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 method for controlling the work machine is a method for controlling the work machine 10 capable of traveling in a work field F1. The control method includes acquiring the detection information and the registered information as the information relating to the outline (the fourth outline F1) of the work field f14 in the plan view, and performing the determination relating to the deviation of the outline (the fourth outline f14) by comparing the detection information and the registered information. The detection information is information detected by the work vehicle 10 during traveling. The registered information is information registered in advance for the work site F1.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a control method for a work vehicle capable of 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 (agricultural work vehicle) that can receive positioning signals from a positioning system and acquire its own position information is known (see, for example, Patent Document 1). In the related technology, the work vehicle can use its own position information to acquire the shape of a work site (work area) where, for example, agricultural work will be performed.

[0003] Specifically, in a work vehicle according to the related art, when a positioning antenna is placed at multiple corners that make up the outline (contour) of the work site, the position information of the positioning antenna is stored, and the shape of the work site is acquired by connecting the positions of these multiple corners with straight lines. This makes it easier to acquire the shape of the work site than when the work vehicle is actually driven along the outline of the work site and the continuous driving trajectory of this work vehicle is acquired as the shape of the work site, because it is only necessary to register the position information of the multiple corners. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-127289 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, the shape of a work site may change due to work such as ridge painting, or the influence of wind and rain, etc. However, if the shape of the work site is measured and re-registered every time work is carried out, this could result in a significant 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 traveling on a work site, and includes obtaining detection information detected by the work vehicle while traveling and registration information that has been registered in advance for the work site as information relating to the outline of the work site in a planar view, and making a determination regarding any deviation of the outline line by comparing the detection information with the registration information.

[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 traveling on a work site. The work vehicle control system includes an acquisition processing unit and a determination processing unit. The acquisition processing unit acquires detected information and registered information as information relating to the outline of the work site in a planar view. The detected information is information detected while the work vehicle is traveling. The registered information is information registered in advance for the work site. The determination processing unit compares the detected information with the registered information to make a determination regarding a deviation of the outline.

[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 diagram showing an example of the outline of a work site reconstructed by the work vehicle control system according to the first embodiment. [Figure 6] FIG. 6 is a schematic diagram showing an example of a target route reconstructed by the work vehicle control system according to the first embodiment. [Figure 7] FIG. 7 is a schematic diagram showing an example of a target route reconstructed by the work vehicle control system according to the first embodiment. [Figure 8] FIG. 8 is a schematic diagram illustrating the operation of detecting a ridge by the work vehicle according to the first embodiment. [Figure 9] FIG. 9 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] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following description will discuss preferred embodiments of the present invention with reference to the accompanying drawings. The preferred embodiments are merely examples of the present invention and are not intended to limit the technical scope of the present invention.

[0014] (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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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).

[0020] 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.

[0021] 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.).

[0022] [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.

[0023] 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).

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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).

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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).

[0035] 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.

[0036] 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.

[0037] In this embodiment, the control device 13 includes a (first) acquisition processing unit 131, a traveling processing unit 132, a work support processing unit 133, and a storage unit 134, as shown in FIG.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] "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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] [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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.).

[0058] 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.

[0059] 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.

[0060] 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.

[0061] In this embodiment, the information processing unit 21 has a generation processing unit 211, a registration processing unit 212, an output processing unit 213, a (second) acquisition processing unit 214, a determination processing unit 215, a reconstruction processing unit 216, and a notification processing unit 217, as shown in Fig. 2. In this embodiment, as an example, 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] The acquisition processing unit 214 executes an acquisition process to acquire detected information and registered information as information relating to the outline of the work land F1 in a planar view. The detected information is information relating to the outline of the work land F1, and is information detected by the work vehicle 10 while traveling. On the other hand, the registered information is information relating to the outline of the work land F1, and is information that has been registered in advance for the work land F1. In other words, the acquisition processing unit 214 acquires two types of information (detected information and registered information), both of which relate to the outline of the work land F1 in a planar view, but which have different structures. In this embodiment, as described above, the outline information relating to the outline (outline) of the work land F1, which is included in the field information that has been registered in advance by the registration processing unit 212 at least prior to the generation of the target route R1 and stored in the memory unit 22, is an example of registered information.

