Work methods, work systems, and work programs

Abstract

To provide a work method, work system, and work program which can improve a work efficiency of a plurality of works in a work area.SOLUTION: A control part 21 specifies a work position at which a first work being a pre-work is executed, on the basis of work information of a second work being a subsequent work, commands a work vehicle 10a to execute the first work at the work position, and commands a work vehicle 10b to execute the second work at a farm field F at which the first work was executed.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a work method for causing a work vehicle to perform a plurality of tasks. [Background technology]

[0002] Conventionally, work vehicles that perform tasks such as fertilizing, sowing, and transplanting in farm fields are known (see, for example, Patent Document 1). Work vehicles that spray pesticides on farm fields and harvest crops are also known. When cultivating agricultural crops, for example, the work vehicle performs these multiple tasks in a predetermined order. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6152118 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, if a first work vehicle performs fertilization and sowing work, and then a second work vehicle performs scattering work, the wheels of the second work vehicle may run over the area worked by the first work vehicle. In this case, the work on that area will be wasted. Thus, with conventional technology, when multiple tasks are performed, there will be areas where work is wasted, resulting in a problem of reduced work efficiency.

[0005] An object of the present invention is to provide a work method, a work system, and a work program that can improve the work efficiency of multiple tasks in a work area. [Means for solving the problem]

[0006] A work method according to the present invention is a work method in which a first work vehicle performs a first work in a work area, and a second work vehicle performs a second work after the first work. The work method identifies a work location where the first work is to be performed based on work information for the second work, has the first work vehicle perform the first work at the work location in the work area, and has the second work vehicle perform the second work in the work area where the first work was performed.

[0007] A work system according to the present invention is a work system that causes a first work vehicle to perform a first task in a work area, and causes a second work vehicle to perform a second task after the first task. The work system includes a specific processing unit and a work processing unit. The specific processing unit identifies a work location where the first task is to be performed based on work information for the second task. The work processing unit causes the first work vehicle to perform the first task at the work location in the work area, and causes the second work vehicle to perform the second task in the work area where the first task was performed.

[0008] A work program according to the present invention is a work program that causes a first work vehicle to perform a first work in a work area, and causes a second work vehicle to perform a second work after the first work. The work program causes one or more processors to specify a work position at which the first work is to be performed based on work information for the second work, cause the first work vehicle to perform the first work at the work position in the work area, and cause the second work vehicle to perform the second work in the work area where the first work was performed. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a work method, a work system, and a work program that can improve the work efficiency of multiple tasks in a work area. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing the configuration of a work system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing an example of a target route for one work vehicle according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of a target route for another work vehicle according to an embodiment of the present invention. [Figure 4] FIG. 4 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Figure 5] FIG. 5 is an external view showing an example of another work vehicle according to an embodiment of the present invention. [Figure 6] FIG. 6 is a schematic diagram showing an example of a work implement of a work vehicle according to an embodiment of the present invention. [Figure 7] FIG. 7 is a schematic diagram showing an example of a work implement of another work vehicle according to an embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a work route of a work vehicle according to an embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of a work route of another work vehicle according to an embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a work route of another work vehicle according to an embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a menu screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of a registration screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of a work plan list displayed on the operation terminal according to the embodiment of the present invention. [Figure 14A] FIG. 14A is a diagram showing an example of a target route for one work vehicle according to an embodiment of the present invention. [Figure 14B] FIG. 14B is a diagram showing an example of a target route for another work vehicle according to an embodiment of the present invention. [Figure 15]FIG. 15 is a diagram showing an example of another target route for a work vehicle according to an embodiment of the present invention. [Figure 16] FIG. 16 is a flowchart showing an example of the procedure of the setting process executed by the work system according to the embodiment of the present invention. [Figure 17] FIG. 17 is a diagram showing an example of a target route for another work vehicle according to an embodiment of the present invention. [Figure 18] FIG. 18 is a diagram showing an example of a target route for another work vehicle according to an embodiment of the present invention. [Figure 19] FIG. 19 is a diagram showing an example of a target route for another work vehicle according to an embodiment of the present invention. [Figure 20] FIG. 20 is a diagram showing an example of a target route for another work vehicle according to an embodiment of the present invention. [Figure 21] FIG. 21 is a diagram showing an example of a driving screen displayed on the operation terminal according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] The following embodiment is an example of the present invention and does not limit the technical scope of the present invention.

