10 travels along the outer periphery route r13, it is preferable that the work vehicle 10 automatically travel in a "manned state" with an operator aboard the vehicle body 11. This enables the work vehicle 10 to perform planting work in substantially the entire work land F1, including the outer periphery region F12.

[0087] In short, when the work vehicle 10 travels along the work route r11, it performs work (planting work) using the work implement 12, and as shown in Figure 4, multiple seedlings V1 are planted in the passing area A1 of the inner area F11 that the work vehicle 10 (its work implement 12) has passed through. Here, multiple (8) work rows Vr1 to Vr8 (seedling rows) are formed in the passing area A1, aligned in the left-right direction D3 perpendicular to the direction of travel of the work vehicle 10.

[0088] Similarly, when the work vehicle 10 travels along the outer circumferential route r13, it also performs work (planting work) with the work implement 12, so that multiple seedlings V1 are planted in the passing area A2 of the outer circumferential area F12 through which the work vehicle 10 (shown by an imaginary line (chain double-dashed line) in Figure 4) has passed. Here, although not shown in Figure 4, multiple (8) work rows Vr1 to Vr8 (seedling rows) are formed in the passing area A2, aligned in the left-right direction D3 perpendicular to the traveling direction of the work vehicle 10.

[0089] The target route R1 is not limited to the route illustrated in Fig. 3 and may be set as appropriate. In Fig. 3, the work vehicle 10 first travels through the inner area F11 and then travels through the outer periphery area F12, but the travel order of the work vehicle 10 is not limited to this. For example, the work vehicle 10 may first travel through the outer periphery area F12 and then travel through the inner area F11.

[0090] 3, the connecting route r12 set in the outer periphery area F12 includes a turning route for a gentle right turn, but the turning pattern for changing the heading of the work vehicle 10 is not limited to a "gentle turn." The connecting route r12 may include a turning pattern in which the vehicle 11 turns while switching between forward and reverse, such as a so-called "fishtail turn," in order to enable the vehicle 11 to turn within a limited space. Similarly, an appropriate turning pattern such as a "gentle turn" or a "fishtail turn" can be applied to the turning pattern of the work vehicle 10 when traveling along the outer periphery route r13.

[0091] In order to realize the above-described automatic driving of the work vehicle 10, it is necessary to recognize and register the shape of the work site F1 in advance. As an example, the operator gets into the work vehicle 10 and drives it around the perimeter of the work site F1 to be registered (teaching driving), and the terminal device 20 acquires position information from the work vehicle 10 while driving, recognizes the position and shape of the work site F1 based on the position information, and registers it as the work site F1. In this teaching driving, a perimeter route r13 is generated on the route traveled by the work vehicle 10. By registering the work site F1 based on this teaching driving or performance information of past driving routes, it is possible to generate a target route R1 that avoids obstacles, such as culverts, that are difficult to detect using the detection device 15 alone from the beginning.

[0092] Furthermore, multiple work routes r11 may be generated, leaving a width for multiple steps in the outer periphery region F12 of the work area F1, and multiple outer periphery routes r13 may be generated along the periphery (outline) of the work area F1. In this case, the work vehicle 10 travels along the multiple work routes r11, and then travels sequentially along multiple periphery routes r13 from the inside to the outside. In this case, it is preferable that the work vehicle 10 automatically travels along the inner outer periphery routes r13 in an unmanned state, and automatically travels along the outermost outer periphery route r13 in a manned state.

[0093] [4.2] Suspension and resumption of automated driving Next, processing relating to the interruption and resumption of automatic driving (interruption processing, resumption processing, etc.) will be described with reference to FIGS.

[0094] In the control system 1 according to this embodiment, if an interruption condition is met while the work vehicle 10 is automatically (autonomously) traveling along a target route R1 in a work site F1 consisting of a certain farm field, an interruption process is executed to interrupt the automatic traveling. Here, the interruption condition includes the occurrence of a specific interruption reason, that is, a reason for interrupting the automatic traveling, and the interruption condition is met when an interruption reason occurs.

