Method for controlling work vehicles, control program for work vehicles, control system for work vehicles, and work system

Abstract

The present invention provides a control method for work vehicles, a control program for work vehicles, a control system for work vehicles, and a work system that can improve work efficiency at the work site. [Solution] The control method for the work vehicle is a method for controlling a work vehicle that performs work while automatically driving around a work site F1. This control method includes obtaining information regarding a work-prohibited area Ai1 in the work site F1 where work cannot be performed while the work vehicle is automatically driving, and outputting the information.

Description

Technical Field

[0001] The present invention relates to a control method for a work vehicle that performs work while automatically traveling on a work site, a control program for a work vehicle, a control system for a work vehicle, and a work system.

Background Art

[0002] As related art, a control system for a work vehicle (an autonomous driving system) used for a work vehicle that performs work (for example, mowing work) while automatically traveling on a work site (a farm field) is known (see, for example, Patent Document 1). In the control system for a work vehicle according to the related art, a travel route for autonomous driving is generated at an operation terminal, and the work vehicle acquires data on the travel route from the operation terminal and automatically travels within the work site according to the travel route.

[0003] In the control system for a work vehicle according to the related art, when the work site has a shape (an irregular shape) in which at least one set of opposing sides among a plurality of sides defining the work site are not parallel, an inner peripheral work area that is the central part of the work site and an outer peripheral work area outside the inner peripheral work area are set. Then, the control system for a work vehicle sets the work direction of the work vehicle in the inner peripheral work area, and sets a work start route along which the work vehicle first travels from the work start position in the inner peripheral work area at a position adjacent to a side parallel to the work direction among a plurality of sides defining the inner peripheral work area. The control system for a work vehicle generates a travel route of the work vehicle in the inner peripheral work area based on the work direction and the work start route. As a result, since the work start route is set along the side defining the inner peripheral work area, it is possible to prevent the occurrence of an overlapping area where the work trajectory when traveling in the outer peripheral work area overlaps with the work trajectory when working in the inner peripheral work area.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] In operations performed by work vehicles that automatically navigate the work site, there may be areas within the work site where work cannot be performed, for example, due to reasons such as the work vehicle being unable to enter. In particular, in irregularly shaped work sites, such areas of no work are more likely to occur due to factors such as the working width of the work vehicle. However, with the configuration of the related technology described above, the existence of areas of no work is only discovered after the work is completed, making it impossible to plan in advance for actions such as performing the work manually, which leads to a decrease in work efficiency.

[0006] The object of the present invention is to provide a control method for work vehicles, a control program for work vehicles, a control system for work vehicles, and a work system that can improve work efficiency at a work site. [Means for solving the problem]

[0007] A method for controlling a work vehicle according to one aspect of the present invention is a method for controlling a work vehicle that performs work while automatically driving around a work site, comprising: obtaining information regarding areas in the work site where work cannot be performed while the work vehicle is automatically driving; and outputting the information.

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

[0009] A control system for a work vehicle according to one aspect of the present invention is used in a work vehicle that performs work while automatically driving around a work site. The control system for the work vehicle comprises a calculation processing unit and an output processing unit. The calculation processing unit obtains information regarding areas in the work site where work cannot be performed while the work vehicle is automatically driving. The output processing unit outputs the information.

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

[0011] According to the present invention, it is possible to provide a control method for work vehicles, a control program for work vehicles, a control system for work vehicles, and a work system that can improve work efficiency at a work site. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a schematic side view showing the external appearance of a work vehicle according to Embodiment 1. [Figure 2] Figure 2 is a schematic block diagram of the work system according to Embodiment 1. [Figure 3] Figure 3 is a schematic diagram showing an example of a target path in the work system according to Embodiment 1. [Figure 4] Figure 4 is a schematic plan view showing an example of the operation of a work vehicle according to Embodiment 1. [Figure 5] Figure 5 is a schematic plan view showing an example of the operation of a work vehicle according to Embodiment 1. [Figure 6] Figure 6 is a schematic diagram showing an example of a display screen in the work system according to Embodiment 1. [Figure 7] Figure 7 is a schematic diagram showing an example of a display screen in the work system according to Embodiment 1. [Figure 8] Figure 8 is a schematic diagram showing an example of a display screen in the work system according to Embodiment 1. [Figure 9] Figure 9 is a schematic plan view showing an example of the operation of a work vehicle according to Embodiment 1. [Figure 10] Figure 10 is a schematic diagram showing an example of a display screen in the work system according to Embodiment 1. [Figure 11] Figure 11 is a schematic diagram showing an example of a target path in the work system according to Embodiment 1. [Figure 12]FIG. 12 is a schematic diagram showing an example of a target path in the work system according to Embodiment 1. [Figure 13] FIG. 13 is a schematic diagram showing an example of a target path in the work system according to Embodiment 1. [Figure 14] FIG. 14 is a schematic plan view showing an example of the operation of the work vehicle according to Embodiment 1. [Figure 15] FIG. 15 is a schematic diagram showing an example of a target path in the work system according to Embodiment 1.

Mode for Carrying Out the Invention

[0013] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are an example of embodying the present invention and are not intended to limit the technical scope of the present invention.

[0014] (Embodiment 1) [1] Overall Configuration First, the overall configuration of the work system 100 according to the present embodiment will be described with reference to FIGS. 1 and 2. The work vehicle control system 1 (hereinafter, also simply referred to as "control system 1") according to the present embodiment constitutes the work system 100 together with the body 11 of the work vehicle 10. A work implement 12 is attached to the body 11. That is, the work system 100 includes 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 Figure 2) mounted on the body 11 of the work vehicle 10, and a terminal device 20. The work vehicle 10 and the terminal device 20 are able to communicate with each other. In this disclosure, "able to communicate" means that information can be exchanged directly or indirectly via a communication network N1 or a repeater, etc., by an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). The work vehicle 10 and the terminal device 20 can communicate with each other via a communication network N1 such as the Internet, LAN (Local Area Network), WAN (Wide Area Network), public telephone line, mobile phone network, packet network, or wireless LAN. The means of communication between the work vehicle 10 and the terminal device 20 are not limited to the above examples and can be implemented by an appropriate means of communication. Furthermore, the ability of the work vehicle 10 and the terminal device 20 to communicate with each other is not an essential configuration in the control system 1.

[0016] The work vehicle 10 travels through the work area F1 (see Figure 3) and performs some work within the work area F1 using the work machine 12. In this disclosure, "work" refers to the work performed by the work machine 12 on the work area F1, and includes various agricultural operations such as planting (rice planting), sowing, fertilizing, pesticide spraying, leveling or harvesting, as well as various construction operations. In this embodiment, as an example, the work performed by the work vehicle 10 is planting (rice planting) in a paddy field, which is the work area F1.

[0017] The work machine 12 performs work within the work area F1 as the machine body 11 of the work vehicle 10 moves across the work area F1. In this embodiment, as an example, the work machine 12 includes a seedling tray for placing seedling mats and a planting arm for taking seedlings from the seedling mats and planting them, etc. Here, the work machine 12 is attached to the rear side of the machine body 11 (opposite the direction of forward movement of the machine body 11). In other words, the work machine 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 machine 12 is included as a component of the work vehicle 10, but the work machine 12 does not have to be included as a component of the work vehicle 10.

[0018] In this disclosure, "work vehicle" means a machine that performs various tasks in a work area F1 such as a field, and examples include agricultural machinery such as rice transplanters, tractors, seeders, sprayers, aerosolizers, transplanters, and harvesters. The work vehicle 10 may also be, for example, construction machinery. In this embodiment, unless otherwise specified, the explanation will be given using the case where the work vehicle 10 is a rice transplanter as an example. With this work vehicle 10, the machine body 11 travels across the work area F1 such as a field, enabling planting work where seedlings are received in the work area F1.

[0019] Furthermore, in this embodiment, as an example, the work vehicle 10 is an automated machine that can be operated by autonomous driving (autonomous driving and autonomous work) while still being capable of carrying a person (operator). However, it is not limited to this, and the work vehicle 10 may be an unmanned machine that operates by autonomous driving, or it may be operated by a person (operator) (including remote operation).

[0020] In this disclosure, "work area" refers to an area where the work vehicle 10 moves and performs various tasks such as planting (rice planting), sowing, fertilizing, pesticide spraying, leveling, or harvesting, and includes paddy fields, dry fields, orchards, and pastures. For example, if work area F1 is a paddy field or dry field where crops (agricultural products) such as rice, wheat, soybeans, or buckwheat are grown, the crops grown in work area F1 are agricultural products. Furthermore, if trees are grown in a nursery, the nursery becomes work area F1, and if trees that will become timber are grown in a forest, as in forestry, the forest becomes work area F1. In this case, the crops grown in work area F1 are trees or shrubs. In this embodiment, unless otherwise specified, the work vehicle 10 is used for planting seedlings in a field (work area F1), and the explanation will be given using the example where work area F1 is a paddy field for growing rice. Furthermore, the work area F1 is not limited to a field; for example, if the work vehicle 10 is a construction machine, then the work area F1 is the site where the construction machine performs its work.