[0012] As shown in Fig. 1, a work system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work system 1 also includes a plurality of work vehicles 10. Each work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, each work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN.

[0013] In this embodiment, the work vehicle 10 will be described as a tractor. In other embodiments, the work vehicle 10 may be a rice transplanter, a combine harvester, construction machinery, a snowplow, or the like. The work vehicle 10 is configured to be able to automatically travel (autonomously travel) within a field, which is the work area, along a predetermined target route. The work vehicle 10 is also capable of performing predetermined work while automatically traveling within the field. For example, each work vehicle 10 performs predetermined work while automatically traveling within the field along a predetermined target route, based on position information of the current position of the work vehicle 10 calculated by the positioning device 16.

[0014] For example, the work vehicle 10a performs work in a field F shown in FIG. 2 while automatically traveling along a preset target route R1. The work vehicle 10a is equipped with a work implement 14 (e.g., a fertilizer / seeder). The target route R1 includes linear work routes R11-R18 arranged in multiple rows, and a turning route (not shown) connecting the work routes. The work vehicle 10a performs fertilization and sowing work while traveling back and forth from one side (the left side in FIG. 2) to the other side (the right side in FIG. 2) in the field F according to the target route R1. Note that the work vehicle 10a may be configured to be able to perform fertilization and sowing work simultaneously. In FIG. 2, the symbol Fa indicates the work range (fertilization / seeding range) of the work vehicle 10a.

[0015] In addition, for example, work vehicle 10b performs work while automatically traveling along a preset target route R2 in a field F shown in FIG. 3. Work vehicle 10b is equipped with a work implement 14 (sprayer). Target route R2 includes linear work routes R21 to R25 arranged in multiple rows, and a turning route (not shown) connecting the work routes. Work vehicle 10b performs pest control work (e.g., spraying a pesticide) while traveling back and forth from one side (left side in FIG. 3) to the other side (right side in FIG. 3) in the field F according to target route R2. In FIG. 3, symbol Fa indicates the work range (spraying range) of work vehicle 10b. Note that the work range of work vehicle 10a and the work range of work vehicle 10b may be the same or different.

[0016] Furthermore, for example, the work vehicle 10b sprays the agent in the area (work area Fa) where the work vehicle 10a has applied fertilizer and sown seeds.

[0017] In this way, the work vehicle 10a and the work vehicle 10b work in cooperation with each other in the same field F. For example, the work vehicle 10a goes ahead and performs pre-work (fertilizing and sowing), and the work vehicle 10b performs post-work (spreading) after the work of the work vehicle 10a. The work content of each work vehicle 10 is not limited. For example, the work vehicle 10a may go ahead and perform ridge making work and transplanting work, and the work vehicle 10b may perform spreading work after the work of the work vehicle 10a. Also, for example, the work vehicle 10a may go ahead and perform plowing work, and the work vehicle 10b may perform ridge making work after the work of the work vehicle 10a.

[0018] The work system 1 may include three or more work vehicles 10. For example, the work system 1 may include multiple work vehicles 10 that perform the tasks of plowing, leveling, fertilizing and sowing, weeding, pest control, and harvesting in accordance with a cultivation plan for vegetables (such as potatoes). Also, a single tractor may have different work implements 14 attached to it depending on the task. In other words, the work implements 14 may be attached to a common vehicle (such as a tractor) among multiple work vehicles 10.

[0019] [Work vehicle 10] As shown in FIG. 1, work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a work implement 14, a communication unit 15, a positioning device 16, etc. Vehicle control device 11 is electrically connected to memory unit 12, traveling device 13, work implement 14, positioning device 16, etc. Note that vehicle control device 11 and positioning device 16 may be capable of wireless communication. FIG. 4 shows an example of work vehicle 10a, and FIG. 5 shows an example of work vehicle 10b. Note that when describing configurations common to work vehicle 10a and work vehicle 10b, they will be referred to as "work vehicle 10."

[0020] The communication unit 15 is a communication interface that connects the work vehicle 10 to the communication network N1 by wire or wirelessly and executes data communication in accordance with a predetermined communication protocol with external devices such as the operation terminal 20 via the communication network N1. The work vehicle 10 is capable of wireless communication with each of the operation terminals 20 via the communication unit 15.