[0071] More specifically, the acquisition processing unit 214 acquires the detection information from the work vehicle 10 via the communication unit 24 on a regular or irregular basis. On the other hand, the acquisition processing unit 214 acquires the registration information by reading it out from the storage unit 22 on a regular or irregular basis. The timing at which the acquisition processing unit 214 acquires the detection information and the registration information may be the same or different. Similarly, the frequency at which the acquisition processing unit 214 acquires the detection information and the registration information may be the same or different.

[0072] The determination processing unit 215 executes a determination process to determine deviations in the outline by comparing the detection information with the registration information. In other words, there are two types of information related to the outline of the work site F1: detection information detected while the work vehicle 10 is traveling, and registration information that is registered in advance (at least before the generation of the target route R1), and the determination processing unit 215 compares these two types of information. Then, by comparing the detection information with the registration information, the determination processing unit 215 determines deviations in the outline identified by the registration information and the outline identified by the detection information.

[0073] When the reconstruction processing unit 216 determines that a predetermined deviation has occurred in the outline, it executes a reconstruction process to reconstruct target information related to the outline. In other words, when the determination processing unit 215 determines that a predetermined "deviation" has occurred between the outline identified in the registration information and the outline identified in the detection information, the reconstruction processing unit 216 reconstructs the target information. Here, the target information to be reconstructed includes, for example, information regarding the outline (shape) of the work site F1. In other words, when the determination processing unit 215 determines that a predetermined deviation has occurred in the outline, the reconstruction processing unit 216 recalculates (reconstructs) information regarding the shape (outline) of the work site F1 that reflects the deviation. Here, "reconstruction" includes not only recreating the target information from scratch, but also correcting only those parts of the target information that require correction.

[0074] The notification processing unit 217 executes notification processing to issue a notification when it is determined that a predetermined deviation has occurred in the outline. "Notification" here means, for example, notifying a person such as an operator. The notification by the notification processing unit 217 can be, for example, a display (on the operation display unit 23, etc.), a sound (including voice) output, transmission to another device (the work vehicle 10), printing (printing out), writing to a non-temporary recording medium, or a combination of these. In this embodiment, as an example, the notification processing unit 217 issues a notification by displaying on the operation display unit 23.

[0075] More specifically, when the "deviation" between the outline identified in the registration information and the outline identified in the detection information is equal to or greater than the first determination threshold, the reconstruction processing unit 216 determines that "the outline has a predetermined deviation" and reconstructs the target information. On the other hand, when the "deviation" between the outline identified in the registration information and the outline identified in the detection information is equal to or greater than the second determination threshold, the notification processing unit 217 determines that "the outline has a predetermined deviation" and issues a notification. The units of the first and second determination thresholds are distance (length) units, such as "cm."

[0076] Here, the first and second judgment thresholds may be the same or different. If the first and second judgment thresholds are different, the first judgment threshold may be greater than or smaller than the second judgment threshold. If the first and second judgment thresholds are the same, the "predetermined deviation" that serves as the criterion for determining whether the reconstruction processing unit 216 executes the reconstruction process and the "predetermined deviation" that serves as the criterion for determining whether the notification processing unit 217 executes the notification process are the same. Therefore, when the "deviation" of the outline becomes equal to or greater than the first judgment threshold (= second judgment threshold), both the reconstruction process and the notification process are executed. On the other hand, if the first judgment threshold is greater than the second judgment threshold, the "predetermined deviation" that serves as the criterion for determining whether the reconstruction processing unit 216 executes the reconstruction process and the "predetermined deviation" that serves as the criterion for determining whether the notification processing unit 217 executes the notification process are different. Therefore, even if the "deviation" of the outline becomes equal to or greater than the second determination threshold (< the first determination threshold), the notification process may be executed but the reconstruction process may not be executed.

[0077] 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.

[0078] [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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] [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.

[0083] 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).

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] [4.2] Misalignment of outlines Next, the processing (determination processing, etc.) related to deviations of the outlines (first to fourth outlines f11 to f14) of the work site F1 will be described with reference to FIGS.

[0096] In the control system 1 according to this embodiment, the generation processing unit 211 of the terminal device 20 basically generates a target route R1 for driving (automatically driving) the work vehicle 10 without going beyond the outline of the work site F1. Therefore, the work vehicle 10 performs work on the work site F1 while driving within the work site F1 along the target route R1 so that the machine body 11 does not go outside the work site F1 (i.e., outside the outer diameter).