[0095] In this embodiment, as an example, reasons for interruption include a temporary disturbance in the position information of the work vehicle 10 calculated by the positioning device 16 (deterioration of the positioning status), an abnormality in each part of the work vehicle 10, and detection of an obstacle in the traveling direction by the detection device 15. In this embodiment, a further reason for interruption is when the remaining amount of materials (seedlings or fuel in this embodiment) consumed by work (planting work in this embodiment) on the work vehicle 10 falls below a judgment threshold (a decrease in the remaining amount of materials), etc. Therefore, if a deterioration in the positioning status, an abnormality in each part of the work vehicle 10, detection of an obstacle in the traveling direction by the detection device 15, or a decrease in the remaining amount of materials occurs during the automatic traveling of the work vehicle 10, the interruption condition is met, and the automatic traveling is interrupted.

[0096] For example, as illustrated on the left side of Fig. 5, assume that while the work vehicle 10 is automatically traveling along a work route r11 of the target route R1, an obstacle Ob1 consisting of a small animal appears within the detection area As1 of the detection device 15. In this case, the interruption processing unit 135 of the control device 13 determines that the interruption condition is met when the detection device 15 detects the obstacle Ob1, and interrupts the automatic traveling of the work vehicle 10. In other words, the interruption processing unit 135 issues a stop instruction to the traveling processing unit 132, causing the work vehicle 10 to stop (park) on the work route r11.

[0097] In this embodiment, the resume processing unit 136 performs manual resume control to resume automatic driving when a predetermined resume operation is performed by the user (operator) on the terminal device 20 or other operating terminal. Therefore, when the automatic driving of the work vehicle 10 is interrupted and a resume operation is performed by the user on the terminal device 20 or the like, the resume processing unit 136 issues a resume instruction to the driving processing unit 132 to cause the work vehicle 10 to resume automatic driving.

[0098] Incidentally, for example, in the case where an obstacle Ob1 made of a small animal jumps out as described above, the reason for interruption may disappear immediately when the obstacle Ob1 moves out of the detection area As1. Similarly, the reason for interruption may disappear immediately when the positioning status temporarily deteriorates or when a temporary abnormality such as a system abnormality not including a hardware failure occurs.

[0099] Thus, even if the work vehicle 10 quickly returns to a normal state where it can travel automatically, if the only means for resuming automatic travel is manual restart control triggered by a restart operation by the user, once the automatic travel of the work vehicle 10 has been interrupted, the user must perform a restart operation on the terminal device 20, etc. Therefore, for example, a delay in the user's restart operation could delay the completion time of work, leading to a decrease in work efficiency.

[0100] Therefore, the control method according to this embodiment realizes a control method for the work vehicle 10 that is less likely to reduce work efficiency by using the configuration described below.

[0101] That is, the control method for the work vehicle 10 according to this embodiment is a control method for a work vehicle 10 that is capable of autonomous driving in a work site F1. This control method includes suspending autonomous driving when an interruption condition is met, and performing automatic restart control to automatically resume autonomous driving when the interruption condition is resolved. "Automatically" restarting autonomous driving here does not require a manual operation (restart operation) by the user, but rather means that the control system 1 (the restart processing unit 136 thereof) automatically resumes autonomous driving.

[0102] In short, in the control method according to this embodiment, the means for resuming autonomous driving includes not only manual restart control, which is triggered by a restart operation by the user, but also automatic restart control, which automatically resumes autonomous driving when the interruption condition is resolved. In other words, when the autonomous driving of the work vehicle 10 is interrupted and it is detected that the reason for interruption has disappeared (been removed), the autonomous driving of the work vehicle 10 resumes without a restart operation by the user. Therefore, for example, in cases such as when an obstacle Ob1 made of a small animal jumps out as described above, or when the positioning status temporarily deteriorates, the elimination of the reason for interruption can be used as a trigger to resume the autonomous driving of the work vehicle 10 without a restart operation by the user. This has the advantage of preventing delays in the completion of work due to, for example, a delay in the user's restart operation, and less reduction in work efficiency.

[0103] Furthermore, if a user's restart operation becomes necessary, the user would need to confirm that the reason for interruption has disappeared and then perform the restart operation each time the automatic driving is interrupted, and would have to stop other tasks during that time. However, the control method according to this embodiment has the advantage of reducing such user effort. In particular, when interruption reasons that quickly disappear (disappear) occur frequently, such as when an obstacle Ob1 made of a small animal is detected, when the positioning status temporarily deteriorates, or when a temporary abnormality occurs, the user's effort is significantly reduced.