[0021] Furthermore, the work vehicle 10 can move automatically not only within the work area F1 (in this case, the field) but also on roads outside the work area F1, such as off-field routes. Based on the positional information of the work vehicle 10's current position, which is determined by the positioning device 16 (see Figure 2), the work vehicle 10 is configured to automatically travel along pre-set target routes (including off-field routes) both within and outside the work area F1. Off-field routes are, for example, inter-field connecting roads that connect multiple work areas F1 (fields). Inter-field connecting roads may be farm roads, forest roads, public roads, private roads, or automobile roads, and may be roads exclusively for the work vehicle 10 or roads that are accessible to general vehicles (passenger cars, etc.).

[0022] [2] Composition of work vehicles Next, the configuration of the work vehicle 10 according to this embodiment will be described in detail with reference to Figures 1 and 2.

[0023] In this embodiment, for the sake of explanation, the vertical direction when the work vehicle 10 is in a usable state is defined as the up-down direction D1. The forward-backward direction D2 and the left-right direction D3 (see Figure 3) are defined based on the direction as seen from the person (operator) sitting in the machine body 11 (or its driver's unit 111) of the work vehicle 10. The left side of the left-right direction D3 refers to the left side when the machine body 11 is traveling forward (moving forward), and the right side of the left-right direction D3 refers to the right side when the machine body 11 is traveling forward (moving forward). However, these directions are not intended to limit the direction of use (direction during use) of the work vehicle 10.

[0024] As shown in Figure 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 the main body 11 and the work machine 12. The control device 13, traveling device 14, detection device 15, positioning device 16, communication device 17, and display device 18 are all mounted on the main body 11.

[0025] The machine body 11 has a driver's compartment 111 (see Figure 1) on which a person (operator) can board. The driver's compartment 111 is equipped with a steering device, a transmission, and control devices. The steering device, transmission, and control devices are control units 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. As mentioned above, the work machine 12 is connected to the rear of the machine body 11.

[0026] In this embodiment, the implement 12 is connected to the rear side of the machine body 11, and when the machine body 11 moves forward, it is possible to perform planting work on the field F1, which is the work area. Here, the implement 12 is capable of planting multiple rows (for example, 6, 7, or 8 rows), and has a working width W1 (see Figure 4) in the width direction (left-right direction D3) corresponding to the number of rows it is capable of planting. In other words, for example, if the implement 12 is capable of planting 7 rows, it is possible to simultaneously receive seedlings for 7 rows in the width direction (left-right direction D3). In this embodiment, as an example, we assume that the work vehicle 10 is an 8-row rice transplanter equipped with an implement 12 that is capable of planting 8 rows.

[0027] As described above, the work vehicle 10 according to this embodiment can work on multiple rows of work fields arranged in a direction (left-right direction D3) that intersects the direction of travel (front-rear direction D2) while traveling on the work area F1. In this embodiment, as an example, the work vehicle 10 is an 8-row rice transplanter, so the multiple rows of work fields Vr1 to Vr8 (see Figure 4) are eight rows of seedlings, each consisting of multiple seedlings V1 (see Figure 4) arranged in the direction of travel (front-rear direction D2), and arranged at predetermined intervals in the left-right direction D3. In other words, the work vehicle 10 can perform planting work on the eight rows of work fields Vr1 to Vr8 in parallel (simultaneously). Therefore, the work vehicle 10 can plant up to eight rows of work fields Vr1 to Vr8 simultaneously while moving forward.

[0028] As shown in Figure 1, the running gear 14 includes front wheels 141, rear wheels 142, and a power source (engine and / or motor, etc.). For example, there are two pairs of front wheels 141 and two pairs of rear wheels 142, one on the left and one on the right. The running gear 14 can move 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. As a result, the machine body 11 can move within the work area F1 in the forward-backward direction D2 and the left-right direction D3.

[0029] At least during autonomous driving, the driving system 14 operates according to the operations of the control device 13, such as the steering system, transmission system, and operating device described above. For example, in the driving system 14, the angle of the front wheels 141 is changed by a hydraulic power steering mechanism or the like in response to the operation of the steering system by the control device 13, and the direction of travel of the vehicle 11 is changed. Also, in response to the operation of the transmission system by the control device 13, the gears of the transmission are switched to forward gear or reverse gear, and the driving mode of the vehicle 11 is switched to forward or reverse. Furthermore, the control device 13 controls the rotational speed of the power source by operating the accelerator or brake of the operating device, and brakes the front wheels 141 and rear wheels 142 using electromagnetic brakes.

[0030] The detection device 15 detects objects (obstacles) in the detection area As1 (see Figure 4). In this embodiment, as an example, objects to be detected 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). Here, it is preferable that the detection device 15 is a three-dimensional sensor capable of measuring the distance and direction to the object to be detected by a TOF (Time Of Flight) method, which measures the distance to the distance measurement point based on the round-trip time it takes for light or sound to reach the distance measurement point and return, or by a stereo camera method, etc. This allows the detection device 15 to output measurement information, including the position of the object to be detected in a plan view, to the control device 13. In this embodiment, as an example, it is assumed that the detection device 15 is a radar using millimeter waves (millimeter-wave radar) or a sonar sensor using ultrasound (or sound waves).

[0031] The positioning device 16 determines the current position (latitude, longitude, and 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 GNSS (Global Navigation Satellite System). In other words, 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 of the aircraft 11, such as its current bearing.

[0032] Furthermore, the positioning device 16 may detect the current position with relatively high accuracy, such as RTK (Real Time Kinematic) positioning, by using correction information corresponding to a base station (reference station) close to the work vehicle 10 to calculate the current position of the work vehicle 10. The current position of the aircraft 11 may be the same as the positioning position (position of the positioning antenna), or it may be a position shifted from the positioning position, such as the center position of the aircraft 11 in a plan view. For example, a mobile phone terminal, smartphone, or tablet terminal may be used as the positioning device 16.

[0033] The communication device 17 is a communication interface for connecting the work vehicle 10 (control device 13 and positioning device 16, etc.) to an external device by wire or wireless means, and for performing data communication with the external device in accordance with a predetermined communication protocol. In this embodiment, the communication device 17 can communicate with at least an external device, the terminal device 20, via the communication network N1. Furthermore, the communication device 17 can connect to the communication network N1 at least wirelessly, and can communicate with the terminal device 20 at any time, even though the work vehicle 10 is moving (driving) around the work site F1. For example, a mobile phone terminal, smartphone, or tablet terminal may be used as the communication device 17.

[0034] The display device 18 is a user interface for presenting information to the user (operator), such as a liquid crystal display or an organic EL display that displays various types of information. The display device 18 is located, for example, in the operating unit 111 and presents various types of information to the operator by displaying a screen containing various types of information. In this disclosure, "screen" means the image displayed on the display device 18, etc., and includes illustrations, figures, photographs, text, and videos. The screen displayed on the display device 18 includes not only still images but also images (videos) that change moment by moment. Furthermore, the display device 18 has a function to output sound (including voice) to the user (operator) and a function to accept user (operator) operations.

[0035] The control device 13 primarily consists of a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory), and performs various processes (information processing). In this embodiment, since the control device 13 primarily consists of a computer system having one or more processors, the control device 13 is realized when one or more processors execute a control program for the work vehicle. In this embodiment, the control device 13 is an integrated controller that controls the entire work vehicle 10, and consists 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 communicate with devices provided on various parts of the machine body 11. In other words, the control device 13 is electrically connected to the work machine 12, the travel device 14, the detection device 15, the positioning device 16, the communication device 17, and the display device 18, etc. As a result, the control device 13 can control the work machine 12, the travel device 14, and the display device 18, etc., and acquire 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 it may do so indirectly via a relay device or the like.

[0037] In this embodiment, the control device 13 includes an acquisition processing unit 131, a travel processing unit 132, a work support processing unit 133, and a storage unit 134, as shown in Figure 2.

[0038] The acquisition processing unit 131 executes an acquisition process to acquire work site information related to work site F1. Here, the work site information includes outline information based on the outline (outline) of work site F1. In other words, the acquisition processing unit 131 acquires outline information based on the outline of work site F1.

[0039] The driving processing unit 132 executes driving processes to control the driving device 14. For 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 enabling the work vehicle 10 to drive automatically. Furthermore, the driving processing unit 132 controls the work machine 12 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a preset target route, so that the work vehicle 10 can perform work (planting work in this embodiment) at appropriate positions along the target route.

[0040] Specifically, when the driving processing unit 132 receives a driving start instruction from the terminal device 20, it starts the automatic driving of the work vehicle 10. For example, when an operator operates the start button on the operation screen of the terminal device 20, the terminal device 20 outputs a driving start instruction to the work vehicle 10. As a result, for example, the work vehicle 10 starts driving automatically within the work area F1 according to the target route R1 (see Figure 3) and performs work with the work machine 12 (planting work in this embodiment).

[0041] The target route R1 for the automated driving of the work vehicle 10 is generated, for example, in the terminal device 20. That is, the work vehicle 10 obtains route data corresponding to the target route R1 from the terminal device 20 and drives automatically according to the target route R1.