[0097] As shown in Figure 5, the shape of the work area F1 may change due to work such as ridge plastering or the effects of wind and rain. "Ridge plastering" here refers to the work of applying paddy field soil to the ridges (earthen walls) surrounding the paddy field (work area F1) to seal cracks or holes and prevent water leakage from the work area F1. The shape of the work area F1 may also change when the ridges are worn or collapsed due to wind and rain. When the shape of the work area F1 changes, the position of the outline (fourth outline f14 in the example in Figure 5) also changes. In Figure 5, the outline (fourth outline f14) before the change is shown by an imaginary line (double-dashed line), and the outline (fourth outline f14) after the change is shown by a solid (thick) line.

[0098] In the example of FIG. 5, the fourth outline f14 has changed to extend inward of the work area F1, i.e., toward the third outline f13, and the change in the position of the outline (fourth outline f14) has also reduced the area of ​​the work area F1. When the position of the outline of the work area F1 has changed in this way, it may be preferable to also change the route (target route R1) of the work vehicle 10 traveling within the work area F1. For example, in the example of FIG. 5, if the work vehicle 10 were to travel along the target route R1 generated to match the shape (outline) of the work area F1 before the change, there is a possibility that the body 11 of the work vehicle 10 would extend outside the work area F1 from the (changed) outline (fourth outline f14). In this case, there is a possibility that the body 11 would come into contact with ridges or other structures existing around the work area F1. Therefore, it is necessary to, for example, change the target route R1 so that the body 11 does not extend outside the outline of the work area F1 after the change.

[0099] Therefore, it is conceivable to measure and re-register the shape of the work area F1 by teaching travel or the like every time work is performed. However, if the shape of the work area F1 is measured and re-registered every time work is performed, this could result in a significant decrease in work efficiency.

[0100] Therefore, in the control method according to this embodiment, a control method that is less likely to reduce work efficiency is realized 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 can travel in a work area F1. This control method includes acquiring detected information and registered information as information relating to the outline of the work area F1 in a planar view, and determining any deviation from the outline by comparing the detected information with the registered information. The detected information is information relating to the outline of the work area F1, and is information that is detected while the work vehicle 10 is traveling. The registered information is information relating to the outline of the work area F1, and is information that has been registered in advance for the work area F1.

[0102] In short, with the control method according to this embodiment, if there is a change in the shape (outline) of the work site F1, that change will cause a "deviation" between the outline identified by the pre-registered registration information and the outline identified by the detection information detected while the work vehicle 10 is traveling. In the example of FIG. 5, the outline identified by the registration information (fourth outline f14) is shown as an imaginary line (two-dot chain line), and the outline identified by the detection information (fourth outline f14) is shown as a solid line (thick line). The control method according to this embodiment focuses on this "deviation" of the outline and makes a determination regarding that "deviation" to determine whether there has been a change in the shape (outline) of the work site F1. Therefore, with this control method, there is no need to measure and re-register the shape of the work site F1 every time work is performed, which has the advantage of less reduction in work efficiency.

[0103] The control method according to this embodiment further includes reconstructing target information related to the outline when it is determined that a predetermined deviation has occurred in the outline. In other words, when the determination processing unit 215 determines that a predetermined deviation has occurred between the outline identified in the registration information and the outline identified in the detection information for a certain work site F1, the reconstruction processing unit 216 reconstructs target information related to the outline of the work site F1.

[0104] Specifically, the reconstruction processing unit 216 reconstructs, based on the detection information, the outline information (registered information) relating to the outline (outline) of the work area F1 included in the field information that has been registered in advance by the registration processing unit 212 and stored in the memory unit 22 as target information. As a result, the outline information as registered information registered in the memory unit 22 is updated based on the detection information detected while the work vehicle 10 is traveling, and matches the current (changed) outline (outline) of the work area F1. Therefore, for example, even when the progress of work in the work area F1 is displayed on the operation display unit 23, a display according to the current shape of the work area F1 is performed, improving the accuracy of short-range monitoring and remote monitoring by the operator of the work vehicle 10.