[0104] More specifically, in a case where the interruption condition is met and autonomous driving is interrupted when an obstacle Ob1 consisting of a small animal is detected by the detection device 15 as shown on the left side of Fig. 5, the reason for interruption immediately disappears when the obstacle Ob1 moves out of the detection area As1, as shown in the example on the right side of Fig. 5. In this case, the resume processing unit 136 determines that the interruption condition has been resolved when the reason for interruption disappears (disappears), that is, when the obstacle Ob1 is no longer detected by the detection device 15, and automatically resumes autonomous driving.

[0105] Specifically, after automatic driving is interrupted, the resume processing unit 136 monitors the output of the detection device 15, and when the detection device 15 no longer detects the obstacle Ob1, it determines that the reason for interruption has disappeared and the interruption condition has been resolved at that point, and outputs a resume instruction to the driving processing unit 132. As a result, as shown on the right side of Fig. 5, the work vehicle 10 that had been stopped (parked) on the work route r11 resumes automatic driving and work along the target route R1 (work route r11).

[0106] Here, in this embodiment, the work vehicle 10 is capable of autonomous driving along the target route R1. Therefore, if an interruption condition is met while the work vehicle 10 is autonomously driving along the target route R1 and the autonomous driving is interrupted, and then the interruption condition is resolved and the autonomous driving resumes, the work vehicle 10 will continue autonomously driving along the target route R1 in the same manner as before the interruption. Therefore, even if the autonomous driving of the work vehicle 10 is interrupted partway along the target route R1, the work vehicle 10 can be made to travel the entire course of the target route R1 by resuming the autonomous driving.

[0107] Here, in the control method according to this embodiment, automatic restart control is performed only when an automatic restart condition is satisfied. The "automatic restart condition" in this disclosure refers to a condition under which the restart processing unit 136 performs automatic restart control to automatically restart automatic driving, and examples of such a condition include permission from the user, an operator being on board the vehicle 11 and in a manned state, an operator being in the vicinity of the work vehicle 10 (for example, a position from which the work vehicle 10 can be seen), a specific time period, or specific weather conditions.

[0108] In other words, in this embodiment, the resume processing unit 136 does not necessarily resume automatic traveling even if the interruption condition is resolved while automatic traveling is suspended, but resumes automatic traveling only when the automatic restart condition is satisfied. In other words, if the automatic restart condition is not satisfied, the resume processing unit 136 does not perform automatic restart control to automatically resume automatic traveling even if the interruption condition is resolved while automatic traveling is suspended. As a result, automatic traveling can be resumed only when the interruption condition is resolved while automatic traveling is suspended, and separately, when the automatic restart condition is satisfied. Therefore, while providing a configuration that is unlikely to reduce work efficiency, it is possible to prevent automatic traveling from being resumed in situations where it is not desirable to resume automatic traveling without permission, such as when the operator is not near the work vehicle 10.

[0109] Here, the automatic restart condition includes the user's permission for automatic restart control. In other words, the automatic restart condition is that the user (operator) gives permission (approves) to resume automatic driving when the interruption condition is resolved. As an example, permission for automatic restart control is implemented by turning on (enabling) the "automatic restart function of automatic driving" on a setting screen displayed on the operation display unit 23 of the terminal device 20. When the "automatic restart function of automatic driving" is turned on (enabled), the user has permitted automatic restart control, so the automatic restart condition is met, and automatic driving resumes when the interruption condition is resolved. On the other hand, when the "automatic restart function of automatic driving" is turned off (disabled), the user has not permitted automatic restart control, so the automatic restart condition is not met, and automatic driving does not resume even when the interruption condition is resolved.

[0110] Whether to permit automatic restart control may be specified by the user in advance before the start of automatic driving, or may be specified by the user each time automatic driving is interrupted. In the latter case, for example, a confirmation screen may be displayed on the operation display unit 23 or the like of the terminal device 20 when automatic driving is interrupted, to confirm with the user whether to permit automatic restart control, or a confirmation screen may be displayed on the operation display unit 23 or the like of the terminal device 20 when the interruption condition is resolved, to confirm with the user whether to permit automatic restart control. As an example, in this embodiment, the former is used, that is, the user specifies whether to permit automatic restart control in advance before the start of automatic driving.

[0111] This configuration is less likely to reduce work efficiency, but in situations where it is not desirable to resume automatic driving without permission, such as when the operator is not near the work vehicle 10, it is possible to prevent automatic driving from resuming by not allowing automatic resumption control.