[0042] Furthermore, when the driving processing unit 132 receives a driving stop instruction from the terminal device 20, it stops the automatic driving of the work vehicle 10. For example, when an 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, the term "autonomous driving" as used in this disclosure includes "autonomous driving," in which the work vehicle 10 drives autonomously without operator intervention, and "semi-autonomous driving," in which only steering is automated, such as with straight-line assist.

[0044] "Autonomous driving" is a driving mode in which, for example, the work vehicle 10 travels along a target path R1, and in addition to automatic steering of the steering wheels (front wheels 141), control of the vehicle speed and other parameters is also performed automatically. "Straight-line assist" is a driving mode in which, for example, the work vehicle 10 travels along a straight path parallel to a reference straight line (reference line), and only automatic steering of the steering wheels (front wheels 141) is performed, while the vehicle speed and other parameters are controlled by the operator.

[0045] As another example, the work vehicle 10 may be driven by the operator's manual steering. For example, the operator may board the work vehicle 10 and drive it by manual steering while confirming the target route R1.

[0046] The work support processing unit 133 executes work support processing to assist the work performed by the work machine 12 (planting work in this embodiment). Work support processing includes, for example, processing to assist the operator in operating the work machine 12 by providing information (display or sound output, etc.) related to the operation of the work machine 12 on a user interface such as the display device 18, and processing to directly control the work machine 12. In this embodiment, the work support processing unit 133 basically executes the former processing (i.e., processing to assist the operator in operating the work machine 12) as work support processing.

[0047] Here, the work support processing in the work support processing unit 133 includes processing to set the strip-stopping position for implementing strip-stopping control of the work machine 12.

[0048] In this disclosure, "stitch stopping control" refers to a control method that disables some of the work rows Vr1 to Vr8 (eight in this embodiment) and performs work only on the remaining work rows Vr1 to Vr8. For example, the work machine 12 has a work tool (planting claw, etc.) that performs work for each work row Vr1 to Vr8, and a stitch clutch provided on the power supply path to the work tool. When the stitch clutch of any of the work rows Vr1 to Vr8 is disengaged, the work of that work row Vr1 to Vr8 is stopped. Therefore, for example, an operator can perform stitch stopping control by operating a stitch stopping lever to control the stitch clutch of any work row Vr1 to Vr8, thereby disabling any work row Vr1 to Vr8.

[0049] In this disclosure, the "strip fastening position" is a position within the work area F1 for implementing such strip fastening control. In other words, strip fastening control is implemented when the work vehicle 10, which is traveling within the work area F1, is located at the strip fastening position.

[0050] The memory unit 134 is a non-volatile memory that stores various data such as the control program for the work vehicle and target route information related to the target route R1. In other words, the driving processing unit 132 can cause the driving device 14 to perform automatic driving along the target route R1 based on the target route information stored in the memory unit 134.

[0051] Furthermore, if the detection device 15 detects an obstacle as a target object while the work vehicle 10 is automatically driving, the control device 13 will output an alarm (including notification by sound and / or light) and control the driving device 14 to perform obstacle avoidance processing (including detour, deceleration, or stopping, etc.). In addition, the control device 13 may output the location information of the obstacle and the execution history of the avoidance processing to the terminal device 20 and display it on the terminal device 20.

[0052] In addition to the above-described configuration, the work vehicle 10 is further equipped with a battery, fuel tank, and various sensors. The battery supplies power to various parts 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, allowing them to operate even when the power source (engine) of the traction device 14 is stopped.

[0053] [3] Configuration of terminal device Next, the configuration of the terminal device 20 according to this embodiment will be described in detail with reference to Figures 1 and 2.

[0054] In this embodiment, the terminal device 20 is capable of communicating with the work vehicle 10 as described above, and together with the control device 13 of the work vehicle 10, constitutes the control system 1. In other words, the components of the control system 1 are distributed and provided in at least the work vehicle 10 and the terminal device 20. However, this configuration is not limited to this, 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 will be realized by the terminal device 20 alone. 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 will be realized by the control device 13 alone.

[0055] In this embodiment, as an example, the terminal device 20 is composed of a general-purpose terminal such as a tablet terminal, smartphone, or laptop computer. As shown in Figure 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 also includes an audio output unit that outputs sound (including voice) to the user (operator), and a battery, etc.

[0056] The information processing unit 21 primarily consists of a computer system having one or more processors such as a CPU and one or more memories such as ROM and RAM, and performs various processes (information processing). In this embodiment, since the information processing unit 21 primarily consists of a computer system having one or more processors, the information processing unit 21 is realized when one or more processors execute a control program for the work vehicle. In other words, the control system 1 is realized through the cooperation of the control device 13 and the terminal device 20, as one or more processors of the control device 13 and one or more processors of the information processing unit 21 each execute a control program for the work vehicle.

[0057] The information processing unit 21 is configured to communicate with each part of the terminal device 20 (storage unit 22, operation display unit 23, and communication unit 24). In other words, the information processing unit 21 is electrically connected to the storage unit 22, operation display unit 23, and communication unit 24. This allows the information processing unit 21 to read and write information to the storage unit 22, control the display of the operation display unit 23, and acquire operation inputs for the operation display unit 23. Here, the information processing unit 21 may exchange various types of information (data) directly with each part, or indirectly via a relay or the like.

[0058] Such a terminal device 20 is a user interface that receives operation input from a user (operator) and outputs various information to the user. For example, the terminal device 20 receives various operations from the user by outputting electrical signals corresponding to the user's operations to 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.

[0059] The storage unit 22 is a non-volatile memory that stores various data such as the control program for the work vehicle and target route information related to the target route R1. Furthermore, the storage unit 22 can store various data such as work equipment information, work vehicle information, field information, and work information. Work equipment information is information about the work equipment 12 attached to the machine body 11, and includes information such as the type of work equipment 12, identification information, model name, model number, and size (dimensions). Work vehicle information is information about the machine body 11 (vehicle body) of the work vehicle 10, and includes information such as the type of machine body 11 (e.g., half-crawler type / wheel type), identification information, model name, model number, and size (dimensions). Field information is information about the field designated as the work site F1, and includes information such as the field identification information, field name, location, shape, size, work start position (travel start position) where work is started, work end position (travel end position) where work is finished, and work direction. Work information refers to information about the work performed by the work vehicle 10, and includes, for example, the type of work and how the work will be performed in detail. Furthermore, information such as whether or not coordinated work is performed by the work vehicle 10, the width of the headland, and the width of the uncultivated land may also be included in the work information.

[0060] The information stored in the memory unit 22 (target route information, implement information, work vehicle information, field information, and work information, etc.) is set (registered) by user (operator) input to the operation display unit 23 or by acquisition from the work vehicle 10. For example, the type of implement 12 in the implement information may be specified by the user by operating the operation display unit 23, or the work vehicle 10 may automatically identify the implement 12 attached to the machine body 11 and transmit it to the terminal device 20. The terminal device 20 may also acquire this information from external devices other than the work vehicle 10 (e.g., a server, external storage medium, or other terminal device).

[0061] The operation display unit 23 is a user interface comprising a display unit such as a liquid crystal display or an 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. For example, an operator can set (register) various information by operating the operation unit of the operation display unit 23 on the operation screen displayed on the display unit of the operation display unit 23. For example, an operator can set automatic driving information (including target route information) related to the automatic driving of the work vehicle 10.

[0062] Furthermore, the operation display unit 23 displays the progress of the work at the work site F1, as well as the operating status of the work vehicle 10, including the target route R1 of the work vehicle 10, the (actual) movement trajectory, the current position, and the movement speed, thereby enabling remote monitoring of the work vehicle 10 during automated operation by the operator. Here, the operating status of the work vehicle 10 also includes the detection results of the detection target object by the detection device 15. In addition, 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 the work vehicle 10. Therefore, remote operation of the work vehicle 10 by the operator becomes possible.

[0063] The communication unit 24 is a communication interface for connecting the terminal device 20 to the work vehicle 10 by wire or wireless connection and for performing data communication with the work vehicle 10 in accordance with a predetermined communication protocol. In this embodiment, the communication unit 24 can communicate with at least the work vehicle 10 (its communication device 17) via the communication network N1. Furthermore, since the communication unit 24 can connect 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 at a sufficiently distant location from the work vehicle 10.

[0064] In this embodiment, the information processing unit 21 includes a generation processing unit 211, a registration processing unit 212, an output processing unit 213, and an arithmetic processing unit 214, as shown in Figure 2. In this embodiment, as an example, the information processing unit 21 mainly consists of a computer system having one or more processors, so these multiple functional units (generation processing unit 211, etc.) are realized by one or more processors executing a control program for a work vehicle. These multiple functional units included in the information processing unit 21 may be distributed across multiple housings or may be provided in a single housing.

[0065] The generation processing unit 211 executes a route generation process to generate a route (target route R1) for the work vehicle 10 to travel (automatically travel) in the work area F1. Here, the generation processing unit 211 generates the target route R1 based on generation data, including work equipment information, work vehicle information, field information, and work information, etc., stored in the storage unit 22. In other words, the target route R1 is generated based on work equipment information, work vehicle information, field information, and work information, etc., which are set (registered) by, for example, user (operator) input to the operation display unit 23.