[0105] Furthermore, based on the reconstructed outline information, the travelling device 14 or the work implement 12 of the work vehicle 10 may be controlled according to the distance from the vehicle body 11 to the outline (ridge), for example, during automatic or manual travel. As an example, when the work vehicle 10 is traveling towards the outline (ridge), contact between the work implement 12 and the ridge can be avoided by controlling the deceleration (braking) of the travelling device 14 and / or controlling the elevation of the work implement 12 according to the distance to the outline specified in the reconstructed outline information. Furthermore, work time can be shortened by controlling the acceleration of the travelling device 14 according to the current (changed) outline (outline) of the work area F1.

[0106] Furthermore, in this embodiment, the work vehicle 10 is capable of autonomous driving. Therefore, the control method according to this embodiment further comprises, when it is determined that a predetermined deviation has occurred in the outline, reconstructing object information including a target route R1 for autonomous driving of the work vehicle 10. In other words, when the determination processing unit 215 determines that, for a certain work site F1, a predetermined deviation has occurred between the outline identified in the registration information and the outline identified in the detection information, the reconstruction processing unit 216 reconstructs the object information including the target route R1 by recalculating the target route R1 generated for that work site F1.

[0107] Specifically, the reconstruction processing unit 216 reconstructs a route (target route R1) for driving (automatically driving) the work vehicle 10 through the work site F1 that was generated in advance by the generation processing unit 211, based on the detection information as target information. As a result, the target route R1 for automatically driving the work vehicle 10 is updated based on the detection information detected while the work vehicle 10 is driving, and becomes a route that matches the current (changed) outline (outline) of the work site F1. Therefore, for example, by having the work vehicle 10 drive automatically along the reconstructed target route R1, it is possible to drive the work vehicle 10 so that the vehicle body 11 does not stray from the outline of the work site F1.

[0108] FIG. 6 is a schematic diagram showing a specific example of reconstructing the target route R1 by the reconstruction processing unit 216. In FIG. 6, the outline (fourth outline f14) before the change is shown by an imaginary line (two-dot chain line), and the outline (fourth outline f14) after the change is shown by a solid line (thick line). When a predetermined deviation occurs in the outline, the reconstruction processing unit 216 reconstructs (changes) the work route r11 and connecting route r12 of the target route R1 so that the robot body 11 does not protrude from the outline of the work area F1 after the change, as shown in FIG. 6. In FIG. 6, the target route R1 before reconstruction is shown by an imaginary line (two-dot chain line), and the target route R1 after reconstruction is shown by a solid line (work route r11) and a dashed line (connecting route r12). In other words, when the position of the outline moves inside the work area F1, the turning position is changed to the near side (inside the work area F1) to avoid the robot body 11 coming into contact with the ridge.

[0109] Similarly, the reconstruction processing unit 216 also reconstructs the outer periphery path r13 of the target path R1. In FIG. 7, the outline (fourth outline f14) before the change is shown by an imaginary line (two-dot chain line), and the outline (fourth outline f14) after the change is shown by a solid line (thick line). When a predetermined deviation occurs in the outline like this, the reconstruction processing unit 216 reconstructs (changes) the outer periphery path r13 of the target path R1 so that the machine body 11 does not protrude from the outline of the work area F1 after the change, as shown in FIG. 7. In FIG. 7, the target path R1 before reconstruction is shown by an imaginary line (two-dot chain line), and the target path R1 after reconstruction is shown by a solid line (work path r11) and a dashed line (connecting path r12). In other words, if the position of the outline moves inside the work area F1, the outer peripheral route r13 is also changed to the inside of the work area F1 so as to follow the changed outline, thereby avoiding the machine body 11 coming into contact with the ridge.

[0110] Here, if the "deviation" between the outline identified in the registration information and the outline identified in the detection information is equal to or greater than a first determination threshold, it is determined that "the outline has a predetermined deviation," and the reconstruction processing unit 216 reconstructs the target information (outline information and / or target route R1). For example, the first determination threshold is 50 cm. In this case, if the outline identified in the detection information deviates from the outline identified in the registration information by 50 cm or more, the positions of the outlines in the registration information and the detection information are different, and it is determined that "the outline has a predetermined deviation." If the outline deviates over a certain range of length, the "deviation" of the outline compared with the first determination threshold may be the average value, median, maximum value, minimum value, or the like within that range.