[0112] Furthermore, in this embodiment, permission for automatic restart control can be specified for each reason for interrupting automatic driving. That is, there are various reasons for interrupting automatic driving, such as deterioration of the positioning status, abnormalities in various parts of the work vehicle 10, detection of an obstacle by the detection device 15, and a decrease in the remaining amount of materials, and therefore permission for automatic restart control can be specified for each of these interruption reasons.

[0113] Specifically, it is possible to permit automatic restart control when the positioning status deteriorates, but not permit automatic restart control when an abnormality occurs in any part of the work vehicle 10. In this case, when autonomous driving is interrupted due to a deterioration in the positioning status, autonomous driving will automatically resume when the interruption condition is lifted, whereas when autonomous driving is interrupted due to an abnormality in any part of the work vehicle 10, autonomous driving will not resume even when the interruption condition is lifted. With regard to abnormalities in any part of the work vehicle 10, abnormalities including hardware failure and temporary abnormalities such as system abnormalities that do not involve hardware failure may be set as separate interruption reasons, or separate interruption reasons may be set for each abnormal location. As a result, the user can specify, for each interruption reason, whether autonomous driving will automatically resume when the interruption condition is lifted.

[0114] The automatic resumption condition also includes the fact that the reason for the interruption of automatic driving is a specific reason. In other words, if automatic driving is interrupted due to a specific interruption reason (specific reason), the automatic resumption condition is met, and automatic driving will resume once the interruption condition is resolved. On the other hand, if automatic driving is interrupted due to a reason other than the specific interruption reason (specific reason), the automatic resumption condition is not met, and automatic driving will not resume even if the interruption condition is resolved.

[0115] Specifically, for example, among abnormalities in the various parts of the work vehicle 10, a temporary abnormality such as a system abnormality that does not involve a hardware failure is set as the specific reason. In this case, when autonomous driving is interrupted due to a temporary abnormality such as a system abnormality that does not involve a hardware failure, autonomous driving will automatically resume once the interruption condition is cleared, whereas when autonomous driving is interrupted due to an abnormality that includes a hardware failure, autonomous driving will not resume even if the interruption condition is cleared. As a result, for example, for interruption reasons that have little impact even if autonomous driving is resumed, autonomous driving can be automatically resumed once the interruption condition is cleared.

[0116] Furthermore, in the control method according to this embodiment, as shown in FIG. 6, there are cases where the work vehicle 10 is moved after automatic driving is interrupted. In FIG. 6, the work vehicle 10 when automatic driving is interrupted is shown by an imaginary line (two-dot chain line). As an example, if automatic driving is interrupted due to a low level of remaining materials, the work vehicle 10 needs to be moved to a specific position (supply position) such as near (the edge of a field) the outline of the work site F1 (the fourth outline f14 in the example of FIG. 6) or outside the work site F1 in order to replenish the materials. After automatic driving is interrupted, the movement of the work vehicle 10 to the specific position may be performed automatically by the driving processing unit 132, or may be performed by manual driving of the work vehicle 10 or in accordance with user operation on the terminal device 20 or the like.

[0117] In the example of Figure 6, the work vehicle 10, which is currently traveling autonomously, interrupts autonomous traveling at interruption position X1, and then performs a first movement M1 to the edge of the field (near the fourth outline f14) to take action (here, to replenish materials). Then, after the action (replenishment of materials) is completed at the edge of the field, if a predetermined resume operation is performed by the user (operator) on the terminal device 20 or another operating terminal, the work vehicle 10 performs a second movement M2 to move to interruption position X1 to resume autonomous traveling, and resumes autonomous traveling when it reaches interruption position X1. In other words, in this case, interruption position X1 is the resume position at which the work vehicle 10 will resume autonomous traveling.

[0118] Here, the movement (first movement M1) of the work vehicle 10 from the interruption position X1 to the specific position (here, the edge of the field) may be performed automatically by the travel processing unit 132, or may be performed by manual driving of the work vehicle 10 or in accordance with user operation on the terminal device 20, etc. On the other hand, the movement (second movement M2) of the work vehicle 10 from the specific position (edge ​​of the field) to the interruption position X1 is performed automatically by the travel processing unit 132.

