Area adjustment system

Abstract

To allow work vehicles to perform tasks within a designated area of ​​the field without reducing work efficiency. [Solution] The area adjustment system 99 comprises an adjustment unit 35 and a travel path setting unit 34. The adjustment unit 35 can adjust the central work area included in the field and the headland area set around the central work area. The travel path setting unit 34 sets a first work path that drives the tractor 1 to work in the central work area and a second work path that drives the tractor 1 to work in the headland area, based on the working width of the tractor 1. If the expected work area that is expected to be worked on by the tractor 1 traveling along the first work path becomes smaller than the central work area in a second direction perpendicular to the first direction which is the direction of travel of the tractor 1, and an unworked area occurs in the central work area, the adjustment unit 35 adjusts the central work area and the headland area so that the unworked area is included in the headland area.

Description

Technical Field

[0001] The present invention relates to an area adjustment system. More specifically, it relates to an area adjustment system capable of adjusting an area set in a field.

Background Art

[0002] Conventionally, a configuration for autonomously driving a work vehicle along a preset route is known. Patent Document 1 and Patent Document 2 each disclose this type of configuration.

[0003] The configuration of Patent Document 1 includes a field working machine including a traveling body that travels autonomously in a field and a field working device that is attached to the traveling body so as to be capable of changing its posture. This field working machine includes a route calculation unit. The route calculation unit calculates a traveling route including a non-working traveling route involving a change in the direction of the traveling body and a working traveling route for performing traveling work by the field working device based on field information, working device information, and a traveling start point and a traveling end point. The traveling route includes a headland working traveling route in addition to the working traveling route and the non-working traveling route.

[0004] The configuration of Patent Document 2 includes a tractor that can autonomously travel as an agricultural work vehicle. This tractor includes a working route creation unit. The working route creation unit creates a working route including a plurality of linearly arranged agricultural working routes (straight lines) along which the tractor travels while performing agricultural work and a turning route that connects the ends of adjacent agricultural working routes and along which the tractor turns (changes direction). At this time, in many cases, since the first working route cannot be generated so that a plurality of agricultural working routes exactly fill the working area, an unworked area (an area where agricultural work is not performed) having a width less than the working width occurs in the working area. Agricultural work can be performed on the unworked area.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] In the configuration described in Patent Document 1, depending on the positional relationship between the set starting point and ending point of travel, the route calculation unit may calculate a travel route in which an unworked area smaller than the work width occurs. In this case, it becomes necessary to perform work in the unworked area. In addition, a travel route may be calculated in which work is performed beyond the expected work area. In such cases, extra work steps are added, resulting in a decrease in work efficiency.

[0007] In the configuration of the above-mentioned Patent Document 2, if an unworked area occurs, performing work on the unworked area will result in many areas where the same work is performed again on parts of the already worked area, which may cause problems depending on the type of work. For example, when a tractor performs tilling work using a cultivator, differences in soil environment will occur between the area where the same work has been performed again and other areas. Also, when a combine harvester performs harvesting work, there is a risk of the harvested straw getting caught in the machine.

[0008] This invention has been made in view of the above circumstances, and its purpose is to enable a work vehicle to perform work in a designated area of ​​a field without reducing work efficiency. [Means for solving the problem]

[0009] The problems that this invention aims to solve are as described above, and next, the means for solving these problems and their effects will be explained.

[0010] A region adjustment system according to one embodiment comprises an adjustment unit and a travel path setting unit. The adjustment unit is capable of adjusting a central work area included in a field and a headland area set around the central work area. The travel path setting unit sets a first work path for driving a work vehicle to work in the central work area and a second work path for driving the work vehicle to work in the headland area, based on the working width of the work vehicle. If the expected work area, which is expected to be worked on by the work vehicle traveling along the first work path, becomes smaller than the central work area in a second direction perpendicular to the first direction which is the direction of travel of the work vehicle, and an unworked area occurs in the central work area, the adjustment unit adjusts the central work area and the headland area so that the unworked area is included in the headland area. [Brief explanation of the drawing]

[0011] [Figure 1] A side view showing the overall configuration of a robotic tractor provided in a region adjustment system according to an embodiment of the present invention. [Figure 2] Plan view of a robotic tractor. [Figure 3] A block diagram showing the main components of the control system for a robotic tractor and remote control device. [Figure 4] A schematic diagram showing an example of a travel path set for a tractor. [Figure 5] A flowchart illustrating the process performed by the control unit when setting the travel route in the first embodiment. [Figure 6] A partially enlarged schematic diagram showing the state before adjustment by the adjustment unit. [Figure 7] A partially enlarged schematic diagram showing the state after adjustment by the adjustment unit. [Figure 8] A schematic diagram showing the final travel route set. [Figure 9] A partially enlarged schematic diagram showing the state before adjustment by the adjustment unit in another example. [Figure 10] A flowchart illustrating the process performed by the control unit when setting the travel route in the second embodiment. [Figure 11] Partial enlarged schematic view showing the state after the first-stage adjustment by the adjustment unit. [Figure 12] Partial enlarged schematic view showing the state after the first-stage adjustment by the adjustment unit. [Figure 13] Schematic view showing the state where the final travel route is set in another example. [Figure 14] Partial enlarged schematic view explaining the adjustment by the adjustment unit in the third embodiment. [Figure 15] Block diagram showing the main configuration of the control system of the robot tractor and the remote control device in the third embodiment. [Figure 16] Partial enlarged schematic view explaining the adjustment by the adjustment unit in the fourth embodiment. [Figure 17] Partial enlarged schematic view explaining the adjustment by the adjustment unit in the fifth embodiment.

Mode for Carrying Out the Invention

[0012] The present invention relates to an area adjustment system capable of adjusting each area when performing agricultural work by causing one or a plurality of work vehicles to autonomously travel and work in a plurality of areas set in a farm field. In this embodiment, a tractor is described as an example of the work vehicle, but the work vehicle includes, in addition to a tractor, a rice transplanter, a combine, a civil engineering / construction work device, a snow removal vehicle, etc., and also includes a walking work machine in addition to a riding work machine. In this specification, autonomous travel means that the components related to the travel of the tractor are controlled by a control unit (ECU) provided in the tractor, and the tractor travels along a predetermined route. Autonomous work means that the components related to the work of the tractor are controlled by a control unit provided in the tractor, and the tractor performs work along a predetermined route.

[0013] In the following description, a tractor that performs autonomous driving and autonomous work may be referred to as an "unmanned tractor" or a "robot tractor", and a tractor that performs manual driving and manual work may be referred to as a "manned tractor". When a part of the farming work is performed by an unmanned tractor in the field, the remaining farming work is performed by a manned tractor. In this specification, the difference between an unmanned tractor and a manned tractor is the presence or absence of an operation by the user, and it is assumed that each configuration is common. That is, even an unmanned tractor can be operated by a user boarding (riding) it (i.e., it can be used as a manned tractor), or even a manned tractor can be made to perform autonomous driving and autonomous work by the user getting off (i.e., it can be used as an unmanned tractor).

[0014] Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing the overall configuration of a robot tractor 1 provided in an area adjustment system 99 according to an embodiment of the present invention. FIG. 2 is a plan view of the robot tractor 1. FIG. 3 is a block diagram showing the main configuration of the control system of the robot tractor 1 and the remote control device 46.

[0015] The area adjustment system 99 includes a control unit 4 that controls the traveling and work of the tractor 1, and a remote control device 46 that outputs a predetermined control signal (a signal related to the path of autonomous driving and autonomous work, a start signal, a stop signal, an end signal, etc. of autonomous driving and autonomous work) to the tractor 1 by performing wireless communication with the control unit 4.