[0111] Here, the control method according to this embodiment further includes selecting, in response to a user operation, whether to reconstruct the target information when it is determined that a predetermined deviation has occurred in the outline. That is, even if the "deviation" of the outline is equal to or greater than the first determination threshold and the determination processing unit 215 determines that "a predetermined deviation has occurred in the outline," the reconstruction processing unit 216 does not necessarily reconstruct the target information. That is, when the determination processing unit 215 determines that "a predetermined deviation has occurred in the outline," the reconstruction processing unit 216 confirms with the user (operator) whether to reconstruct the target information, and reconstructs the target information only when the user selects to reconstruct it.

[0112] Specifically, when the determination processing unit 215 determines that "a predetermined deviation has occurred in the outline," the reconstruction processing unit 216 causes the operation display unit 23 to display a display screen asking whether or not to permit reconstruction of the target information (the outline information and / or the target route R1). When a user (operator) performs a user operation on the display screen to permit reconstruction of the target information on the operation display unit 23, the reconstruction processing unit 216 executes reconstruction of the target information. On the other hand, when a user (operator) performs a user operation on the display screen to deny reconstruction of the target information on the operation display unit 23, the reconstruction processing unit 216 does not execute reconstruction of the target information. This makes it possible to prevent the target information (the outline information and / or the target route R1) from being reconstructed without the operator's knowledge.

[0113] Alternatively, the control method may further include setting in advance whether or not to allow reconstruction of the target information when it is determined that a predetermined deviation has occurred in the outline. In other words, when the determination processing unit 215 determines that "a predetermined deviation has occurred in the outline," the reconstruction processing unit 216 checks the setting for whether or not to allow reconstruction of the target information, and reconstructs the target information only if reconstruction is permitted.

[0114] Specifically, for example, a user (operator) can set in advance on a setting screen displayed on the operation display unit 23 whether or not to permit reconstruction of the target information (visual outline information and / or target route R1). When a setting is made on the setting screen to permit reconstruction of the target information and the determination processing unit 215 determines that "a predetermined deviation has occurred in the visual outline," the reconstruction processing unit 216 executes reconstruction of the target information. On the other hand, when a setting is made on the setting screen to reject reconstruction of the target information and the determination processing unit 215 determines that "a predetermined deviation has occurred in the visual outline," the reconstruction processing unit 216 does not execute reconstruction of the target information. This allows the operator to decide whether or not to reconstruct the target information (visual outline information and / or target route R1).

[0115] The control method according to this embodiment further includes issuing a notification when it is determined that a predetermined deviation has occurred in the outline. In other words, when the determination processing unit 215 determines that a predetermined deviation has occurred between the outline specified in the registration information and the outline specified in the detection information for a certain work site F1, the notification processing unit 217 issues a notification.

[0116] Specifically, the notification processor 217 notifies the operator that the positions of the outlines differ between the registered information and the detected information via a display screen displayed on the operation display unit 23. The display screen includes text and / or images, and as an example, includes a message indicating that the positions of the outlines have shifted, such as "There is a difference of more than 50 cm from the previously registered ridge position." This allows the operator to be notified of the shift in the positions of the outlines, and allows the operator to drive carefully, even when driving manually, for example.

[0117] Here, if the "deviation" between the outline identified in the registration information and the outline identified in the detection information is equal to or greater than the second determination threshold, the notification processor 217 issues a notification that "the outline has a predetermined deviation." The second determination threshold is, for example, 30 cm. In this case, if the outline identified in the detection information deviates from the outline identified in the registration information by 30 cm or more, the positions of the outlines in the registration information and the detection information are different, and it is determined that "the outline has a predetermined deviation." If the outline deviates over a certain range of length, the "deviation" of the outline compared with the first determination threshold may be the average value, median, maximum value, minimum value, or the like within that range.

[0118] Furthermore, when the first and second judgment thresholds are the same, if the "deviation" of the outline becomes equal to or greater than the first judgment threshold (= second judgment threshold), both the reconstruction process and the notification process are executed. The content of the notification at this time may include, for example, a message indicating that the target information will be reconstructed, such as "The route will be reconstructed to avoid collisions." This allows the operator to be made aware of the reconstruction when the target information (outline information and / or target route R1) is reconstructed, thereby further improving work efficiency.