[0066] Specifically, the generation processing unit 211 generates a target route R1 within the work area F1 based on the starting position P1 (see Figure 3) and ending position P2 (see Figure 3) included in the field information. For example, based on the generation data, the generation processing unit 211 generates a target route R1 for moving the machine body 11 of the work vehicle 10 from the starting position P1 to the ending position P2 within the work area F1.

[0067] In this embodiment, the field information included in the generated data includes outline information based on the outline of the work area F1. Furthermore, the field information includes information about the area of ​​the work area F1, such as the length of each side of the outline. Therefore, the generation processing unit 211 can generate a route (target route R1) for the work vehicle 10 to travel within the work area F1 enclosed by the outline.

[0068] The registration processing unit 212 executes a registration process to register implement information, work vehicle information, field information, and work information. In other words, the implement information, work vehicle information, field information, and work information used to generate the target route R1 are registered (set) by the registration processing unit 212, for example, through user (operator) input to the operation display unit 23.

[0069] The output processing unit 213 performs output processing, for example, to output route data for the target route R1 to the work vehicle 10. That is, the route data for 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 then transmitted from the communication unit 24 to the work vehicle 10.

[0070] For example, when starting work, the operator selects a field (work area F1), selects the task, confirms the target route R1, etc., and issues a work start command. When the operator issues a work start command, 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 storage unit 134. Then, the work vehicle 10 performs autonomous 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 identified in the route data.

[0071] 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 output of the output processing unit 213 is not limited to transmission to or display to the work vehicle 10 as described above, but may also be transmitted to other devices (such as user terminals), printed (printed out), written to a non-temporary recording medium, or output as audio.

[0072] The arithmetic processing unit 214 performs calculations to obtain information regarding the unworkable area Ai1 (see Figure 5). The unworkable area Ai1 is an area in the work site F1 where work cannot be performed while the work vehicle 10 is automatically driving. That is, for example, if there is an area in the work site F1 that is narrower than the work width W1 of the work vehicle 10, then work cannot be performed (or is not possible) while the work vehicle 10 is automatically driving in that area for reasons such as the work vehicle 10 being unable to enter, and such an area becomes the unworkable area Ai1.

[0073] In this disclosure, the term "unworkable area" refers to an area that remains in an unworked state (i.e., a state where no work has been performed) after the work is completed by the work vehicle 10's automatic driving, and is not necessarily limited to an area where work by the work vehicle 10 itself is impossible. For example, the unworkable area Ai1 may be an area where work can be performed by manual driving of the work vehicle 10 by an operator.

[0074] In this embodiment, the output processing unit 213 further has the function of outputting the information to be presented, which is determined by the calculation processing in the calculation processing unit 214. In other words, the information to be presented regarding the unworkable area Ai1 is determined by the calculation processing unit 214 and output by the output processing unit 213. The method of outputting the information to be presented by the output processing unit 213 is, for example, display on the display unit (operation display unit 23). In other words, by displaying the information to the operation display unit 23, the unworkable area Ai1 becomes visible on the screen displayed on the operation display unit 23. The method of outputting the information to be presented by the output processing unit 213 is not limited to display on the operation display unit 23 as described above, but may also be, for example, transmission to the work vehicle 10 (display on the display device 18 of the work vehicle 10), transmission to other devices (user terminal, etc.), printing (printout), writing to a non-temporary recording medium, or audio output.

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

[0076] [4] Control method for work vehicles The following describes an example of a control method for the work vehicle 10, primarily executed by the control system 1 (control device 13 and terminal device 20), with reference to Figures 3 to 15.

[0077] The control method according to this embodiment is executed by a control system 1, which mainly consists of a computer system; in other words, it is implemented by a control program for work vehicles (hereinafter simply referred to as the "control program"). That is, the control program according to this embodiment is a computer program that causes one or more processors to execute each process related to the control method.

[0078] Here, the control system 1 executes the following various processes related to the control method when a specific pre-set start operation is performed to run the control program. The start operation is, for example, the operation to start the application program (control program for work vehicles) 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 pre-set end operation is performed. The end operation is, for example, the operation to terminate the application program (control program for work vehicles) on the terminal device 20.

[0079] Furthermore, in the following, we assume that the work area F1 is a rectangular field in plan view, as shown in Figure 3, and that of the outlines (outer edges) of the work area F1, one short side is designated as the "first outline f11", the other short side as the "second outline f12", one long side as the "third outline f13", and the other long side as the "fourth outline f14". Then, in the work area F1, the starting position P1 is located near the corner between the first outline f11 and the third outline f13, and the ending position P2 is located near the corner between the second outline f12 and the third outline f13.

[0080] [4.1] Basic operation First, the basic operation of the control system 1 according to this embodiment, when the work vehicle 10 is made to perform work while automatically traveling along a target path R1 in a work area F1 consisting of a field, will be explained with reference to Figures 3 and 4. In other words, the control method according to this embodiment is a control method for a work vehicle 10 that performs work while automatically traveling along a target path R1 in the work area F1. Figure 4 is a schematic enlarged view of the area near the corner between the first outline f11 and the fourth outline f14 in Figure 3.

[0081] In the examples shown in Figures 3 and 4, the target path R1 includes a work path r11, a non-work path r12, and a circular path r13. Here, the work path r11 and the circular path r13 are paths along which the work vehicle 10 travels (moves) while performing work with the work machine 12. The non-work path r12 connects the multiple work paths r11 and is a path for the work vehicle 10 to perform turning maneuvers to change direction, and is a path along which the work vehicle 10 travels (moves) without performing work with the work machine 12.

[0082] In the diagrams representing the target path R1, such as Figure 3, the paths along which the work vehicle 10 performs work (work path r11 and circular path r13) are shown as solid lines, and the paths along which the work vehicle 10 does not perform work (non-work path r12) are shown as dotted lines. The diagrams representing the target path R1, such as Figure 3, schematically represent the target path R1 (and the work vehicle 10) generated for the work site F1 in a plan view. In Figures 3 and 4, the longitudinal direction D2 and the lateral direction D3 are directions relative to the orientation of the body 11 of the work vehicle 10 shown in Figures 3 and 4.

[0083] More specifically, the target path R1 includes multiple work paths r11 extending between the pair of long sides (third outline f13 and fourth outline f14) of the work area F1, as shown in Figure 3. That is, in the target path R1 illustrated in Figure 3, a work path r11 is arranged extending upward in the figure from the starting position P1 set in the lower left corner of the figure, and furthermore, multiple work paths r11 parallel to (along with) this work path r11 are arranged at regular intervals to the right in the figure. The multiple work paths r11 are arranged so that work paths r11 moving from one long side (third outline f13) of the work area F1 to the other long side (fourth outline f14) and work paths r11 moving in the opposite direction are arranged alternately.

[0084] Here, each of the multiple work paths r11 is a straight path along which the work vehicle 10 moves forward while performing work with the work implement 12. The spacing between adjacent work paths r11 is set based on the width dimension (work width W1) of the work implement 12 in the left-right direction D3, and planting work is performed over almost the entire area of ​​the work site F1 (excluding the headland area which forms the outer perimeter) as the work vehicle 10 travels along the multiple work paths r11. Then, a pair of adjacent work paths r11 are connected by a non-work path r12 that connects the end of one work path r11 on the first outline line f11 side to the beginning of the other work path r11 on the second outline line f12 side.

[0085] Furthermore, the circular route r13 is continuous with the end of the last of the multiple work routes r11 (on the side of the second outline f12), and is a route that circles the outer perimeter of the work area F1 along the outline of the work area F1 (the first to fourth outlines f11 to f14). In the example in Figure 3, the circular 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 end position P2 at the lower right corner, thereby completing one circuit of the headland area which is the outer perimeter of the work area F1.

[0086] According to this target path R1, the work vehicle 10 performs planting work in the inner area F11 (inside the dashed line in Figure 3), excluding the outer perimeter area F12 of the work site F1, by traveling back and forth along the work path r11 from the starting position P1. Subsequently, in the outer perimeter area F12, the work vehicle 10 performs planting work by traveling clockwise along the circular path r13 toward the end position P2. However, when the work vehicle 10 travels along the circular path r13, it is preferable to operate the work vehicle 10 in an "operated state" with an operator on board the machine 11. This makes it possible for the work vehicle 10 to perform planting work over almost the entire area of ​​the work site F1, including the outer perimeter area F12.

[0087] In other words, the target route R1 includes a circular route r13 for traveling around the outer perimeter area F12, which is the outer edge of the work area F1, and a round-trip route r10 for traveling back and forth within the inner area F11, which is located inside the outer perimeter area F12 of the work area F1. The round-trip route r10 is composed of multiple work routes r11. Here, a pair of adjacent work routes r11 are routes for the work vehicle 10 to travel in opposite directions, and are connected by a non-work route r12 for turning the work vehicle 10 and changing its direction of travel.