[0016] First, a robot tractor (hereinafter, may be simply referred to as a "tractor") 1, which is an embodiment of a work vehicle provided in the area adjustment system 99 according to the present invention, will be mainly described with reference to FIGS. 1 and 2.

[0017] The tractor 1 is equipped with a vehicle body 2 that autonomously travels across the field. The vehicle body 2 is detachably fitted with implements 3, as shown in Figures 1 and 2. These implements 3 can include various types such as tillers, plows, fertilizer spreaders, and seeders, and the desired implement 3 can be selected and attached to the vehicle body 2 as needed. The vehicle body 2 is configured to allow adjustment of the height and orientation of the attached implements 3.

[0018] The configuration of tractor 1 will be explained with reference to Figures 1 and 2. As shown in Figure 1, the running body 2 of tractor 1 is supported at the front by a pair of front wheels 7,7 on the left and right sides, and at the rear by a pair of rear wheels 8,8 on the left and right sides.

[0019] A bonnet 9 is positioned at the front of the vehicle body 2. Inside this bonnet 9 are the engine 10, which is the power source for the tractor 1, and a fuel tank (not shown), etc. This engine 10 can be, for example, a diesel engine, but is not limited to this, and may also be, for example, a gasoline engine. In addition to the engine 10, or instead, an electric motor may be used as a power source.

[0020] Behind the bonnet 9 is a cabin 11 for the user to sit in. Inside this cabin 11 are a steering wheel 12 for the user to steer, a seat 13 where the user can sit, and various control devices for performing various operations. However, the work vehicle is not limited to those with a cabin 11; it may also be a vehicle without a cabin 11.

[0021] Examples of the above-mentioned operating devices include the monitor device 14, throttle lever 15, PTO switch 17, PTO shift lever 18, and multiple hydraulic shift levers 16 shown in Figure 2. These operating devices are located near the seat 13 or near the steering wheel 12. The monitor device 14 is configured to display various information about the tractor 1. The throttle lever 15 is used to set the rotational speed of the engine 10. The PTO switch 17 is used to switch the transmission / disconnection of power to the PTO shaft (power take-off shaft), which is not shown in the figure and protrudes from the rear end of the transmission 22. That is, when the PTO switch is ON, power is transmitted to the PTO shaft, causing it to rotate and the implement 3 to be driven, while when the PTO switch is OFF, power to the PTO shaft is cut off, the PTO shaft does not rotate, and the implement 3 is stopped. The PTO shift lever 18 changes the power input to the implement 3, specifically by changing the rotational speed of the PTO shaft. The hydraulic shift lever 16 can switch the hydraulic external outlet valve (not shown in the figure).

[0022] Furthermore, operating devices such as a main gear lever 27 and a work equipment lifting switch 28 are provided at the front of the armrest 19 located to the right of the seat 13.

[0023] The main transmission lever 27 is used to change the travel speed of the tractor 1. When the main transmission lever 27 is tilted forward, the travel speed increases, and when it is tilted backward, the travel speed decreases. This main transmission lever 27 is configured to allow stepless operation, and the travel speed of the tractor 1 is changed steplessly according to the amount the main transmission lever 27 is moved.

[0024] The implement lifting switch 28 is configured as an electrically operated switch that can be moved up and down and is located on the main gear lever 27. It is used to raise and lower the implement 3. When the implement 3 is configured as a rotary tiller, this allows the implement 3 to be lowered to start tilling work with the tilling tines 25 provided on the implement 3, or raised to end the tilling work. In this embodiment, the implement 3 is configured as a rotary tiller.

[0025] As shown in Figure 1, the chassis 20 of the tractor 1 is provided at the bottom of the traveling machine body 2. The chassis 20 consists of the machine frame 21, transmission 22, front axle 23, and rear axle 24, etc.

[0026] The machine frame 21 is a support member at the front of the tractor 1 and supports the engine 10 directly or via vibration damping members, etc. The transmission 22 converts the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

[0027] As shown in Figure 3, the tractor 1 is equipped with a control unit 4 for controlling the operation of the traveling body 2 (forward, reverse, stopping, turning, etc.) and the operation of the implement 3 (lifting, driving, stopping, etc.). The control unit 4 is configured as a computer and is equipped with a CPU, ROM, RAM, etc. The governor device 41, the transmission 42, the steering actuator 43, and the lifting actuator 44 are electrically connected to this control unit 4.

[0028] The governor device 41 adjusts the rotational speed of the engine 10. By controlling the governor device 41 with the control unit 4 and adjusting the rack position as appropriate, the rotational speed of the engine 10 can be set to a desired rotational speed.

[0029] The transmission 42 is specifically, for example, a movable swashplate type hydraulic continuously variable transmission, and is provided in the transmission 22. By controlling the transmission 42 with the control unit 4 and appropriately adjusting the angle of the swashplate (not shown), the gear ratio of the transmission 22 can be set to a desired gear ratio.

[0030] The lifting actuator 44 raises or lowers the implement 3 to either a retracted position (a position where no agricultural work is performed) or a working position (a position where agricultural work is performed) by operating, for example, the three-point linkage mechanism connecting the implement 3 to the traveling body 2. In this embodiment, agricultural work performed by the implement 3 refers to tilling work. By controlling the lifting actuator 44 with the control unit 4 to raise or lower the implement 3 as appropriate, agricultural work can be performed with the implement 3 at the desired height.

[0031] The tractor 1 equipped with the control unit 4 described above is configured so that the user can perform various operations while riding in the cabin 11, and the control unit 4 controls each part of the tractor 1 (traveling body 2, implement 3, etc.), allowing the tractor to perform agricultural work while traveling in the field. In addition, the tractor 1 of this embodiment can be driven and operated autonomously based on predetermined control signals output by the remote control device 46, even without the user riding in the tractor 1.

[0032] Specifically, as shown in Figure 3, the tractor 1 is equipped with various configurations to enable autonomous driving and autonomous work. For example, the tractor 1 is equipped with a positioning antenna 6 and other configurations necessary to acquire its own position information (of the driving body 2) based on a positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and autonomously drive and work on the field.

[0033] Next, the configuration of the tractor 1 that enables autonomous driving and autonomous work will be described in detail. Specifically, the tractor 1 of this embodiment includes a steering actuator 43, a positioning antenna 6, a wireless communication antenna 48, a sensor group 53 including a vehicle speed sensor, and a memory unit 55. In addition to these, the tractor 1 may also be equipped with an inertial measurement unit (IMU) capable of determining the attitude (roll angle, pitch angle, yaw angle) of the driving body 2.

[0034] The steering actuator 43 shown in Figure 3 is, for example, installed midway along the steering shaft of the steering wheel 12, and adjusts the rotation angle (steering angle) of the steering wheel 12. When the tractor 1 travels along a predetermined path as an unmanned tractor, the control unit 4 calculates an appropriate rotation angle for the steering wheel 12 so that the tractor 1 travels along the path, and controls the steering actuator 43 so that the steering wheel 12 is rotated at the calculated rotation angle.

[0035] The positioning antenna 6 receives signals from positioning satellites that constitute a positioning system, such as a Global Navigation Satellite System (GNSS). As shown in Figure 1, the positioning antenna 6 is located on the upper surface of the roof 92 of the cabin 11 of the tractor 1. The positioning signals received by the positioning antenna 6 are input to the position information calculation unit (position information acquisition unit) 49 shown in Figure 3, and the position information calculation unit 49 calculates the position information of the tractor 1 (more precisely, the positioning antenna 6) as, for example, latitude and longitude information. The position information calculated by the position information calculation unit 49 is input to the control unit 4 and used for autonomous driving.