[0119] The control method may further include presenting information regarding the deviation of the outline line. For example, when the notification processor 217 notifies the operator that the positions of the outline lines in the registered information and the detected information are different, the notification processor 217 may also present the deviation between the outline lines specified in the registered information and the outline lines specified in the detected information by displaying the deviation on the display screen. As an example, the notification processor 217 may include a message indicating the specific degree of deviation, such as "There is a 75 cm difference from the previously registered ridge position." This allows the operator to be informed of the degree of deviation in the positions of the outline lines, allowing the operator to drive carefully, even when driving manually, for example.

[0120] Furthermore, the notification processing unit 217 may present information regarding the amount of deviation of the outline regardless of whether or not "a predetermined deviation has occurred in the outline." In other words, even if the "deviation" between the outline identified in the registration information and the outline identified in the detection information is less than the second determination threshold, it is preferable to present the amount of deviation by means of a display or the like.

[0121] Furthermore, the control method according to this embodiment further comprises setting a judgment threshold used for judging deviation of the outline. Specifically, for example, a user (operator) can set the judgment threshold (first judgment threshold and / or second judgment threshold) in advance on a setting screen displayed on the operation display unit 23. If the judgment threshold is set small on the setting screen, reconstruction or notification of the target information can be performed with higher sensitivity. On the other hand, if the judgment threshold is set large, reconstruction or notification of the target information can be avoided from being performed too frequently.

[0122] Meanwhile, the work vehicle 10 is capable of autonomous driving, and the detection information is detected by the work vehicle 10 while the work vehicle 10 is autonomously driving. In this embodiment, as an example, a detection device 15 mounted on the machine body 11 of the work vehicle 10 is used to detect the detection information. As shown in FIG. 8, the detection device 15 detects at least detection targets (obstacles) in a detection area As1 set in front of the machine body 11. This makes it possible to detect detection information without the operator having to manually drive the vehicle, leading to improved work efficiency.

[0123] The detection device 15 measures the position of the ridge within the detection area As1, i.e., the distance from the aircraft 11 to the ridge, using various sensors such as radar, sonar sensor, LiDAR, or camera. The acquisition processing unit 214 acquires detection information representing the position of the outline (fourth outline f14) based on the distance to the ridge E2 measured by the detection device 15. The determination processing unit 215 compares the position of the ridge E2 indicated by such detection information with the position of the ridge E1 indicated by the registration information, and determines whether or not a predetermined deviation has occurred between them.

[0124] However, the present invention is not limited to this, and the detection information may be detected, for example, while the work vehicle 10 is being manually driven.

[0125] [4.3] Overall processing Next, the overall flow of the process related to deviation of the outline of the control method will be described with reference to FIG.

[0126] 9, the acquisition processing unit 214 of the control system 1 acquires detection information and registration information as information relating to the outline of the work site F1 in a planar view (S1). Then, the determination processing unit 215 of the control system 1 compares the detection information detected while the work vehicle 10 is traveling with pre-registered registration information, and determines whether there is a "deviation" between the outline identified by the registration information and the outline identified by the detection information (S2).

[0127] If the deviation of the outline is equal to or greater than the first determination threshold (S2: Yes), it is determined that a "predetermined deviation has occurred in the outline," and the reconstruction processing unit 216 of the control system 1 reconstructs the target information (outline information and / or target route R1) (S3). On the other hand, if the deviation of the outline is less than the first determination threshold (S2: No), step S3 is skipped.

[0128] If the "deviation" of the outline is equal to or greater than the second determination threshold (S4: Yes), the notification processing unit 217 of the control system 1 notifies the user that "a predetermined deviation has occurred in the outline" by displaying the information on the operation display unit 23 (S5). On the other hand, if the "deviation" of the outline is less than the second determination threshold (S4: No), step S5 is skipped.

[0129] However, the flowchart shown in FIG. 9 is merely an example, and processes may be added or omitted as appropriate, and the order of processes may be changed as appropriate.

[0130] [5] Variation Below, we will list some modified examples of embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] Furthermore, the target route R1 described above 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.