[0119] Specifically, the interruption processing unit 135 stores the interruption position X1 where the automatic driving was interrupted in the memory unit 134, and the resumption processing unit 136 determines whether the work vehicle 10 has moved from the interruption position X1. If the work vehicle 10 has moved from the interruption position X1, when a resume operation is performed by a user (operator) on the terminal device 20 or another operation terminal, the resume processing unit 136 issues a resume instruction to the driving processing unit 132 to cause the work vehicle 10 to resume automatic driving. At this time, the resume instruction includes information about the "restart position" (which is the same as the interruption position X1 in the example of FIG. 6), so the driving processing unit 132 automatically moves (drives) the work vehicle 10 to the resume position (interruption position X1) and then resumes automatic driving.

[0120] In this way, when the work vehicle 10 is moved from the interruption position X1 to another location (specific location) automatically or by user operation after the automatic driving is interrupted, the resume processing unit 136 resumes the automatic driving in response to a resume operation from the user. That is, the control method according to this embodiment further includes performing manual resume control to resume automatic driving by user operation when the work vehicle 10 is moved after the automatic driving is interrupted. Therefore, when the work vehicle 10 is moved after the automatic driving is interrupted, automatic driving does not immediately resume even if the interruption condition is resolved, but it is possible to resume automatic driving at the user's discretion. Even in this case, the work vehicle 10 that left the interruption position X1 is automatically moved (returned) to the restart position, thereby reducing the effort required of the user to move the work vehicle 10 to the restart position.

[0121] Furthermore, with the control method according to this embodiment, the work vehicle 10 does not necessarily have to resume autonomous driving from interruption position X1, but as shown in FIG. 7, it is also possible to have the work vehicle 10 resume autonomous driving from a restart position X2 that is different from interruption position X1. In FIG. 7, the work vehicle 10 when autonomous driving is interrupted is shown by an imaginary line (two-dot chain line). The restart position X2 is specified, for example, by operation by a user (operator) on the terminal device 20 or another operating terminal. In other words, with the control method according to this embodiment, autonomous driving is resumed from the position where autonomous driving was interrupted or a position specified by the user.

[0122] As an example, in order to shorten the total work time, as shown in FIG. 7, the work vehicle 10, whose autonomous driving has been interrupted, may be moved (first movement M1) from the interruption position X1 to a specific position (ridge) while performing work, either manually or in accordance with user operation on the terminal device 20, etc. In this case, by the time the work vehicle 10 reaches the specific position, the work (planting work) will have been completed up to a position (restart position X2) beyond the interruption position X1 on the target route R1. Therefore, if the work vehicle 10 were to return from the specific position (ridge) to the interruption position X1 when the work vehicle 10 is to resume autonomous driving, there is a possibility that the work vehicle 10 would enter an area where planting has been completed and trample the completed area. Therefore, in such a case, it is preferable that the user specify the restart position X2, and resume autonomous driving from the restart position X2 rather than the interruption position X1.

[0123] Specifically, the resume processing unit 136 accepts the specification of a resume position X2 through operation by a user (operator) on the terminal device 20 or another operating terminal. In this embodiment, the interruption position X1 is set as the resume position by default, and if a resume position X2 is not specified, the resume processing unit 136 issues a resume instruction to the driving processing unit 132 to automatically move (drive) the work vehicle 10 to the interruption position X1 and then resumes automatic driving. If a resume position X2 is specified, the resume processing unit 136 issues a resume instruction to the driving processing unit 132 to automatically move (drive) the work vehicle 10 to the resume position X2 and then resumes automatic driving.

[0124] In this way, by resuming automatic driving from the position where automatic driving was interrupted or a position specified by the user, the user can specify the restart position X2 as needed. As a result, usability is improved, for example, by preventing the work vehicle 10 from entering an area where work has already been done, as described above.

[0125] Furthermore, as shown in FIG. 8, the control method according to this embodiment further includes prohibiting the work vehicle 10 from entering a no-entry area when moving the work vehicle 10 to a restart position when restarting autonomous traveling. In the example of FIG. 8, the restart position is the same as the interruption position X1, but is not limited to this and may be a restart position X2 (see FIG. 7) specified by the user. In FIG. 8, the work vehicle 10 when autonomous traveling is interrupted is shown by an imaginary line (two-dot chain line). Here, the no-entry area is, for example, a passing area A1 through which the work vehicle 10 (the work implement 12 thereof) has passed, and is an area where planting work has been completed. That is, in the example of FIG. 8, by moving the work vehicle 10 straight backward, the work vehicle 10 can be moved to the restart position (interruption position X1) while being prohibited from entering the no-entry area (passing area A1).