[0021] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute automatic driving processing. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. The storage unit 12 may also store route data for a target route generated in the operation terminal 20.

[0022] The traveling device 13 is a drive unit that causes the work vehicle 10 to travel. As shown in Figures 4 and 5, the traveling device 13 is equipped with an engine 131 (drive source), front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handlebar 137, etc. The front wheels 132 and rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. The traveling device 13 is not limited to a wheel type equipped with front wheels 132 and rear wheels 133, but may also be a crawler type equipped with crawlers provided on the left and right sides of the work vehicle 10.

[0023] The engine 131 is a drive source such as a diesel engine or a gasoline engine that is driven by fuel supplied to a fuel tank (not shown). The traveling device 13 may be equipped with an electric motor as a drive source in addition to or instead of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery provided on the work vehicle 10. The battery is charged with power supplied from the generator. The vehicle control device 11, positioning device 16, and other electrical components provided on the work vehicle 10 can be driven by power supplied from the battery even after the engine 131 is stopped.

[0024] The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and to the rear wheels 133 via the transmission 134 and the rear axle 136. The driving force of the engine 131 is also transmitted to the work implement 14 via a PTO shaft (not shown). When the work vehicle 10 performs autonomous driving, the traveling device 13 performs traveling operations in accordance with commands from the vehicle control device 11.

[0025] The work implements 14 are, for example, tillers, soil levelers, fertilizer seed spreaders, weeders, spreaders, harvesters, etc., and are detachable from the work vehicle 10. This allows the work vehicle 10 to perform various tasks using each of the work implements 14. The work implement 14 of the work vehicle 10a in Fig. 4 is an example of a fertilizer seed spreader, and the work implement 14 of the work vehicle 10b in Fig. 5 is an example of a spreader.

[0026] The handle 137 is an operating section that is operated by the operator or the vehicle control device 11. For example, in the traveling device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to operation of the handle 137 by the vehicle control device 11, thereby changing the traveling direction of the work vehicle 10. When the operator performs a teaching operation, for example, the operator operates the handle 137 to manually travel the work vehicle 10.

[0027] In addition to the handlebars 137, the traveling device 13 is also equipped with a shift lever, accelerator, brake, etc. (not shown) that are operated by the vehicle control device 11. In the traveling device 13, the gear of the transmission 134 is switched to a forward gear, a reverse gear, etc. in response to operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward, reverse, etc. The vehicle control device 11 also operates the accelerator to control the rotation speed of the engine 131. The vehicle control device 11 also operates the brake to brake the rotation of the front wheels 132 and rear wheels 133 using an electromagnetic brake.

[0028] The positioning device 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, a positioning antenna 164, and the like. For example, as shown in FIGS. 4 and 5 , the positioning device 16 is provided above the cabin 18 in which the operator sits. The installation location of the positioning device 16 is not limited to the cabin 18. The positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning device 16 may be disposed in different locations in the work vehicle 10. As described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. The positioning device 16 may be substituted with, for example, a mobile phone terminal, a smartphone, or a tablet terminal.

[0029] The positioning control unit 161 is a computer system including one or more processors and storage memories such as nonvolatile memory and RAM. The storage unit 162 is a nonvolatile memory or the like that stores a program for causing the positioning control unit 161 to execute the positioning process, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Note that the program may be downloaded to the positioning device 16 from a server (not shown) via the communication network N1 and stored in the storage unit 162.

[0030] The communication unit 163 is a communication interface that connects the positioning device 16 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with an external device such as a base station (not shown) via the communication network N1.

[0031] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0032] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received from satellites by the positioning antenna 164. For example, when the work vehicle 10 is autonomously traveling in a field F, the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites, and the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs autonomous traveling using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the determined position (for example, the position of the positioning antenna 164), or may be displaced from the determined position.

[0033] The vehicle control device 11 has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are pre-stored. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as temporary storage memory (work area) for the various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by having the CPU execute various control programs pre-stored in the ROM or storage unit 12.

[0034] The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. The vehicle control device 11 also executes automatic driving processing for the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning device 16 and a predetermined target route.

[0035] The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the automatic driving program using the CPU. Also, some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing multiple processors to function as the processing units.