[0088] In other words, in this embodiment, the target path R1 includes a return path r10 for traveling back and forth through the inner area F11 of the work area F1 before traveling back and forth along the circular path r13. Each return path r10 has a length in a first direction (the front-to-back direction D2 in the example of Figure 3) and comprises a plurality of work paths r11 arranged in a second direction perpendicular to the first direction (the left-to-right direction D3 in the example of Figure 3).

[0089] As a result, the work vehicle 10 can first travel back and forth along the round-trip path r10 (multiple work paths r11) and perform work in the inner area F11, and then travel in a circular path r13 around the outer perimeter of the work site F1 and perform work in the outer area F12. Therefore, the work vehicle 10 can efficiently perform work on the entire area of ​​the work site F1 (inner area F11 and outer area F12) with almost no idle driving (driving without performing work). Moreover, during round-trip travel, the outer area F12 can be used to turn the work vehicle 10 along the non-work path r12, and then the work vehicle 10 can perform work in the outer area F12 by traveling in a circular path afterward.

[0090] In short, as the work vehicle 10 travels along the work path r11, the work machine 12 performs work (planting work). As shown in Figure 4, multiple seedlings V1 are planted in the passage area A1 of the inner area F11 that the work vehicle 10 (and its work machine 12) has passed through. In this passage area A1, multiple work rows Vr1 to Vr8 (seedling rows) are formed, arranged in the left-right direction D3 perpendicular to the direction of travel of the work vehicle 10.

[0091] Similarly, as the work vehicle 10 travels along the circular path r13, it also performs work (planting) with the work machine 12, so multiple seedlings V1 are planted in the area A2 of the outer peripheral area F12 that the work vehicle 10 (shown as a dashed line in Figure 4) passes through. Here, although not shown in Figure 4, multiple work rows Vr1 to Vr8 (seedling rows) are formed in the area A2, arranged in the left-right direction D3 perpendicular to the direction of travel of the work vehicle 10.

[0092] The target route R1 is not limited to the route exemplified in Figure 3, but can be set as appropriate. Also, in Figure 3, the work vehicle 10 first travels through the inner area F11 and then through the outer area F12, but the order in which the work vehicle 10 travels is not limited to this. For example, the work vehicle 10 may first travel through the outer area F12 and then through the inner area F11.

[0093] Furthermore, in the example shown in Figure 3, the non-working path r12 set in the outer peripheral area F12 includes a turning path for a right turn in a gentle turn, but the turning mode for changing the direction of the work vehicle 10 is not limited to a "gentle turn". The non-working path r12 may also include turning modes such as a so-called "fishtail turn" in which the machine body 11 is turned while switching between forward and reverse in order to enable the machine body 11 to turn within a limited space. Similarly, when the work vehicle 10 travels along the circular path r13, any appropriate turning mode such as a "gentle turn" or a "fishtail turn" can be applied.

[0094] In order to achieve the automated driving of the work vehicle 10 as described above, it is necessary to recognize and register the shape of the work site F1 in advance. For example, the operator drives the work vehicle 10 in a circular motion along the outer perimeter of the work site F1 to be registered (teaching drive), and the terminal device 20 acquires position information from the work vehicle 10 during the drive, recognizes the position and shape of the work site F1 based on that position information, and registers it as work site F1. In such a teaching drive, a circular route r13 is generated on the path that the work vehicle 10 travels. By registering the work site F1 based on such teaching drives or past driving route performance information, it is possible to generate a target route R1 that avoids obstacles that are difficult to detect by detection device 15 alone, such as culverts, from the beginning.

[0095] Furthermore, multiple work paths r11 may be generated, leaving a width for multiple steps in the outer peripheral region F12 of the work area F1, and multiple circular paths r13 may be generated along the outer perimeter of the work area F1. In other words, the target path R1 may include two or more circular paths r13 so that the work vehicle 10 travels around the inner region F11 two or more times. In this case, the work vehicle 10 travels along the multiple work paths r11, and then sequentially travels along the multiple circular paths r13 from the inside to the outside. At that time, it is preferable that the work vehicle 10 automatically travels along the inner circular path r13 in an unmanned state and automatically travels along the outermost circular path r13 in a manned state.

[0096] Furthermore, the number of work paths r11 included in the round-trip path r10 is not limited to 12 (6 round trips); it may be 11 (5.5 round trips) or less, or 13 (6.5 round trips) or more. The number of work paths r11 is not limited to an even number; it may be odd.

[0097] [4.2] No work area Next, the processing related to the non-workable area Ai1 within the control method will be explained with reference to Figures 5 to 8.

[0098] In other words, as described above, in work performed by the work vehicle 10 while automatically driving around the work site F1, there may be work-prohibited areas Ai1 within the work site F1 where work cannot be performed, for example, because the work vehicle 10 cannot enter. In particular, in work sites F1 with irregular shapes, such work-prohibited areas Ai1 are likely to occur due to factors such as the working width W1 of the work vehicle 10. However, if the existence of work-prohibited areas Ai1 is only discovered after the work is completed, it becomes impossible to make arrangements in advance, such as performing the work manually, which leads to a decrease in work efficiency.

[0099] Figure 5 shows an example where an unworkable area Ai1 is created when at least one pair of opposing sides among the multiple sides (first outline f11 to fourth outline f14) defining the work area F1 are not parallel (irregular shape). In the example in Figure 5, the work area F1 is a trapezoid shape in which the first outline f11 and the second outline f12 are not parallel. Furthermore, in Figure 5, the case where the round-trip path r10 (multiple work paths r11) is generated parallel to the first outline f11 among the multiple sides (first outline f11 to fourth outline f14) is referred to as "Example 1," and the case where it is generated parallel to the second outline f12 is referred to as "Example 2." In Figure 5, etc., the illustration of the non-work path r12 is omitted.

[0100] Thus, depending on the shape of the work area F1 and / or the direction in which work is performed on the round-trip path r10, that is, the first direction which is the extension of the work path r11 (also called the "work direction"), there may be an unworkable area Ai1 that remains in an unworked state after the work is completed by automated driving. Depending on the type and size of the work vehicle 10 or work machine 12, it is particularly difficult to completely eliminate such unworkable areas Ai1 in work areas F1 with irregular shapes.

[0101] Therefore, the control method according to this embodiment makes it possible to improve work efficiency for the work area F1 even when an unworkable area Ai1 occurs, through the following configuration.

[0102] In other words, the control method according to this embodiment is a control method for a work vehicle 10 that performs work while automatically driving around a work area F1. This control method includes obtaining and outputting information to be presented. The information to be presented is information about a work-prohibited area Ai1 in the work area F1 where work cannot be performed while the work vehicle 10 is automatically driving.

[0103] In this embodiment, the arithmetic processing unit 214 of the information processing unit 21 performs calculations to obtain information regarding the unworkable area Ai1 in the work area F1. Specifically, the arithmetic processing unit 214 calculates the information to be presented after the generation processing unit 211 has generated the target route R1, but before the output processing unit 213 outputs the route data of the target route R1 to the work vehicle 10.

[0104] Here, the calculation processing unit 214 performs calculations on the presented information based on, for example, the work equipment information, work vehicle information, field information, and work information used to generate the target path R1, as well as the information related to the target path R1 generated by the generation processing unit 211. In other words, from this information, the shape of the work area F1 and the work direction in which work is performed on the round-trip path r10 can be identified, so even without actually running the work vehicle 10 automatically, it is possible to estimate the unworkable area Ai1 that remains in an unworked state after the work is completed by the automatic running of the work vehicle 10.

[0105] As an example, the arithmetic processing unit 214 can calculate the passage areas A1 and A2 that the work vehicle 10 will pass through in the work area F1, as shown in Figure 5, as a simulation result of the work vehicle 10 traveling along the target path R1. As a result, even without actually automatically driving the work vehicle 10, the arithmetic processing unit 214 can determine the unworkable area Ai1 that may occur in the work area F1. If the calculation results in no unworkable area Ai1, the arithmetic processing unit 214 will indicate that no unworkable area Ai1 exists (or that the area of ​​the unworkable area Ai1 is 0) as the information to be presented.

[0106] In short, according to the control method of this embodiment, information regarding the work-prohibited area Ai1 where work cannot be performed during the automatic driving of the work vehicle 10 is obtained (by calculation processing) and output, so that the existence of the work-prohibited area Ai1 can be determined before the completion of work by automatic driving. Therefore, it is possible to make arrangements in advance for the work-prohibited area Ai1, such as performing the work manually instead of by automatic driving. Consequently, even if the work-prohibited area Ai1 occurs, it is possible to improve the work efficiency for the work site F1.

[0107] In the control method according to this embodiment, the output of the presented information includes displaying it on a display unit (for example, an operation display unit 23). That is, the presented information obtained by the calculation processing unit 214 is output by the output processing unit 213, and the output of the presented information includes displaying it on a display unit (operation display unit 23), as described above. As an example, as shown in Figure 6, the display screen Dp1 for route generation displayed on the operation display unit 23 includes presented information regarding the unworkable area Ai1.