[0036] In this embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used, but it is not limited to this, and other positioning systems may be used as long as high-precision position coordinates can be obtained. For example, if high-precision position coordinates can be obtained using relative positioning systems (DGPS), geostationary satellite augmentation systems (SBAS), etc., these can be used.

[0037] The wireless communication antenna 48 receives signals from the user-operated remote control device 46 and transmits signals to the remote control device 46. As shown in Figure 1, the wireless communication antenna 48 is located on the upper surface of the roof 92 of the cabin 11 of the tractor 1. Signals from the remote control device 46 received by the wireless communication antenna 48 are processed by the wireless communication unit 40 shown in Figure 3 and input to the control unit 4. Signals transmitted from the control unit 4 to the remote control device 46 are processed by the wireless communication unit 40, transmitted from the wireless communication antenna 48, and received by the remote control device 46.

[0038] The memory unit 55 records the route taken by the tractor 1 to autonomously travel in the field. The memory unit 55 also stores the position information (travel trajectory) of the tractor 1 during autonomous travel, and the attitude information of the vehicle 2 associated with that position information. In addition, the memory unit 55 stores various other information necessary for the tractor 1 to autonomously travel and perform tasks.

[0039] As shown in Figures 1 and 3, the remote control device 46 is configured as a tablet-type personal computer equipped with a touch panel 39. The user can refer to and confirm the information displayed on the display 37 of the remote control device 46. The user can also transmit control signals (e.g., an emergency stop signal) to the control unit 4 of the tractor 1 to control the tractor 1 by operating the touch panel 39 or hardware keys 38 located near the display 37. Note that the remote control device 46 is not limited to a tablet-type personal computer; it can also be configured as, for example, a notebook-type personal computer.

[0040] The tractor 1 configured in this way can travel along a set path in the field and perform agricultural work with the implement 3, based on instructions from the user using the remote control device 46.

[0041] Specifically, the user can generate a route by using the remote control device 46 to make various settings, which alternately connects a straight first work path (straight path) P1 for performing agricultural work and a connecting path (in this embodiment, an arc-shaped turning path on which the tractor 1 turns) P2 that connects the ends of the work path. Furthermore, the user can generate a second work path P3 for performing agricultural work around the first work path P1 by making similar settings. The travel path (path) P0 consists of a series of paths that alternately connect the first work path P1 and the connecting path P2, and the second work path P3.

[0042] An example of this travel path P0 is shown in Figure 4. Figure 4 is a schematic diagram showing an example of a travel path P0 set with respect to the tractor 1. As shown in Figure 4, when the travel path P0 is generated, a central work area 81 and a headland area 82 arranged around the central work area 81 are set in the field 80. The headland area 82 includes a first headland area 84A and a second headland area 84B. The first headland area 84A and the second headland area 84B are each formed to be elongated so as to extend along a first direction, which is the direction of travel of the tractor 1 in the first work path P1. The first headland area 84A and the second headland area 84B are located on both sides of the central work area 81 in a second direction perpendicular to the first direction. Multiple first work paths P1, P1, ... are arranged in the central work area 81 at equal intervals. The connection paths P2, P2, ... are set in the headland area 82 to connect adjacent first work paths P1, P1. The paths formed by alternately connecting the first work paths P1 and the connection paths P2 are set in the central work area 81 to connect a predetermined work start position S and a work end position E. The second work path P3 is set in the headland area 82.

[0043] Then, by inputting this travel path P0 information into the control unit 4 and performing predetermined operations, the control unit 4 controls the tractor 1, allowing it to autonomously travel along the travel path P0 and perform agricultural work (autonomous work) using the implement 3.

[0044] In the following section, with reference to Figure 3, the configuration of the remote control device 46 provided in the area adjustment system 99 according to one embodiment of the present invention will be described in more detail.

[0045] In addition to the display 37, hardware keys 38, and touch panel 39, the remote control device 46 of this embodiment includes, as shown in Figure 3, a work vehicle information acquisition unit 31, a field shape acquisition unit 32, a region setting unit 33, a travel route setting unit 34, an adjustment unit 35, and a storage unit 36 ​​as its main components.

[0046] Specifically, as described above, the remote control device 46 is configured as a computer and is equipped with a CPU, ROM, RAM, etc. (not shown). Furthermore, a control application for controlling the tractor 1 is pre-installed on this remote control device 46. Through the cooperation of the above-described hardware and software, the remote control device 46 can be operated as a work vehicle information acquisition unit 31, a field shape acquisition unit 32, a region setting unit 33, a travel route setting unit 34, an adjustment unit 35, and a storage unit 36, etc.

[0047] The work vehicle information acquisition unit 31 acquires work vehicle information related to the tractor 1. The work vehicle information includes information about the W1 (see Figure 4) of the tractor 1, provided by the implement 3 attached to the traveling body 2. The work vehicle information acquired by the work vehicle information acquisition unit 31 is stored in the storage unit 36.

[0048] The field shape acquisition unit 32 acquires the field shape as field information by, for example, having the tractor 1 circle the outer perimeter of the field and recording the change in the position information of the positioning antenna 6 during that time. The field shape acquired by the field shape acquisition unit 32 is stored in the storage unit 36. However, the method of acquiring the field shape is not limited to this, and instead, for example, the position information of the corners of the field may be recorded, and the polygon identified by a so-called closed graph such that the line segments connecting the recorded points do not intersect may be acquired as the field shape.

[0049] The area setting unit 33 sets a central area and a headland area in the field. For example, when a user specifies multiple points while the field shape acquired by the field shape acquisition unit 32 is displayed on the display 37, the area setting unit 33 sets the area inside the polygon identified by a so-called closed graph so that the line segments connecting the specified points do not intersect as the central area, and sets the area around the central area in the field as the headland area. The central area and headland area set by the area setting unit 33 are stored in the storage unit 36. However, the method of setting the central area is not limited to this, and for example, the shape of the central area may be automatically acquired by setting a position that is a predetermined distance inside the outer perimeter of the field as the outer perimeter of the central area.

[0050] The travel route setting unit 34 sets the route to be input (transmitted) to the tractor 1. In this embodiment, the travel route setting unit 34 sets the travel route P0 for autonomous driving of the tractor 1 in the field. When a predetermined operation is performed on the remote control device 46, the travel route setting unit 34 automatically sets the travel route P0 based on the work vehicle information acquired by the work vehicle information acquisition unit 31 and the information regarding each area of ​​the field set by the area setting unit 33. The travel route P0 set by the travel route setting unit 34 is stored in the storage unit 36.

[0051] The adjustment unit 35 can adjust the regions set by the region setting unit 33, namely the central region and the headland region. After the first candidate travel path P0 is set by the travel path setting unit 34, the adjustment unit 35 adjusts the size and shape of the central region and the headland region according to this travel path P0. The adjusted central region and headland region adjusted by the adjustment unit 35 are stored in the storage unit 36. The configuration of the adjustment unit 35 will be described later.

[0052] The storage unit 36 ​​is configured to include non-volatile memory (e.g., flash ROM) and can store various types of information, such as work vehicle information. Here, the storage unit 36 ​​can store information related to the travel route P0 each time the travel route setting unit 34 sets the travel route P0.

[0053] Next, with reference to Figures 5 to 9, the control performed when the travel path P0 is set by the control unit 4 will be described. Figure 5 is a flowchart showing the process performed by the control unit 4 when the travel path P0 is set. Figure 6 is a partially enlarged schematic diagram showing the state before adjustment by the adjustment unit 35. Figure 7 is a partially enlarged schematic diagram showing the state after adjustment by the adjustment unit 35. Figure 8 is a schematic diagram showing the state after the final travel path P0 has been set. Figure 9 is a partially enlarged schematic diagram showing the state before adjustment by the adjustment unit 35 in another example. Below, an example of control performed during work in the field 80 shown in Figure 4 will be described.