[0126] That is, when the work vehicle 10 is caused to resume automatic driving, if the work vehicle 10, which is moving from a specific position (the edge of a field) to a resumption position (such as the interruption position X1), enters a worked area where planting has been completed, there is a possibility that the worked area will be trampled. By making a specific area within the work ground F1 (for example, the passing area A1) a no-entry area, it is possible to automatically move the work vehicle 10 to the resumption position (such as the interruption position X1) while avoiding the specific area from being trampled.

[0127] In other words, the control method according to this embodiment includes prohibiting the work vehicle 10 from entering the completed work area (passage area A1) when moving the work vehicle 10 to the restart position (interruption position X1 or restart position X2 specified by the user) when restarting automated driving. As a result, as described above, it is possible to automatically move the work vehicle 10 to the restart position while preventing the completed work area where work (here, planting work) has been completed from being trampled by the work vehicle 10.

[0128] Here, as shown on the left side of Figure 9, because the remaining amount of seedlings as materials is insufficient, an adequately worked area A11 and an insufficiently worked area A12 may appear in the passing area A1, which is the worked area. The adequately worked area A11 is an area where the work (here, planting work) has been sufficiently completed, and the insufficient work area A12 is an area where the work (here, planting work) has not been sufficiently completed. In this case, since it is preferable to work on the insufficient work area A12 again, after automatic traveling is interrupted and materials are replenished, the user may specify the start of the insufficient work area A12 (the end of the adequate work area A11) as the restart position X2 when automatic traveling is resumed.

[0129] In such a case, if the work vehicle 10 is prohibited from entering the completed work area (passage area A1), the movement (second movement M2) of the work vehicle 10 to the resumption position X2 will be obstructed. Therefore, in this embodiment, as shown on the right side of Figure 9, it is possible to delete at least a portion of the work history, which is a history of work performed by the work vehicle 10 through autonomous driving. Specifically, by operating the terminal device 20 or another operating terminal by the user (operator), it is possible to specify at least a portion of the passage area A1 and delete it from the work history, making it an unworked area.

[0130] As a result, even if the work vehicle 10 is prohibited from entering a worked area (passage area A1), for example, the user can decide to delete the work history for an area where work is insufficient, mark the area as an unworked area, and allow the work vehicle 10 to re-work the area. As a result, the work vehicle 10 can automatically navigate and perform work even in areas where work is insufficient, reducing the amount of manual work required.

[0131] [4.3] Overall processing Next, the overall flow of processing relating to the suspension and resumption of automatic driving in the control method will be described with reference to FIG.

[0132] 10, the driving processing unit 132 of the control system 1 starts automatic driving along the target route R1 (S1). Then, the interruption processing unit 135 constantly determines whether an interruption condition is met during the automatic driving of the work vehicle 10 (S2).

[0133] For example, if an event that satisfies the interruption condition occurs, such as a deterioration in the positioning status (S2: Yes), the interruption processing unit 135 interrupts the automatic traveling of the work vehicle 10 (S3) and issues a stop instruction to the traveling processing unit 132 to stop (park) the work vehicle 10. On the other hand, if no event that satisfies the interruption condition occurs (S2: No), the interruption processing unit 135 repeatedly executes step S2.

[0134] While the autonomous driving is suspended (S3), the resume processing unit 136 determines whether the suspension condition has been resolved (S4). For example, when the reason for suspension that caused the autonomous driving to be suspended, such as a deterioration in the positioning status, is eliminated, the resume processing unit 136 determines that the suspension condition has been resolved (S4: Yes) and moves the process to step S5. On the other hand, when the reason for suspension that caused the autonomous driving to be suspended, such as a deterioration in the positioning status, is still present, the resume processing unit 136 determines that the suspension condition has not been resolved (S4: No) and repeatedly executes step S4.

[0135] In step S5, the restart processing unit 136 determines whether or not the automatic restart conditions are met. For example, if the automatic restart conditions are met, such as if the user has previously permitted automatic restart control (S5: Yes), the restart processing unit 136 issues a restart instruction to the driving processing unit 132, and restarts the automatic driving of the work vehicle 10 (S6). On the other hand, if the automatic restart conditions are not met, such as if the user has not permitted automatic restart control (S5: No), the restart processing unit 136 transitions the process to step S4.