[0108] This allows the user (operator) to visually understand the information presented regarding the non-workable area Ai1 where work cannot be performed while the work vehicle 10 is automatically driving. Therefore, even if the amount of information presented is large, it is easier for the user to understand it accurately.

[0109] In the example shown in Figure 6, the route generation display screen Dp1 displayed on the operation display unit 23 shows the generated target route R1 and the work-prohibited area Ai1 on a map that mimics the work site F1, in an identifiable manner. In this embodiment, the displayed information includes an image showing the work-prohibited area Ai1 in the work site F1. In drawings such as Figure 6 showing the display screen Dp1, the reference numerals and leader lines are included for illustrative purposes only and are not actually displayed on the display screen Dp1.

[0110] This allows the user (operator) to know which areas of the work area F1 are unworkable areas Ai1, making it easier to plan for tasks such as performing manual work on unworkable areas Ai1.

[0111] Furthermore, in the example shown in Figure 6, area information C1 representing the area of ​​the unworkable area Ai1 is displayed on the display screen Dp1. In this embodiment, when the calculation processing unit 214 calculates the area of ​​the unworkable area Ai1 that may occur in the work area F1, it also calculates the area of ​​the unworkable area Ai1 and includes it in the displayed information. In other words, the displayed information includes area information C1 related to the area of ​​the unworkable area Ai1.

[0112] This allows the user (operator) to know the area of ​​the unworkable area Ai1, i.e., the size of the unworkable area Ai1, making it easier to plan, for example, to perform manual work on the unworkable area Ai1. Alternatively, if the area of ​​the unworkable area Ai1 is small (close to 0), the unworkable area Ai1 may be ignored. The area information C1 is not limited to information that directly represents the area of ​​the unworkable area Ai1; for example, it may be information that expresses the ratio of the area of ​​the unworkable area Ai1 to the area of ​​the work site F1 as a percentage.

[0113] Here, the work area F1 includes an inner area F11 and an outer perimeter area F12 surrounding the inner area F11, and at least a portion of the outer perimeter area F12 is excluded from the non-workable area Ai1. In this embodiment, as an example, the entire outer perimeter area F12 is excluded from the non-workable area Ai1. That is, in this embodiment, even if there is an area within the outer perimeter area F12 where no work is performed while the work vehicle 10 is automatically driving, this area is not included in the non-workable area Ai1. In other words, the area of ​​the outer perimeter area F12 is not included in the area information C1 either.

[0114] This allows the user (operator) to recognize only the areas in the inner region F11 where the work vehicle 10 travels back and forth as the unworkable region Ai1. However, it is not necessary for the entire outer region F12 to be excluded from the unworkable region Ai1; only a portion of the outer region F12 may be excluded. For example, the area excluded from the unworkable region Ai1 may change depending on whether or not there is circular work performed by the work vehicle 10 while traveling in a circular path r13. As an example, if the outer region F12 has a width of multiple strokes, and the work vehicle 10 performs planting work while traveling in a circular path r13 that is generated on the inner side (inner region F11 side) of the outer region F12, then only the area of ​​the outer region F12 outside of that circular path r13 is excluded from the unworkable region Ai1. On the other hand, if the work vehicle 10 does not perform circular work in the outer peripheral area F12, the entire outer peripheral area F12 is excluded from the unworkable area Ai1.

[0115] Furthermore, as shown in Figure 7, for example, depending on the shape of the work area F1 and / or the direction of work performed on the round-trip path r10, there may be multiple unworkable areas Ai1 within a single work area F1. In the example in Figure 7, there are two unworkable areas Ai11 and Ai12 within the work area F1.

[0116] In this embodiment, when there are multiple unworkable areas Ai1, it is possible to present information for all of the unworkable areas Ai1 together. In the example in Figure 7, the area information C1 represents the sum of the area of ​​unworkable area Ai11 and the area of ​​unworkable area Ai12.

[0117] This makes it easier for the user (operator) to understand the extent of the unworkable area Ai1 within the entire work area F1. Therefore, it becomes easier to decide whether or not to ignore the unworkable area Ai1.

[0118] Furthermore, if there are multiple unworkable areas Ai1, information may be displayed for each unworkable area Ai1. That is, in the example in Figure 7, the area information C1 will show the area of ​​unworkable area Ai11 and the area of ​​unworkable area Ai12 separately.

[0119] This allows the user (operator) to understand information about each of the multiple unworkable areas Ai1, making it easier to plan for each unworkable area Ai1, such as performing manual work.

[0120] Furthermore, the control method according to this embodiment further includes selecting one of a plurality of modes, each with a different presentation method for the presented information. Here, the plurality of modes include, for example, a batch mode in which the presented information is presented collectively for a plurality of unworkable areas Ai1, and an individual mode in which the presented information is presented for each unworkable area Ai1. Then, for example, the batch mode and the individual mode are switched according to user operation on the terminal device 20. With this configuration, the presented information can be presented in an appropriate presentation method at any given time.

[0121] Furthermore, in this embodiment, as shown in Figure 8, the presented information includes alternative information C2 relating to alternative work to be performed in place of work performed while the work vehicle 10 is automatically driving in the unworkable area Ai1. In the example in Figure 8, the alternative information C2 is shown separately for both the unworkable area Ai11 and the unworkable area Ai12.

[0122] By outputting (for example, displaying) this alternative information C2, the user (operator) can more easily make arrangements, such as performing manual work, on the unworkable area Ai1.

[0123] The alternative work includes at least one of the first work and the second work. The first work is work performed by an operator driving the work vehicle 10 (manual operation work). The second work is work performed manually (by a person) without using the work vehicle 10.

[0124] For example, as shown in Figure 8, for work-prohibited areas Ai11 where the work vehicle 10 can enter and the area is greater than or equal to a predetermined value, the first operation (manual driving operation) is presented as an alternative operation, and alternative information C2 is provided. In other words, for work-prohibited areas Ai1 where work cannot be performed due to the circumstances of generating the target route R1, etc., the first operation (manual driving operation) is proposed as an alternative operation. Regarding the first operation, it is preferable that the alternative information C2 also indicates the recommended direction of travel (work direction) of the work vehicle 10 with an arrow or the like.

[0125] On the other hand, for areas Ai12 where work is impossible due to the difficulty of entry by the work vehicle 10, alternative work (manual work) is presented as an alternative, and alternative information C2 is provided. In other words, for areas Ai1 where work cannot be performed due to the size of the work vehicle 10 and / or the work machine 12, alternative work by the second work (manual work) is proposed. Regarding the second work, the alternative information C2 may include necessary farm tools, estimated work time, etc.

[0126] This configuration indicates whether the unworkable area Ai1 should be replaced by a first operation (manual operation) or a second operation (manual work), making it easier for the user (operator) to plan the work for the unworkable area Ai1.

[0127] [4.3] Route generation process Next, the process related to the generation of the target path R1 within the control method will be explained with reference to Figures 9 to 15. The control method according to this embodiment is called a "control method for the work vehicle 10" because it generates a target path R1 for the automatic driving of the work vehicle 10, and it is sufficient to have a function to generate the target path R1, and is not limited to a method that directly controls the work vehicle 10. In other words, the "control method for the work vehicle 10" according to this embodiment is synonymous with a "path generation method".

[0128] In other words, as described above, in a work area F1 such as a field, for example, a sloping exit Fo1 (see Figure 9) is provided at one of the positions on the outer edge of the work area F1, and when a work vehicle 10 that has traveled around the outer peripheral area F12 leaves the work area F1, it is necessary to align the orientation of the machine body 11 toward the exit Fo1. In particular, in the work area F1 after the work is completed, utmost care must be taken when turning the work area F1 to avoid damaging it, which can lead to a decrease in work efficiency.

[0129] Figure 9 shows an example of a target path R1 that is generated when an entrance / exit (exit Fo1) is provided at one corner of the work area F1, allowing a work vehicle 10 to enter and exit the work area F1. In the example in Figure 9, the work area F1 is rectangular in shape with first outlines f11 to fourth outlines f14, and the exit Fo1 is provided at the corner between the second outline f12 and the third outline f13. In Figure 9, it is assumed that a circular path r13 consisting of two steps is generated along the outer perimeter of the work area F1. Furthermore, in Figure 9, the case where the exit Fo1 is provided on the third outline f13 of the multiple sides (first outlines f11 to fourth outlines f14) is referred to as "Example 1," and the case where it is provided on the second outline f12 is referred to as "Example 2." In Figure 9, etc., the illustration of the non-work path r12 is omitted.

[0130] In "Example 1" of Figure 9, the work vehicle 10 can exit from exit Fo1 with the same orientation by passing through the end point P22 of the circular path r13 (the same as the end position P2) from the fourth outline f14 side towards the third outline f13 side (downward in Figure 9). On the other hand, in "Example 2" of Figure 9, the work vehicle 10 can exit from exit Fo1 with the same orientation by passing through the end point P22 of the circular path r13 from the first outline f11 side towards the second outline f12 side (rightward in Figure 9). Thus, the appropriate orientation of the machine 11 when passing through the end point P22 of the circular path r13 differs depending on the position of exit Fo1. If the direction of travel of the work vehicle 10 at the end point P22 is inappropriate, the machine 11 will need to be turned around, which will lead to a decrease in work efficiency.