[0054] First, the control unit 4 (travel path setting unit 34) sets a first candidate travel path P0 based on the size and shape of the central work area 81 and headland area 82 of the field 80, and the working width W1 of the tractor 1 (step S101). The first candidate travel path P0 is displayed on the display 37 of the remote control device 46. In this travel path P0, a path formed by alternately connecting the first work path P1 and the connecting path P2 is arranged so as to reach the work end position E from the work start position S set by the user. However, even if there is an error in the start and end points of the above path relative to the work start position S and work end position E, such error is permitted as long as it does not exceed a predetermined size. In this travel path P0, the first work path P1, which is a straight path, is arranged so as many times as possible in the central work area 81, without causing any overlap in work. In addition, the second work path P3 is set so that it fits within the field 80 in the headland area 82.

[0055] Next, the control unit 4 determines whether the size of the area where work is expected to be performed by the tractor 1 traveling along the first work path P1 (hereinafter sometimes referred to as the expected work area) is smaller than the size of the central work area 81 in the second direction (step S102). The expected work area refers to the area where work would be completed if the tractor 1 were to travel along the entire first work path P1. As mentioned above, the first direction is the direction in which the tractor 1 travels along the first work path P1 of the travel path P0. The second direction is the direction perpendicular to the first direction.

[0056] In step S102, if it is determined that the size of the assumed work area is smaller than the size of the central work area 81 in the second direction (step S102, Yes), then, as shown in Figure 6, an unworked area 86 will be created in the central work area 81 where no work is performed. The unworked area 86 has a width W2 in the second direction.

[0057] Next, the control unit 4 (adjustment unit 35) adjusts the central work area 81 and the headland area 82 (step S103). The adjustment of the headland area 82 involves adjusting either the first headland area 84A or the second headland area 84B. For example, when adjusting the second headland area 84B, the adjustment unit 35 adjusts the central work area 81 and the second headland area 84B so that the state changes from the state in Figure 6 to the state in Figure 7. Specifically, the adjustment unit 35 changes the size and shape of the central work area 81 so as to remove the unworked area 86 from the central work area 81. As a result, the central work area 81 is reduced in the second direction. Subsequently, the adjustment unit 35 changes the shape of the second headland area 84B so that in the second direction, the second headland area 84B is shifted toward the central work area 81 by the amount of the unworked area 81 (width W2 of the unworked area 86). As a result, a region 87 with a width equivalent to the width W2 of the unworked area 86 is created near the outer perimeter 80a in the second direction of the field 80. No travel path P0 is set in this region 87. Here, the width W3 of the second headland region 84B in the second direction is kept at a predetermined value so as not to change before and after the adjustment. This width W3 is set to an integer multiple of the working width W1 of the tractor 1.

[0058] Next, the control unit 4 (travel path setting unit 34) sets a second candidate travel path P0 in accordance with the adjustment by the adjustment unit 35 (step S104). The control unit 4 (travel path setting unit 34) resets the travel path P0 according to the second headland area 84B after adjustment. The second candidate travel path P0 is displayed on the display 37 of the remote control device 46. If the operator performs an operation to accept this travel path P0 using the remote control device 46, the control unit 4 adopts the second candidate travel path P0 as the final travel path P0. Therefore, as shown in Figure 8, the travel path P0 can be set so that no unworked area occurs within the travel range of the tractor 1 when the tractor 1 is autonomously traveling and working.

[0059] Furthermore, in step S102, if it is determined that the size of the assumed work area is not smaller than the size of the central work area 81 in the second direction (step S102, No), the control unit 4 determines whether the size of the assumed work area is larger than the size of the central work area 81 in the second direction (step S105). If it is determined that the size of the assumed work area is not larger than the size of the central work area 81 in the second direction (step S105, No), the size of the assumed work area and the size of the central work area 81 are the same, so the control unit 4 terminates the process.

[0060] If it is determined that the size of the anticipated work area is larger than the size of the central work area 81 in the second direction (step S105, Yes), an overlapping area 85 will be created where work is performed in overlapping areas between the central work area 81 and the headland area 82, as shown in Figure 9. The overlapping area 85 has a width W4 in the second direction. In this case, the control unit 4 (travel path setting unit 34) changes the final path of the first work path P1 from the current final path P1a to the path P1b immediately preceding the current final path P1a, so that the anticipated work area becomes smaller than the central work area 81 (step S106). In other words, among the multiple first work paths P1, the first work path P1 located at the end in the second direction is deleted. As a result, an unworked area 86 is created in the central work area 81. After that, the control unit 4 performs the same processing as described above.

[0061] As described above, the area adjustment system 99 of this embodiment comprises a position information calculation unit 49, a storage unit 36, a work vehicle information acquisition unit 31, a travel route setting unit 34, and an adjustment unit 35. The position information calculation unit 49 acquires the position information of the tractor 1. The storage unit 36 ​​stores information of the field 80, including the central work area 81 and the headland area 82 set around the central work area 81. The work vehicle information acquisition unit 31 acquires vehicle information, including the working width W1 of the tractor 1. The travel route setting unit 34 sets a first work route P1 that drives the tractor 1 to work in the central work area 81, and a second work route P3 that drives the tractor 1 to work in the headland area 82, based on the working width W1 of the tractor 1. The adjustment unit 35 can adjust the central work area 81 and the headland area 82. The headland area 82 extends along the first direction, which is the direction in which the tractor 1 travels along the first work path P1, and includes a first headland area 84A and a second headland area 84B located on both sides of the central work area 81. If the work area that is expected to be worked on by the tractor 1 traveling along the first work path P1 becomes smaller than the central work area 81 in a second direction perpendicular to the first direction, and an unworked area 86 is created in the central work area 81, the adjustment unit 35 adjusts the central work area 81 to remove the unworked area 86 from the central work area 81, and also adjusts the headland area 82 in the second direction to shift the first headland area 84A or the second headland area 84B toward the central work area 81 by the amount of the unworked area.

[0062] This allows the travel path P0 to be set so that no unworked area occurs between the central work area 81 and the headland area 82, and enables the tractor 1 to perform work while traveling along this travel path P0. Therefore, work efficiency can be improved. In addition, the area where the same work is performed again even though it has already been done can be reduced, making it less likely for inconveniences to occur due to the repetition of the same work to occur.

[0063] In the area adjustment system 99 of this embodiment, if the assumed work area is larger than the central work area 81 in the second direction, the travel path setting unit 34 deletes the first work path P1 at the end of the multiple first work paths P1 arranged in a row in the second direction so that the size of the assumed work area in the second direction becomes smaller than the central work area 81.

[0064] This prevents tractor 1 traveling along the first work path P1 and the second work path P3 from performing overlapping work on the same area. Furthermore, it prevents narrow sections from forming in the headland area 82.

[0065] Next, a second embodiment will be described. Figure 10 is a flowchart showing the process performed by the control unit 4 when setting the travel path P0 in this embodiment. Figure 11 is a partially enlarged schematic diagram showing the state after the first stage of adjustment by the adjustment unit 35. Figure 12 is a partially enlarged schematic diagram showing the state after the first stage of adjustment by the adjustment unit 35. Figure 13 is a schematic diagram showing the state in which the final travel path P0 has been set in another example. Below, an example of control performed during work in the field 80 shown in Figure 4 will be described. In the description of this embodiment, the same or similar components as in the previously described embodiment will be denoted by the same reference numerals in the drawings, and their descriptions may be omitted.

[0066] This embodiment differs from the first embodiment in terms of the processing after the control unit 4 determines in step S105 that the assumed work area is larger than the central area.