[0136] However, the flowchart shown in FIG. 10 is merely an example, and processes may be added or omitted as appropriate, and the order of processes may be changed as appropriate.

[0137] [5] Variation Below, we will list some modified examples of embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0138] The control system 1 in the present disclosure includes a computer system. The computer system is primarily composed of one or more processors and one or more memories as hardware. The functions of the control system 1 in the present disclosure are realized by the processor executing a program (a control program for a work vehicle) recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided by being recorded on a non-transitory recording medium such as a memory card, optical disk, or hard disk drive that is readable by the computer system. In addition, some or all of the functional units included in the control system 1 may be configured with electronic circuits.

[0139] Furthermore, it is not essential for the control system 1 that at least some of the functions of the control system 1 are concentrated in one housing, and the components of the control system 1 may be distributed across multiple housings. Conversely, in embodiment 1, functions that are distributed across multiple devices (for example, the control device 13 and the terminal device 20) may be concentrated in one housing. Furthermore, at least some of the functions of the control system 1 may be realized by the cloud (cloud computing) or the like.

[0140] Furthermore, the work vehicle 10 is not limited to a rice transplanter, and may be, for example, a harvester such as a combine harvester. When the work vehicle 10 is a harvester, the reason for interruption includes the amount of harvested crop stored becoming equal to or greater than a judgment threshold. If the amount of harvested crop stored becomes equal to or greater than the judgment threshold while the work vehicle 10 is traveling autonomously, the interruption condition is met and the autonomous traveling is interrupted. Furthermore, when the work vehicle 10 is a harvester, it is preferable to designate unworked areas in the work site F1 as no-entry areas. This prohibits the work vehicle 10 from entering unworked areas when the work vehicle 10 is moved to a resumption position to resume autonomous traveling, thereby preventing the work vehicle 10 from trampling on crops before harvesting.

[0141] Furthermore, the terminal device 20 is not limited to a general-purpose terminal such as a tablet terminal, smartphone, or laptop computer, but may be configured as a dedicated terminal. Furthermore, multiple terminal devices 20 may be associated with one work vehicle 10, in which case, one work vehicle 10 can be controlled by multiple terminal devices 20. Conversely, one terminal device 20 may be associated with multiple work vehicles 10, in which case, multiple work vehicles 10 can be controlled by one terminal device 20.

[0142] Furthermore, the above-described target route R1 is merely an example and can be changed as appropriate. For example, the work direction of the work vehicle 10 (the direction of the work route r11) and / or the travel order of the work route r11 can also be changed as appropriate.

[0143] [Appendix to the invention] The following will provide an outline of the invention extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0144] <Appendix 1> A method for controlling a work vehicle capable of automatically traveling in a work site, comprising: Suspending the automatic traveling when a suspension condition is satisfied; When the interruption condition is resolved, automatic restart control is performed to automatically restart the automatic driving. A method for controlling a work vehicle.

[0145] <Appendix 2> The work vehicle is capable of automatically traveling along a target route. 2. A method for controlling a work vehicle as set forth in claim 1.

[0146] <Appendix 3> The automatic restart control is performed only when an automatic restart condition is satisfied. 3. A method for controlling a work vehicle according to claim 1 or 2.

[0147] <Appendix 4> the automatic restart condition includes a user's permission to control the automatic restart; 4. A method for controlling a work vehicle as set forth in appendix 3.

[0148] <Appendix 5> The permission of the automatic restart control can be specified for each reason for interrupting the automatic driving. 5. A method for controlling a work vehicle as set forth in appendix 4.

[0149] <Appendix 6> The automatic restart condition includes that the reason for interrupting the automatic driving is a specific reason. A method for controlling a work vehicle according to any one of Supplementary Notes 3 to 5.

[0150] <Appendix 7> Resuming the automatic driving from the position where the automatic driving was interrupted or from a position designated by the user. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 6.

[0151] <Appendix 8> When the work vehicle is moved after the automatic driving is interrupted, manual restart control is performed to restart the automatic driving by a user operation. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 7.

[0152] <Appendix 9> When the automatic traveling is resumed, the work vehicle is prohibited from entering a no-entry area when the work vehicle is moved to a restart position. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 8.