[0131] Therefore, the control method according to this embodiment makes it possible to improve work efficiency for the work site F1 with the following configuration.

[0132] In other words, the control method according to this embodiment is a control method for a work vehicle 10 that performs work while automatically traveling along a target path R1 within a work area F1. This control method includes generating the target path R1. Furthermore, when generating a circular path r13 from the target path R1, the control method includes specifying the direction of travel of the work vehicle 10 at the endpoint P22 of the circular path r13. The circular path r13 is a path for traveling in a circular motion around the outer perimeter area F12 of the work area F1.

[0133] In this embodiment, when the generation processing unit 211 of the information processing unit 21 generates the circular route r13, it specifies the direction of travel of the work vehicle 10 at the endpoint P22 of the circular route r13. Once the direction of travel of the work vehicle 10 at the endpoint P22 is specified, the circular travel direction is also automatically determined.

[0134] As an example, as shown in "Example 1" in Figure 9, if there is an exit Fo1 on the third outline f13, the generation processing unit 211 specifies that the direction of travel of the work vehicle 10 at the endpoint P22 should be toward the third outline f13 where the exit Fo1 is located. In this case, the generation processing unit 211 specifies the direction of travel of the circular path r13 so that the work vehicle 10 travels clockwise around the outer perimeter region F12 in a plan view. On the other hand, as shown in "Example 2" in Figure 9, if there is an exit Fo1 on the second outline f12, the generation processing unit 211 specifies that the direction of travel of the work vehicle 10 at the endpoint P22 should be toward the second outline f12 where the exit Fo1 is located. In this case, the generation processing unit 211 specifies the direction of travel of the circular path r13 so that the work vehicle 10 travels counterclockwise around the outer perimeter region F12 in a plan view.

[0135] In short, according to the control method of this embodiment, when generating the circular path r13 from the target path R1, it is possible to specify the direction of travel of the work vehicle 10 at the endpoint P22 of the circular path r13. For example, by specifying that the direction of travel of the work vehicle 10 at the endpoint P22 is toward the outline side where the exit Fo1 is located, the work vehicle 10 can exit from the exit Fo1 at the endpoint P22 (end of travel position P2) without changing the orientation of the machine body 11. Therefore, it is possible to improve the work efficiency for the work site F1.

[0136] Here, the generation processing unit 211 can specify the direction of travel of the work vehicle 10 at the endpoint P22 of the circular route r13 in response to the user's (operator's) operation. Specifically, in the route generation display screen Dp1 displayed on the display unit (operation display unit 23), as illustrated in Figure 10, the user specifies the exit Fo1 at the work site F1.

[0137] In other words, the control method according to this embodiment involves specifying the location of the exit Fo1 of the work vehicle 10 at the work site F1. When the exit Fo1 is specified, the generation processing unit 211 sets the endpoint P22 (end of travel position P2) of the circular route r13 near the exit Fo1, and specifies that the direction of travel of the work vehicle 10 at the endpoint P22 should be toward the outline side where the exit Fo1 is located. Once the direction of travel of the work vehicle 10 at the endpoint P22 of the circular route r13 is determined, the generation processing unit 211 also determines the circular travel direction of the circular route r13 according to that direction of travel.

[0138] Specifically, as shown in Figure 10, on the display screen Dp1, candidate points K11 to K18 are displayed at multiple locations on the work site F1. When the confirmation button B1 is operated with any of the candidate points K11 to K18 selected, the generation processing unit 211 designates the location of the selected candidate point K11 to K18 as the location of the exit Fo1. In other words, the location of the exit Fo1 can be selected from multiple candidate points K11 to K18 that have been registered in advance.

[0139] This simplifies the specification of the exit Fo1 location. In addition, candidate points K11 to K18 may be set not only at the corners of the work area F1, but also, for example, at the midpoints of each side (first outline f11 to fourth outline f14) that defines the work area F1. The location of the exit Fo1 is not limited to being selected from multiple candidate points K11 to K18; the user may specify any location on the work area F1.

[0140] As mentioned above, once the location of exit Fo1 is specified, the location of the endpoint P22 (end of travel position P2) of the circular route r13, the travel direction of the work vehicle 10 at the endpoint P22, and the circular travel direction of the circular route r13 are determined, the circular route r13 of the target route R1 is generated as shown in Figure 11. Here, if the number of laps of the circular route r13 is determined, the starting point P21 of the circular route r13 is also determined as shown in Figure 11. From this state, the generation processing unit 211 generates a round-trip route r10 in the inner area F11 of the work site F1.

[0141] However, in this case, if a round-trip route r10 as shown in the lower part of Figure 11 is generated, the work vehicle 10 must travel along the round-trip route r10 from its starting point P11 (the same as the starting position P1), and upon reaching its end point P12, it must move to the starting point P21 of the circular route r13. At this time, the work vehicle 10 will travel along the idle route R14 for approximately one step of the work route r11 without performing any work. Therefore, the control method according to this embodiment generates the round-trip route r10 as follows.

[0142] In other words, in the control method according to this embodiment, as shown in Figure 12, the round-trip path r10 is generated such that the endpoint P12 of the round-trip path r10 is located within a predetermined distance from the starting point P21 of the loop path r13. To put it another way, the starting point P11 and ending point P12 of the round-trip path r10 are set so that the endpoint P12 of the round-trip path r10 is in the vicinity of the starting point P21 of the loop path r13.

[0143] As a result, when the work vehicle 10 automatically travels along the target path R1, the work vehicle 10, having completed the round-trip path r10, can move from the end point P12 of the round-trip path r10 to the starting point P21 of the circular path r13 with almost no travel. In the example shown in Figure 12, a switch-turn path r15 is generated from the end point P12 of the round-trip path r10 to the starting point P21 of the circular path r13 so that the orientation of the work vehicle 10's body 11 aligns with the direction of the extension of the circular path r13 at the starting point P21 of the circular path r13.

[0144] Here, the endpoint P12 of the round-trip path r10 is located on the same side as the endpoint P22 of the circular path r13 in the first direction (working direction). In the example in Figure 12, the endpoint P12 of the round-trip path r10 is located on the same side as the endpoint P22 of the circular path r13 in the working direction, on the side of the third outline f13. As a result, when traveling in a circular path r13, the outer peripheral region F12 can be circled for an integer number of times, thereby suppressing unnecessary travel.

[0145] Incidentally, as an example other than that shown in Figure 12, the round-trip route r10 may be generated such that one work route r11 in the round-trip route r10 is assigned to round-trip travel, as shown in Figure 13. In the example in Figure 13, of the multiple work routes r11 in the round-trip route r10, the final work route r11 is assigned to round-trip travel. Specifically, the work route r11 is assigned a forward route r111 that runs the work vehicle 10 from the third outline line f13 side to the fourth outline line f14 side, and a return route r112 that runs the work vehicle 10 from the fourth outline line f14 side to the third outline line f13 side.

[0146] In this case, when the work vehicle 10 travels along the outbound path r111 and when it travels along the return path r112, the areas through which the work machine 12 passes overlap in at least part. Therefore, the work vehicle 10 adjusts the work width W1 when traveling along the outbound path r111 and when traveling along the return path r112 to avoid overlapping work on the outbound path r111 and the return path r112. That is, the control system 1 according to this embodiment has a "strip stopping control" function that disables work on a portion of the work sequences Vr1 to Vr8 (eight sequences in this embodiment), and adjusts the work width W1 by strip stopping control when necessary, for example, as shown in Figure 14.

[0147] In other words, in the example shown in Figure 14, when traveling on the outbound path r111 along the work path r11 closest to the second outline f12, row stopping control is implemented so that work rows Vr5 to Vr8 of the multiple work rows Vr1 to Vr8 are left unworked, and only the remaining work rows Vr1 to Vr4 are worked on. Then, when traveling on the return path r112 along the same work path r11, row stopping control is implemented so that work rows Vr1 to Vr4 of the multiple work rows Vr1 to Vr8 are left unworked, and only the remaining work rows Vr5 to Vr8 are worked on. As a result, the work vehicle 10 can perform work (planting) on ​​all of the multiple work rows Vr1 to Vr8 while traveling back and forth along the work path r11. Here, when traveling on the return path r112, it is preferable to avoid, if possible, having the front wheels 141 or rear wheels 142 run over work rows that have already been worked on. Specifically, for example, work sequences Vr1 to Vr8 may be assigned to the outbound r111 and the return r112 so that when traveling on the return r112, the front wheels 141 or rear wheels 142 do not pass over a work sequence that has already been worked on.

[0148] In this way, by assigning one work path r11 in the round-trip path r10 to round-trip travel, and further adjusting the work width W1 by string stop control or the like as needed, the endpoint P12 of the round-trip path r10 can be positioned within a predetermined distance from the starting point P21 of the circular path r13.