[0067] Specifically, in step S105 shown in Figure 10, if the control unit 4 determines that the assumed work area is larger than the central area, and if the user allows it, or if the unworked area 86 satisfies predetermined conditions, the control unit 4 (adjustment unit 35) adjusts the central work area 81 (step S201). Specifically, as shown in Figure 11, the control unit 4 (adjustment unit 35) expands the central work area 81 in the second direction so that the central work area 81 includes the overlapping area 85 shown in Figure 9 and substantially coincides with the assumed work area of ​​the tractor 1. That is, in Figure 11, the control unit 4 (adjustment unit 35) moves the outer periphery of the central work area 81 adjacent to the second headland area 84B in the second direction from position 81a shown by the dashed line to position 81b shown by the solid line.

[0068] Next, the control unit 4 (adjustment unit 35) adjusts the headland area 82 in accordance with the adjustment of the central work area 81 (step S202). The adjustment of the headland area 82 involves adjusting the second headland area 84B, or the first headland area 84A and the second headland area 84B. For example, when the second headland area 84B is adjusted, the control unit 4 (adjustment unit 35) reduces the second headland area 84B so that it fits within the field 80. At this time, the width W5 of the second headland area 84B in the second direction is changed to be smaller than the width W3 of the central work area 81 before adjustment, but this width W5 is kept to be an integer multiple of the working width W1 of the tractor 1. For example, if the width W3 of the second headland area 84B in the second direction before adjustment of the central work area 81 was N times (N is 2 or more) the working width W1 of the tractor 1, then the width W3 is changed to a width W5 that is N-1 times the working width W1.

[0069] In this case, since the width W3 of the second headland area 84B was set to N times the working width W1 of the tractor 1, a surplus area 88 is generated between the adjusted central working area 81 and the adjusted second headland area 84B, as shown in Figure 11. The surplus area 88 has a width W6 in the second direction.

[0070] Next, the control unit 4 (adjustment unit 35) readjusts the headland area 82 (step S203). In the example described above, if the second headland area 84B is adjusted, the adjustment unit 35 adjusts the second headland area 84B so that it changes from the state in Figure 11 to the state in Figure 12. Specifically, the adjustment unit 35 removes the excess area 88 from between the adjusted central work area 81 and the adjusted second headland area 84B, and changes the shape of the second headland area 84B so that it shifts toward the central work area 81 by the amount of the excess area 88 (width W6 of the excess area 88). As a result, a region 89 with a width equivalent to the width W6 of the excess area 88 is created near the outer perimeter 80a in the second direction of the field 80. Since no travel path P0 is set in this region 89, autonomous driving and autonomous work of the tractor 1 are not performed. Here, the width W5 of the second headland region 84B in the second direction is kept at a predetermined value so as not to change before and after readjustment.

[0071] Next, the control unit 4 (travel path setting unit 34) sets a second candidate travel path P0 in accordance with the adjustment by the adjustment unit 35 (step S204). The control unit 4 (travel path setting unit 34) readjusts the travel path P0 according to the second headland area 84B after readjustment. The readjusted travel path P0 is displayed on the display 37 of the remote control device 46. If the operator performs an operation on the remote control device 46 to accept this travel path P0, the control unit 4 adopts the readjusted travel path P0 as the final travel path P0.

[0072] As described above, in the area adjustment system 99 of this embodiment, if the assumed work area is larger than the central work area 81 in the second direction, the adjustment unit 35 adjusts the central work area 81 so that its size in the second direction matches the assumed work area, and adjusts the headboard area 82 so that the first headboard area 84A or the second headboard area 84B shrinks in accordance with the adjustment of the central work area 81. When an excess area 88 occurs between the adjusted central work area 81 and the adjusted first headboard area 84A or the second headboard area 84B, the adjustment unit 35 readjusts the central work area 81 and the headboard area 82 so that the adjusted first headboard area 84A or the second headboard area 84B is shifted toward the central work area 81 by the excess area 88 in the second direction.

[0073] This makes it possible to avoid tractor 1 traveling along the first work path P1 and the second work path P3 performing work in the same area in overlapping manner.

[0074] Next, a third embodiment will be described. Figure 14 is a partially enlarged schematic diagram illustrating the adjustment by the adjustment unit 35 in this embodiment. Figure 15 is a block diagram showing the main configuration of the control system of the tractor 1 and the remote control device 46 in this embodiment. In the description of this embodiment, the same or similar components as in the previously described embodiments are denoted by the same reference numerals in the drawings, and their descriptions may be omitted.

[0075] This embodiment differs from the first embodiment in terms of the adjustment of the central work area 81 and the headland area 82 in step S103 described above, and the processing after such adjustment. Here, as an example, we will explain the case in which the adjustment of the headland area 82 is performed by adjusting the second headland area 84B which extends in a general direction in the first direction.

[0076] In this embodiment, we assume that the unworked area 86 generated in the central work area 81 is a polygonal shape having five or more sides in a plan view. In the example in Figure 14, the unworked area 86 is hexagonal in a plan view. The unworked area 86 comprises a first side 201, a second side 202, a third side 203, and a group of sides 204 as multiple sides that define the shape of its polygon.

[0077] The first side 201 and the second side 202 are positioned opposite each other in the first direction with a predetermined distance between them, and each extends in the second direction. The third side 203 extends in the first direction, adjacent to the work area, connecting one end of each of the first side 201 and the second side 202 (the end closer to the work area). The first side 201 and the third side 203 intersect at intersection point C1. The group of sides 204 is arranged in a broken line shape, generally aligned in the first direction. Each side belonging to the group of sides 204 is positioned with a distance from the third side 203 in the second direction, and generally extends in the first direction. However, the group of sides 204 includes sides that extend diagonally with respect to the first direction (first work path P1).

[0078] Let's consider the case where the size of the assumed work area becomes smaller than the size of the central work area 81 in the second direction, and an unworked area 86 of the shape described above occurs in the central work area 81. In this embodiment, the adjustment unit 35 adjusts the central work area 81 and the headland area 82 so that the unworked area 86 is included in the headland area 82 instead of the central work area 81.

[0079] As shown in Figure 15, the remote control device 46 includes a virtual boundary line setting unit 211. In this embodiment, the remote control device 46 can be operated as a virtual boundary line setting unit 211. The virtual boundary line setting unit 211 sets a virtual boundary line 215 at the boundary between the work area and the unworked area 86. The virtual boundary line 215 is determined according to the shape of the unworked area 86 in plan view. The shape of the unworked area 86 in plan view is estimated based on the shape of the field 80 in plan view that is pre-stored in the memory unit 36 ​​of the remote control device 46.

[0080] In this configuration, the processing in this embodiment is, in principle, carried out in the same manner as in the first embodiment. However, in step S103 shown in Figure 5, the adjustment by the adjustment unit 35 is performed as follows. That is, after the start of the adjustment, the adjustment unit 35 first acquires the shape of the field 80 in a plan view. Based on this acquisition result, the adjustment unit 35 estimates the shape of the unworked area 86 that occurs in the central work area 81 in a plan view. In this embodiment, the shape of the unworked area 86 is estimated to be a hexagon in a plan view, as shown in Figure 14.

[0081] Next, the virtual boundary setting unit 211 sets a virtual boundary line 215 at the boundary between the work area and the unworked area 86. The virtual boundary line 215 passes through the aforementioned intersection C1 and is a straight line that extends parallel to the first work path P1.

[0082] Next, the adjustment unit 35 modifies the central work area 81 and the second headland area 84B with respect to the virtual boundary line 215. Specifically, the adjustment unit 35 adjusts the central work area 81 and the second headland area 84B so that the position of the outer periphery of the central work area 81 and the position of the inner periphery of the second headland area 84B coincide with the virtual boundary line 215. As a result, in Figure 14, the position of the outer periphery of the central work area 81 and the position of the inner periphery of the second headland area 84B move from the position 81c shown by the solid line to the virtual boundary line 215.