[0135] [Appendix to the invention] The following is a summary of the invention extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0136] <Appendix 1> A control method for a work vehicle that can travel in a work site, comprising: As information relating to the outline of the work site in a plan view, detection information detected while the work vehicle is traveling and registration information registered in advance for the work site are acquired; and determining whether the deviation of the outline is correct by comparing the detected information with the registered information. A method for controlling a work vehicle.

[0137] <Appendix 2> When it is determined that a predetermined deviation occurs in the outline, object information related to the outline is reconstructed. 2. A method for controlling a work vehicle as set forth in claim 1.

[0138] <Appendix 3> The work vehicle is capable of automatic travel, When it is determined that a predetermined deviation occurs in the outline, the method further comprises reconstructing target information including a target route for automatically driving the work vehicle. 2. A method for controlling a work vehicle as set forth in claim 1.

[0139] <Appendix 4> When it is determined that a predetermined deviation occurs in the outline, whether or not to reconstruct the target information is selected in response to a user operation. 4. A method for controlling a work vehicle according to claim 2 or 3.

[0140] <Appendix 5> The method further includes setting in advance whether or not to reconstruct the target information when it is determined that a predetermined deviation has occurred in the outline. 4. A method for controlling a work vehicle according to claim 2 or 3.

[0141] <Appendix 6> The work vehicle is capable of automatic travel, The detection information is detected by the work vehicle while the work vehicle is autonomously traveling. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 5.

[0142] <Appendix 7> and issuing a notification when it is determined that a predetermined deviation has occurred in the outline. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 6.

[0143] <Appendix 8> Further, the method includes presenting information regarding the deviation amount of the outline. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 7.

[0144] <Appendix 9> The method further includes setting a determination threshold value used for determining the deviation of the outline. A method for controlling a work vehicle according to any one of Supplementary Notes 1 to 8.

[0145] <Appendix 10> A method for controlling a work vehicle according to any one of appendices 1 to 9, A control program for a work vehicle to be executed by one or more processors. [Explanation of symbols]

[0146] 1. Control system for work vehicles 10 Work vehicles 11 aircraft 100 Work Systems 214 Acquisition processing unit 215 Judgment processing unit F1 Work Site f11~f14 1st~4th outline line (outline line) R1 Target route

Claims

1. A control method for a work vehicle that can travel in a work site, comprising: As information relating to the outline of the work site in a plan view, detection information detected while the work vehicle is traveling and registration information registered in advance for the work site are acquired; and determining whether the deviation of the outline is correct by comparing the detected information with the registered information. A method for controlling a work vehicle.

2. When it is determined that a predetermined deviation occurs in the outline, object information related to the outline is reconstructed. A method for controlling a work vehicle according to claim 1.

3. The work vehicle is capable of automatic travel, When it is determined that a predetermined deviation occurs in the outline, the method further comprises reconstructing target information including a target route for automatically driving the work vehicle. A method for controlling a work vehicle according to claim 1.

4. When it is determined that a predetermined deviation occurs in the outline, whether or not to reconstruct the target information is selected in response to a user operation. A method for controlling a work vehicle according to claim 2 or 3.

5. The method further includes setting in advance whether or not to reconstruct the target information when it is determined that a predetermined deviation has occurred in the outline. A method for controlling a work vehicle according to claim 2 or 3.

6. The work vehicle is capable of automatic travel, The detection information is detected by the work vehicle while the work vehicle is autonomously traveling. A method for controlling a work vehicle according to any one of claims 1 to 3.

7. and issuing a notification when it is determined that a predetermined deviation has occurred in the outline. A method for controlling a work vehicle according to any one of claims 1 to 3.

8. Further, the method includes presenting information regarding the deviation amount of the outline. A method for controlling a work vehicle according to any one of claims 1 to 3.

9. The method further includes setting a determination threshold value used for determining the deviation of the outline. A method for controlling a work vehicle according to any one of claims 1 to 3.

10. A method for controlling a work vehicle according to any one of claims 1 to 3, A control program for a work vehicle to be executed by one or more processors.

11. Used in a work vehicle that can travel in a work site, an acquisition processing unit that acquires, as information relating to the outline of the work site in a plan view, detection information detected by the work vehicle while it is traveling and registration information that has been registered in advance for the work site; a determination processing unit that determines whether or not the detected information is misaligned with the registered information, Control systems for work vehicles.

12. The work vehicle control system according to claim 11; a body of the work vehicle; Working system.

Images