[0149] Here, as mentioned above, when adjusting the working width W1 by row-stopping control, the operation is sometimes carried out in a way that minimizes the number of work paths r11 that perform row-stopping control. In short, when row-stopping control is performed, variations occur in the amount of remaining seedlings on the seedling tray of the implement 12 from row to row, so it is sometimes preferred to generate a target path R1 that does not make frequent use of row-stopping control. For example, when working with an 8-row rice transplanter with work remaining for 10 rows, by performing "all-row work" which works on all of the multi-row work rows Vr1 to Vr8, and row-stopping control which works on 2 rows, the number of work paths r11 that perform row-stopping control can be limited to just one.

[0150] A mode that minimizes the number of work paths r11 for which stalk stopping control is performed, and a mode that actively performs stalk stopping control to adjust the position of the endpoint P12 of the round-trip path r10, may be selectable, for example, by user settings.

[0151] Furthermore, as shown in Figure 15, if at least one of the first outline lines f11 to the fourth outline lines f14, which serve as the outline of the work area F1, is inclined with respect to the work path r11, then only a portion of the same work path r11 will be set as a thread-stopping position. That is, in the example in Figure 15, the first outline line f11 is used as the reference edge, and multiple work paths r11 are generated parallel to the first outline line f11. In this case, the travel area A1 of the work path r11 located on the side furthest from the first outline line f11 (reference edge) (the right side in Figure 15) and the travel area A2 of the circular path r13 overlap only in a triangular overlapping area. Therefore, in the example in Figure 15, the work vehicle 10 performs "thread-stopping control" only when traveling along a portion of the starting end of the work path r11 located on the side furthest from the first outline line f11 (reference edge).

[0152] Therefore, when one side of the outline of the work area F1 is used as the reference edge to define the first direction (the work direction which is the extension direction of the work path r11), the return-and-back path r10 is generated such that the starting point P11 of the return-and-back path r10 is located on the side of the reference edge in the second direction (the direction perpendicular to the first direction). In other words, in the example in Figure 15, the first outline f11 of the multiple sides (first outline f11 to fourth outline f14) that define the work area F1 is used as the reference edge to define the work direction, and all of the multiple work paths r11 in the return-and-back path r10 are set parallel to the first outline f11, which is the reference edge. In this case, the return-and-back path r10 is generated such that the starting point P11 of the return-and-back path r10 is located on the side of the reference edge (first outline f11) in the second direction. Here, whether the starting point P11 of the round-trip path r10 is set on the side of the third outline f13 or the side of the fourth outline f14 is determined based on the even / odd number of work paths r11 and the position of the ending point P12 of the round-trip path r10.

[0153] In this way, by starting the round trip from the reference edge, "strip stopping control" is performed only when traveling along the work path r11 closest to the endpoint P12 of the round trip path r10, and "full-strip operation" is performed when traveling along other work paths r11. Therefore, the number of work paths r11 that require strip stopping control can be kept to a minimum.

[0154] Here, the reference edge for defining the work direction can be arbitrarily set according to the user's (operator's) operation. Specifically, for example, on the display screen Dp1 for route generation, the user can specify the reference edge by selecting any edge from among the multiple edges (first outline f11 to fourth outline f14) that define the work area F1.

[0155] [5] Variant The following lists some modifications of Embodiment 1. The modifications described below can be combined and applied as appropriate.

[0156] The control system 1 in this disclosure includes a computer system. The computer system mainly consists of one or more processors and one or more memories as hardware. The functions of the control system 1 in this disclosure are realized when the processor executes a program (a control program for work vehicles) 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 on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by the computer system. Furthermore, some or all of the functional parts included in the control system 1 may be composed of electronic circuits.

[0157] Furthermore, it is not essential for control system 1 to have at least some of its functions integrated into a single enclosure; the components of control system 1 may be distributed across multiple enclosures. Conversely, functions that are distributed across multiple devices (e.g., control device 13 and terminal device 20) in Embodiment 1 may be integrated into a single enclosure. Moreover, at least some of the functions of control system 1 may be implemented by the cloud (cloud computing) or the like.

[0158] Furthermore, the terminal device 20 is not limited to general-purpose terminals such as tablet terminals, smartphones, or laptop computers, but may also consist of dedicated terminals. Moreover, multiple terminal devices 20 may be associated with one work vehicle 10, in which case multiple terminal devices 20 can control one work vehicle 10. Conversely, one terminal device 20 may be associated with multiple work vehicles 10, in which case one terminal device 20 can control multiple work vehicles 10.

[0159] Furthermore, the target route R1 described above is merely an example and can be changed as appropriate. For example, the direction of work of the work vehicle 10 (direction of work route r11), and / or the order of travel along work route r11 can also be changed as appropriate.

[0160] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0161] <Note 1> A method for controlling a work vehicle that performs work while automatically driving around a work site, To request information regarding areas where work cannot be performed while the work vehicle is automatically driving at the aforementioned work site, The output of the aforementioned presentation information, A method for controlling work vehicles.

[0162] <Note 2> The aforementioned information includes area information relating to the area of ​​the area where work is not possible. The control method for the work vehicle described in Appendix 1.

[0163] <Note 3> The aforementioned information includes alternative information relating to alternative work to be performed in place of work performed while the work vehicle is automatically driving in the area where work is not possible. A method for controlling the work vehicle as described in Appendix 1 or 2.

[0164] <Note 4> The aforementioned alternative work is, The first operation is performed by an operator driving the aforementioned work vehicle, This includes at least one of the following: a second operation performed manually without using the aforementioned work vehicle; The control method for the work vehicle described in Appendix 3.

[0165] <Note 5> The aforementioned information includes an image showing the area where work is not permitted at the work site. A control method for the work vehicle described in any of the appendices 1 to 4.

[0166] <Note 6> The output of the aforementioned information includes displaying the aforementioned information on the display unit. A control method for the work vehicle described in any of the appendices 1 to 5.

[0167] <Note 7> If there are multiple areas where work is not possible, The aforementioned information is presented for each of the areas where work is not possible. A control method for the work vehicle described in any of the appendices 1 to 6.

[0168] <Note 8> If there are multiple areas where work is not possible, The aforementioned information is presented collectively for the multiple areas where work is not possible. A control method for the work vehicle described in any of the appendices 1 to 6.

[0169] <Note 9> The system further includes selecting one of several modes, each with a different presentation method for the information presented. A control method for the work vehicle described in any of the appendices 1 to 8.

[0170] <Note 10> The work area includes an inner region and an outer region surrounding the inner region. At least a portion of the aforementioned outer peripheral region is excluded from the non-workable area. A control method for the work vehicle described in any of the appendices 1 to 9.

[0171] <Note 11> The control method for the work vehicle described in any of the appendices 1 to 10 is as follows: A control program for a work vehicle to be executed by one or more processors. [Explanation of symbols]

[0172] 1. Control system for work vehicles 10 Work Vehicles 11 aircraft 23 Operation display section (display section) 100 work systems 213 Output Processing Unit 214 Arithmetic Processing Unit Ai1 No-Operation Domain C1 Area Information C2 Replaces Intelligence F1 work site F11 Inner Area F12 Peripheral Domain

Claims

1. A method for controlling a work vehicle that performs work while automatically driving around a work site, To request information regarding areas where work cannot be performed while the work vehicle is automatically driving at the aforementioned work site, The output of the aforementioned presentation information, A method for controlling work vehicles.

2. The aforementioned information includes area information relating to the area of ​​the area where work is not possible. A method for controlling a work vehicle according to claim 1.

3. The aforementioned information includes alternative information relating to alternative work to be performed in place of work performed while the work vehicle is automatically driving in the area where work is not possible. A method for controlling a work vehicle according to claim 1 or 2.

4. The aforementioned alternative work is, The first operation is performed by an operator driving the aforementioned work vehicle, This includes at least one of the following: a second operation performed manually without using the aforementioned work vehicle; A method for controlling a work vehicle according to claim 3.

5. The aforementioned information includes an image showing the area where work is not permitted at the work site. A method for controlling a work vehicle according to claim 1 or 2.

6. The output of the aforementioned information includes displaying the aforementioned information on the display unit. A method for controlling a work vehicle according to claim 1 or 2.

7. If there are multiple areas where work is not possible, The aforementioned information is presented for each of the areas where work is not possible. A method for controlling a work vehicle according to claim 1 or 2.

8. If there are multiple areas where work is not possible, The aforementioned information is presented collectively for the multiple areas where work is not possible. A method for controlling a work vehicle according to claim 1 or 2.

9. The system further includes selecting one of several modes, each with a different presentation method for the information presented. A method for controlling a work vehicle according to claim 1 or 2.

10. The work area includes an inner region and an outer region surrounding the inner region. At least a portion of the aforementioned outer peripheral region is excluded from the non-workable area. A method for controlling a work vehicle according to claim 1 or 2.

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

12. Used in work vehicles that perform tasks while automatically driving around the work area. A calculation processing unit that requests information regarding areas where work cannot be performed while the work vehicle is automatically driving at the work site, The system includes an output processing unit that outputs the aforementioned presentation information, Control system for work vehicles.

13. A control system for a work vehicle according to claim 12, The vehicle comprises the body of the aforementioned work vehicle, Work system.

Images