[0083] Specifically, the adjustment unit 35 modifies the size and shape of the central work area 81 so as to exclude the unworked area 86 from the central work area 81. At the same time, the adjustment unit 35 modifies the size and shape of the second headland area 84B so that the unworked area 86 excluded from the central work area 81 is added to the second headland area 84B. Consequently, in the field 80, compared to the initial state (before adjustment), the central work area 81 shrinks by the amount of the unworked area 86, while the second headland area 84B expands.

[0084] Once the adjustment by the adjustment unit 35 is complete, the same process as in step S104 shown in Figure 5 is performed. That is, the control unit 4 (travel path setting unit 34) resets the travel path P0 according to the second headland area 84B after adjustment and sets a second candidate travel path P0.

[0085] As described above, the area adjustment system 99 of this embodiment comprises a position information calculation unit 49, a storage unit 36, a work vehicle information acquisition unit 31, a travel route setting unit 34, and an adjustment unit 35. The position information calculation unit 49 acquires the position information of the tractor 1. The storage unit 36 ​​stores information of the field 80, including the central work area 81 and the headland area 82 set around the central work area 81. The work vehicle information acquisition unit 31 acquires vehicle information, including the working width W1 of the tractor 1. The travel route setting unit 34 sets a first work route P1 that drives the tractor 1 to work in the central work area 81, and a second work route P3 that drives the tractor 1 to work in the headland area 82, based on the working width W1 of the tractor 1. The adjustment unit 35 can adjust the central work area 81 and the headland area 82. If the expected work area, which is expected to be worked on by the tractor 1 traveling along the first work path P1, becomes smaller than the central work area 81 in a second direction perpendicular to the first direction which is the direction of travel of the tractor 1, and an unworked area 86 is created in the central work area 81, the adjustment unit 35 adjusts the central work area 81 and the headland area 82 so that the unworked area 86 is included in the headland area 82 (second headland area 84B).

[0086] As a result, even if an unworked area 86 occurs within the central work area 81, the travel path P0 of the tractor 1 can be appropriately set, allowing the tractor 1 to perform work without reducing work efficiency.

[0087] Furthermore, the area adjustment system 99 of this embodiment includes a virtual boundary setting unit 211 that sets a virtual boundary line 215 at the boundary between the work area and the unworked area 86.

[0088] This allows for smooth adjustment of the central work area 81 and the headland area 82 using the virtual boundary setting unit 211.

[0089] Furthermore, if the shape of the unworked area 86 in plan view is rectangular, as in the first and second embodiments, adjustment can be performed by the adjustment unit 35 in the same way as when it is polygonal, as in this embodiment.

[0090] Next, a fourth embodiment will be described. Figure 16 is a partially enlarged schematic diagram illustrating the adjustment by the adjustment unit 35 in this embodiment. In the description of this embodiment, the same or similar components as those in the previously described embodiments are denoted by the same reference numerals in the drawings, and their descriptions may be omitted.

[0091] This embodiment differs from the first embodiment in terms of the adjustment of the central work area 81 and the headland area 82 in step S103 described above, and the processing after such adjustment. Here, as an example, we will explain the case in which the adjustment of the headland area 82 is performed by adjusting the second headland area 84B which extends in a general direction in the first direction.

[0092] In this embodiment, as shown in Figure 16, it is assumed that the unworked area 86 generated in the central work area 81 has a triangular shape in plan view. The unworked area 86 has three sides that define its triangle: a fifth side 225, a sixth side 226, and a seventh side 227.

[0093] The fifth side 225 extends in the second direction. The sixth side 226 extends in the first direction from the end of the fifth side 225, while being adjacent to the intended work area. The fifth side 225 and the sixth side 226 intersect at intersection point C2. The seventh side 227 extends diagonally to the first work path P1, connecting the end of the fifth side 225 and the end of the sixth side 226.

[0094] Let's consider the case where the size of the planned work area becomes smaller than the size of the central work area 81 in the second direction, and an unworked area 86 of the shape described above occurs in the central work area 81. In this embodiment, the adjustment unit 35 of the remote control device 46 adjusts the central work area 81 and the headland area 82 so that the unworked area 86 is included in the headland area 82 instead of the central work area 81.

[0095] The remote control device 46 includes a virtual boundary setting unit 211, similar to the third embodiment described above.

[0096] In this configuration, the processing in this embodiment is, in principle, carried out in the same manner as in the first embodiment. However, in step S103 shown in Figure 5, the adjustment by the adjustment unit 35 is performed as follows. That is, after the start of the adjustment, the adjustment unit 35 first acquires the shape of the field 80 in a plan view. Based on this acquisition result, the adjustment unit 35 estimates the shape of the unworked area 86 that occurs in the central work area 81 in a plan view. In this embodiment, the shape of the unworked area 86 is estimated to be a triangular shape in a plan view, as shown in Figure 16.

[0097] Next, the virtual boundary setting unit 211 sets a virtual boundary line 215 at the boundary between the work area and the unworked area 86. Specifically, from the three sides of the unworked area 86, one side adjacent to the work area (the sixth side 226) is excluded, and the shorter of the remaining two sides is considered. In the example in Figure 16, such a side is the fifth side 225. The virtual boundary setting unit 211 selects this fifth side 225. Then, the virtual boundary setting unit 211 sets a straight line parallel to the outer perimeter 84Ba of the second headland area 84B in the second direction as the virtual boundary line 215. This virtual boundary line 215 is determined to pass through the end of the selected side (the fifth side 225) that is closer to the work area (the aforementioned intersection C2). The outer perimeter 84Ba of the second headland area 84B in the second direction extends approximately parallel to the seventh side 227, which is the longer of the two sides mentioned above.

[0098] Next, the adjustment unit 35 modifies the central work area 81 and the second headland area 84B with respect to the virtual boundary line 215. Specifically, the adjustment unit 35 adjusts the central work area 81 and the second headland area 84B so that the position of the outer periphery of the central work area 81 and the position of the inner periphery of the second headland area 84B coincide with the virtual boundary line 215. As a result, in Figure 16, the position of the outer periphery of the central work area 81 and the position of the inner periphery of the second headland area 84B move from the position 81d shown by the solid line to the virtual boundary line 215.

[0099] Specifically, the adjustment unit 35 modifies the size and shape of the central work area 81 so as to exclude the unworked area 86 from the central work area 81, and further exclude a portion of the assumed work area (the portion located on the second headland area 84B side of the virtual boundary line 215) 228. On the other hand, the adjustment unit 35 modifies the size and shape of the second headland area 84B so that the unworked area 86 excluded from the central work area 81 and the portion of the assumed work area 228 mentioned above are added to the second headland area 84B.

[0100] Therefore, in field 80, compared to the initial state (before adjustment), the central work area 81 will shrink by the amount of the unworked area 86 and a portion of the planned work area 228, while the second headland area 84B will expand.

[0101] Once the adjustment by the adjustment unit 35 is complete, the same process as in step S104 shown in Figure 5 is performed. That is, the control unit 4 (travel path setting unit 34) resets the travel path P0 according to the second headland area 84B after adjustment and sets a second candidate travel path P0.

[0102] As described above, in the area adjustment system 99 of this embodiment, when the adjustment unit 35 adjusts the central work area 81 and the headland area 82, it includes a part of the assumed work area in the second headland area 84B.

[0103] This makes it easier to adjust the central work area 81 and the headboard area 82.