[0153] <Appendix 10> When the automatic driving is resumed, when the work vehicle is moved to a restart position, the work vehicle is further prohibited from entering an area where work has been completed. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 9.

[0154] <Appendix 11> At least a portion of the work history, which is a history of work performed by the work vehicle through the automatic driving, can be deleted. 11. A method for controlling a work vehicle as set forth in claim 10.

[0155] <Appendix 12> A method for controlling a work vehicle capable of automatically traveling in a work site, comprising: Suspending the automatic traveling when a suspension condition is satisfied; and resuming the automatic traveling, Resuming the automatic driving from the position where the automatic driving was interrupted or from a position designated by the user. A method for controlling a work vehicle.

[0156] <Appendix 13> A method for controlling a work vehicle capable of automatically traveling in a work site, comprising: Suspending the automatic traveling when a suspension condition is satisfied; When the work vehicle is moved after the automatic driving is interrupted, restarting the automatic driving by a user operation. A method for controlling a work vehicle.

[0157] <Appendix 14> A method for controlling a work vehicle capable of automatically traveling in a work site, comprising: Suspending the automatic traveling when a suspension condition is satisfied; restarting the automatic driving; When the automatic traveling is resumed, when the work vehicle is moved to a restart position, the work vehicle is prohibited from entering a no-entry area. A method for controlling a work vehicle.

[0158] <Appendix 15> A method for controlling a work vehicle capable of automatically traveling in a work site, comprising: Suspending the automatic traveling when a suspension condition is satisfied; restarting the automatic driving; When the automatic traveling is resumed, when the work vehicle is moved to a restart position, the work vehicle is prohibited from entering an area where work has been completed, At least a portion of the work history, which is a history of work performed by the work vehicle through the automatic driving, can be deleted. A method for controlling a work vehicle.

[0159] <Appendix 16> A method for controlling a work vehicle according to any one of appendices 1 to 15, A control program for a work vehicle to be executed by one or more processors. [Explanation of symbols]

[0160] 1. Control system for work vehicles 10 Work vehicles 11 aircraft 100 Working Systems 135 Interruption Processing Unit 136 Restart Processing Unit A1 Passage area (no entry area, completed area) F1 Work Site R1 Target route X1 Interruption position (restart position) X2 Resume position

Claims

1. A method for controlling a work vehicle capable of automatically traveling in a work site, comprising: Suspending the automatic traveling when a suspension condition is satisfied; When the interruption condition is resolved, automatic restart control is performed to automatically restart the automatic driving. A method for controlling a work vehicle.

2. The work vehicle is capable of automatically traveling along a target route. A method for controlling a work vehicle according to claim 1.

3. The automatic restart control is performed only when an automatic restart condition is satisfied. A method for controlling a work vehicle according to claim 1 or 2.

4. the automatic restart condition includes a user's permission to control the automatic restart; The method for controlling a work vehicle according to claim 3.

5. The permission of the automatic restart control can be specified for each reason for interrupting the automatic driving. The method for controlling a work vehicle according to claim 4.

6. The automatic restart condition includes that the reason for interrupting the automatic driving is a specific reason. The method for controlling a work vehicle according to claim 3.

7. Resuming the automatic driving from the position where the automatic driving was interrupted or from a position designated by the user. A method for controlling a work vehicle according to claim 1 or 2.

8. When the work vehicle is moved after the automatic driving is interrupted, manual restart control is performed to restart the automatic driving by a user operation. A method for controlling a work vehicle according to claim 1 or 2.

9. When the automatic traveling is resumed, the work vehicle is prohibited from entering a no-entry area when the work vehicle is moved to a restart position. A method for controlling a work vehicle according to claim 1 or 2.

10. When the automatic driving is resumed, when the work vehicle is moved to a restart position, the work vehicle is further prohibited from entering an area where work has been completed. A method for controlling a work vehicle according to claim 1 or 2.

11. At least a portion of the work history, which is a history of work performed by the work vehicle through the automatic driving, can be deleted. The method for controlling a work vehicle according to claim 10.

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

13. Used in work vehicles that can travel automatically at work sites, an interruption processing unit that interrupts the automatic traveling when an interruption condition is satisfied; a restart processing unit that performs automatic restart control to automatically restart the automatic driving when the interruption condition is resolved, Control systems for work vehicles.

14. The work vehicle control system according to claim 13; a body of the work vehicle; Working system.

Images