[0104] In the area adjustment system 99 of this embodiment, the virtual boundary line setting unit 211 sets a virtual boundary line 215. The virtual boundary line 215 is a straight line that passes through one end (intersection C2) of one of the multiple sides that form the periphery of the unworked area 86, which extends in the second direction (the fifth side 225), on the side closer to the assumed work area. Considering the second headland area 84B, which is a part of the headland area 82 that generates an unworked area 86 between it and the assumed work area in the second direction, the virtual boundary line 215 is parallel to the outer periphery 84Ba of this second headland area 84B in the second direction.

[0105] This allows the virtual boundary line 215 to be set appropriately according to the unworked area 86.

[0106] In the area adjustment system 99 of this embodiment, if the unworked area 86 is triangular in plan view, the virtual boundary line setting unit 211 sets a virtual boundary line 215 which is a straight line that passes through the endpoint (intersection C1) of the shorter of the two sides (fifth side 225) of the three sides forming the periphery of the unworked area 86, excluding the side adjacent to the assumed work area (sixth side 226), and is parallel to the outer periphery 84Ba of the second headland area 84B in the second direction.

[0107] This makes it possible to obtain an appropriate virtual boundary line 215 corresponding to the unworked area 86 when the unworked area 86 has a triangular shape in plan view.

[0108] Next, a fifth embodiment will be described. Figure 17 is a partially enlarged schematic diagram illustrating the adjustment by the adjustment unit 35 in this embodiment. In the description of this embodiment, the same or similar components as those in the previously described embodiments are denoted by the same reference numerals in the drawings, and their descriptions may be omitted.

[0109] This embodiment differs from the first embodiment in terms of the adjustment of the central work area 81 and the headland area 82 in step S103 described above, and the processing after such adjustment. Here, as an example, we will explain the case in which the adjustment of the headland area 82 is performed by adjusting the second headland area 84B which extends in a general direction in the first direction.

[0110] In this embodiment, we assume that the unworked area 86 generated in the central work area 81 is quadrangular (except for rectangles). In the example in Figure 17, the unworked area 86 is trapezoidal in plan view. The unworked area 86 has four sides that define its quadrangular shape: the eighth side 238, the ninth side 239, the tenth side 240, and the eleventh side 241.

[0111] The eighth side 238 and the ninth side 239 are positioned opposite each other in the first direction with a predetermined distance between them, and each extends in the second direction. The tenth side 240 extends in the first direction, adjacent to the work area, so as to connect one end of each of the eighth side 238 and the ninth side 239 (the end closer to the work area). The eighth side 238 and the tenth side 240 intersect at intersection point C3. The eleventh side 241 is positioned with a distance from the tenth side 240 in the second direction and extends diagonally with respect to the first direction (first work path P1).

[0112] Let's consider the case where the size of the work area becomes smaller than the size of the central work area 81 in the second direction, and an unworked area 86 of the shape described above occurs in the central work area 81. In this embodiment, the adjustment unit 35 adjusts the central work area 81 and the headland area 82 so that this unworked area 86 is included in the headland area 82 instead of the central work area 81.

[0113] Furthermore, the remote control device 46 includes a virtual boundary setting unit 211, similar to the third embodiment described above.

[0114] In this configuration, the processing in this embodiment is, in principle, carried out in the same manner as in the first embodiment. However, in step S103 shown in Figure 5, the adjustment by the adjustment unit 35 is performed as follows. That is, after the start of the adjustment, the adjustment unit 35 first acquires the shape of the field 80 in a plan view. Based on this acquisition result, the adjustment unit 35 estimates the shape of the unworked area 86 that occurs in the central work area 81 in a plan view. In this embodiment, the shape of the unworked area 86 is estimated to be trapezoidal in a plan view, as shown in Figure 17.

[0115] Next, the virtual boundary setting unit 211 sets a virtual boundary line 215 at the boundary between the work area and the unworked area 86. The virtual boundary setting unit 211 identifies one side adjacent to the work area from among the four sides that form the periphery of the unworked area 86 in a plan view. In the example in Figure 17, this side is the 10th side 240. Next, the virtual boundary setting unit 211 identifies two sides adjacent to this side on both sides. In the example in Figure 17, these sides are the 8th side 238 and the 9th side 239. Subsequently, the virtual boundary setting unit 211 selects the longer of these two sides (the 8th side 238). The virtual boundary setting unit 211 sets a line parallel to the outer periphery 84Ba in the second direction of the second headland area 84B as the virtual boundary line 215. The virtual boundary line 215 is determined to pass through the end (intersection C3) of the selected side (the 8th side 238) that is closer to the work area. The side opposite to the aforementioned side, the tenth side 240, is the eleventh side 241, and the outer periphery 84Ba of the second headland region 84B in the second direction extends approximately parallel to this eleventh side 241.

[0116] Next, the adjustment unit 35 modifies the central work area 81 and the second headland area 84B with respect to the virtual boundary line 215. Specifically, the adjustment unit 35 adjusts the central work area 81 and the second headland area 84B so that the position of the outer periphery of the central work area 81 and the position of the inner periphery of the second headland area 84B coincide with the virtual boundary line 215. As a result, in Figure 17, the position of the outer periphery of the central work area 81 and the position of the inner periphery of the second headland area 84B move from the position 81e shown by the solid line to the virtual boundary line 215.

[0117] Specifically, the adjustment unit 35 modifies the size and shape of the central work area 81 so as to exclude the unworked area 86 from the central work area 81, and further exclude a portion of the assumed work area (the portion located on the second headland area 84B side of the virtual boundary line 215) 248. On the other hand, the adjustment unit 35 modifies the size and shape of the second headland area 84B so that the unworked area 86 excluded from the central work area 81 and the portion of the assumed work area 248 mentioned above are added to the second headland area 84B.

[0118] Therefore, in field 80, compared to the initial state (before adjustment), the central work area 81 will shrink by the amount of the unworked area 86 and a portion of the planned work area 248, while the second headland area 84B will expand.

[0119] Once the adjustment by the adjustment unit 35 is complete, the same process as in step S104 shown in Figure 5 is performed. That is, the control unit 4 (travel path setting unit 34) resets the travel path P0 according to the second headland area 84B after adjustment and sets a second candidate travel path P0.

[0120] As described above, in the area adjustment system 99 of this embodiment, if the unworked area 86 is quadrangular in plan view (however, the unworked area 86 is not rectangular), the virtual boundary line setting unit 211 sets the virtual boundary line 215 as follows. That is, of the four sides forming the periphery of the unworked area 86, the unit focuses on one side (10th side 240) adjacent to the assumed work area, and considers the longer of the two sides adjacent to this focused side (8th side 238). The virtual boundary line setting unit 211 sets a line as the virtual boundary line 215 that passes through the endpoint (intersection C3) of this 8th side 238 that is closer to the assumed work area, and is parallel to the outer periphery 84Ba of the second headland area 84B in the second direction.

[0121] This makes it possible to obtain an appropriate virtual boundary line 215 corresponding to the unworked area 86 when the unworked area 86 has a quadrilateral shape in a plan view.

[0122] Although preferred embodiments of the present invention have been described above, the above configuration can be modified as follows, for example.

[0123] For example, a brush cutter can be used as the implement 3 on the tractor 1. In this case, the implement 3 is mounted on the tractor body 2 in a position offset to the left and right relative to the tractor body 2. For example, if the end position of the tractor 1's autonomous driving is set to the center of the central working area 81, then, as shown in Figure 13, the first working path P1 and the connecting path P2 become circular driving paths that circle the central working area 81 from the outside to the inside in a spiral shape. Even with this configuration, it is possible to avoid the occurrence of unworked areas within the driving range of the tractor 1 when the tractor 1 is performing autonomous driving and autonomous work.

[0124] In the above embodiment, a configuration in which the second headland region 84B is adjusted in order to adjust the headland region 82 by the adjustment unit 35 is given as an example, but instead, a configuration in which the first headland region 84A is adjusted may also be used.

[0125] Given the teachings described above, it is clear that the present invention can take many forms of modification and alteration. Therefore, it should be understood that the present invention may be implemented in ways other than those described herein, within the scope of the appended claims.

[0126] <Notes on the invention> According to a first aspect of the present invention, a region adjustment system having the following configuration is provided. That is, the region adjustment system comprises a location information acquisition unit, a storage unit, a work vehicle information acquisition unit, a travel route setting unit, and an adjustment unit. The location information acquisition unit acquires location information of a work vehicle. The storage unit stores information of a field including a central work area and a headland area set around the central work area. The work vehicle information acquisition unit acquires vehicle information including the working width of the work vehicle. The travel route setting unit sets a first work route for the work vehicle to travel to perform work in the central work area, and a second work route for the work vehicle to travel to perform work in the headland area, based on the working width of the work vehicle. The adjustment unit can adjust the central work area and the headland area. The headland area extends along a first direction, which is the travel direction of the work vehicle in the first work route, and includes a first headland area and a second headland area arranged on both sides of the central work area. If the work area expected to be worked on by the movement of the work vehicle along the first work path becomes smaller than the central work area in a second direction perpendicular to the first direction, and an unworked area occurs in the central work area, the adjustment unit adjusts the central work area to remove the unworked area, and also adjusts the headland area in the second direction to shift the first headland area or the second headland area toward the central work area by the amount of the unworked area.

[0127] This allows for the setting of a travel path that prevents unworked areas from occurring between the central work area and the headland area, and enables work to be performed while the work vehicle travels along this path. Consequently, work efficiency can be improved. In addition, the area where the same work is performed again despite having already been worked on can be reduced, making it less likely for inconveniences caused by repeating the same work to occur.

[0128] In the aforementioned area adjustment system, if the assumed work area is larger than the central work area in the second direction, the travel path setting unit preferably deletes the first work path at the end of the multiple first work paths arranged in a row in the second direction so that the size of the assumed work area in the second direction becomes smaller than the central work area.

[0129] This prevents work vehicles traveling along the first and second work routes from overlapping and performing work in the same area. It also prevents narrow sections from forming in the headland area.

[0130] In the above-mentioned area adjustment system, the following configuration is preferable. That is, if the assumed work area is larger than the central work area in the second direction, the adjustment unit adjusts the central work area so that its size in the second direction matches the assumed work area, and adjusts the headboard area so that the first headboard area or the second headboard area shrinks in accordance with the adjustment of the central work area. If an excess area occurs between the adjusted central work area and the adjusted first headboard area or the second headboard area, the adjustment unit readjusts the central work area and the headboard area so that the adjusted first headboard area or the second headboard area is shifted toward the central work area by the amount of the excess area in the second direction.

[0131] This makes it possible to avoid work vehicles traveling along the first and second work routes having to work in the same area simultaneously.

[0132] A second aspect of the present invention provides a region adjustment system having the following configuration: the region adjustment system comprises a location information acquisition unit, a storage unit, a work vehicle information acquisition unit, a travel route setting unit, and an adjustment unit. The location information acquisition unit acquires location information of the work vehicle. The storage unit stores information of the field, including a central work area and a headland area set around the central work area. The work vehicle information acquisition unit acquires vehicle information, including the working width of the work vehicle. The travel route setting unit sets a first work route for the work vehicle to travel to perform work in the central work area, and a second work route for the work vehicle to travel to perform work in the headland area, based on the working width of the work vehicle. The adjustment unit can adjust the central work area and the headland area. If the work area expected to be worked on by the work vehicle traveling along the first work path becomes smaller than the central work area in a second direction perpendicular to the first direction which is the direction of travel of the work vehicle, and an unworked area occurs in the central work area, the adjustment unit adjusts the central work area and the headland area so that the unworked area is included in the headland area.

[0133] This allows the work vehicles to perform tasks without reducing work efficiency, even if unworked areas occur within the central work area, by appropriately setting the travel path of the work vehicles.

[0134] The aforementioned area adjustment system preferably includes a virtual boundary setting unit that sets a virtual boundary line at the boundary between the assumed work area and the unworked area.

[0135] This allows for smooth adjustment of the central work area and headland area using the virtual boundary setting unit.

[0136] In the aforementioned area adjustment system, when the adjustment unit adjusts the central work area and the headland area, it is preferable to include a portion of the assumed work area in the headland area.

[0137] This makes it easier to adjust the central work area and the headboard area.

[0138] In the aforementioned area adjustment system, the following configuration is preferable. That is, the virtual boundary line setting unit sets the virtual boundary line which is a straight line passing through the end of one of the multiple sides that form the periphery of the unworked area that extends in the second direction and is closer to the assumed work area, and which is a straight line parallel to the outer periphery in the second direction of the part of the headland area that generates the unworked area between it and the assumed work area in the second direction.

[0139] This allows for the appropriate setting of virtual boundaries based on the unworked area.

[0140] In the aforementioned area adjustment system, the following configuration is preferable. That is, when the unworked area is triangular in plan view, the virtual boundary line setting unit sets a line as the virtual boundary line which passes through the end of the shorter of the two sides that form the periphery of the unworked area, excluding the side adjacent to the assumed work area, and is parallel to the outer periphery of a part of the headland area.

[0141] This allows for the creation of an appropriate virtual boundary line corresponding to the unworked area when the unworked area has a triangular shape in plan view.

[0142] In the aforementioned area adjustment system, the following configuration is preferable. That is, when the unworked area is quadrangular in shape other than rectangular in a plan view, the virtual boundary line setting unit sets a straight line as the virtual boundary line, which passes from the four sides forming the periphery of the unworked area through the longer side of the two sides adjacent to one side adjacent to the assumed work area, and is parallel to the outer periphery of a part of the headland area.

[0143] This allows for the creation of an appropriate virtual boundary line for an unworked area when the unworked area is not rectangular in plan view but has a quadrilateral shape. [Explanation of Symbols]

[0144] 1 tractor 31. Work Vehicle Information Acquisition Unit 34. Route setting unit 35 Adjustment section 36 Memory section 49 Location information calculation unit (location information acquisition unit) 80 fields 81 Central work area 82 Headland area 84A 1st headland area 84B 2nd headland area 86 Unworked area 88. Surplus area 99-region adjustment system P1 First work route P3 Second work route W1 Working width

Claims

[Claim 1] A location information acquisition unit that acquires location information of work vehicles, A storage unit that stores information about the field, including the central work area and the headland area set around the central work area, A work vehicle information acquisition unit acquires vehicle information including the working width of the aforementioned work vehicle, A travel path setting unit sets a first work path for the work vehicle to travel so that it performs work in the central work area, and a second work path for the work vehicle to travel so that it performs work in the headland area, based on the work width of the work vehicle. The central work area and the head area are adjustable adjustment units, Equipped with, The headland region extends along a first direction which is the direction of travel of the work vehicle in the first work path, and includes a first headland region and a second headland region located on both sides of the central work area. The area adjustment system is characterized in that, when the work area expected to be worked on by the movement of the work vehicle along the first work path becomes smaller than the central work area in a second direction perpendicular to the first direction, and an unworked area occurs in the central work area, the adjustment unit adjusts the central work area to exclude the unworked area, and in the second direction, adjusts the headland area so as to shift toward the central work area by the amount of the unworked area, while keeping the width of the first headland area or the second headland area at a predetermined value so as not to change before and after the adjustment.

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