[0036] Specifically, when the vehicle control device 11 receives a driving start instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10. For example, when the operator presses the start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a driving start instruction to the work vehicle 10. When the vehicle control device 11 receives a driving start instruction from the operation terminal 20, it starts the automatic driving of the work vehicle 10 according to the target route.

[0037] As a result, for example, work vehicle 10a begins automatic traveling within field F according to target route R1 (see FIG. 2), and performs work using work implement 14 (for example, fertilizing and sowing). Also, work vehicle 10b begins automatic traveling within field F according to target route R2 (see FIG. 3), and performs work using work implement 14 (for example, spraying). Note that work vehicle 10b may begin automatic traveling at a predetermined timing after work vehicle 10a begins automatic traveling in response to a travel start command from the operator. That is, in the work system 1, between the start and end of a first work by one work vehicle 10, another work vehicle 10 may begin a second work in an area where the first work has been completed. The work start timing may be set in advance for each of multiple works included in the work plan.

[0038] A target route R1 along which work vehicle 10a travels automatically and a target route R2 along which work vehicle 10b travels automatically are generated, for example, in operation terminal 20. Work vehicle 10a acquires route data corresponding to target route R1 from operation terminal 20 and travels automatically according to target route R1, while work vehicle 10b acquires route data corresponding to target route R2 from operation terminal 20 and travels automatically according to target route R2.

[0039] Furthermore, the vehicle control device 11 stops the automatic traveling of the work vehicle 10 when it receives a traveling stop instruction from the operation terminal 20. For example, when the operator presses the stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a traveling stop instruction to the work vehicle 10.

[0040] In another embodiment, the work vehicles 10 may be driven by manual steering by an operator. For example, the operator gets on work vehicle 10a and drives it by manual steering while checking target route R1, and gets on work vehicle 10b and drives it by manual steering while checking target route R2.

[0041] Next, the specific configuration of the work machine 14 will be described. Hereinafter, the work machine 14 attached to the work vehicle 10a (see Figure 4) will be referred to as the fertilizer sowing machine 14a, and the work machine 14 attached to the work vehicle 10b (see Figure 5) will be referred to as the spreader 14b. Figure 6 is a schematic diagram of the work vehicle 10a as seen from above, and Figure 7 is a schematic diagram of the work vehicle 10b as seen from above.

[0042] First, the specific configuration of the fertilizer-seeding machine 14a will be described with reference to Figures 4 and 6. The fertilizer-seeding machine 14a is equipped with a plurality of fertilizer-seeding units 140 (see Figure 6), each capable of individually fertilizing and sowing seeds. The fertilizer-seeding unit 140 shown in Figure 6 is made up of fertilizer-seeding units 4a to 4l, each corresponding to one to twelve work rows (fertilizer-seeding rows).

[0043] Each fertilizing and sowing unit 140 has a furrow former 141, a pressure roller 142, etc. arranged at the bottom, a fertilizer hopper 143 arranged at the front upper part and a fertilizer delivery device 144 arranged below it, and a seed hopper 145 and a seed delivery device 146 arranged at the rear of it. A delivery motor 147 is connected as an actuator to the delivery shaft of the fertilizer delivery device 144, and a delivery motor 148 is connected as an actuator to the delivery shaft of the seed delivery device 146. A fertilizer remaining amount sensor (not shown) is arranged in the fertilizer hopper 143, and a seed remaining amount sensor (not shown) is arranged in the seed hopper 145, and these sensors detect the remaining amounts of fertilizer and seed, respectively. The delivery motors 147, 148, the fertilizer remaining amount sensor, and the seed remaining amount sensor are connected to the vehicle control device 11 so as to be able to communicate data with each other.

[0044] During fertilization and sowing work, the feed motors 147, 148 of each fertilizer / seeding unit 140 are controlled so that the feed amount changes depending on the traveling speed of the work vehicle 10a. For example, before starting fertilization and sowing work, the feed amount per traveling distance of each fertilizer / seeding unit 140 is set on the operation terminal 20.

[0045] Furthermore, the drive of each fertilizing and seeding unit 140 can be controlled individually, and for example, the fertilizing and seeding operations can be switched ON / OFF by commands from the vehicle control device 11 or by operation by the operator. For example, the vehicle control device 11 can stop the drive of the fertilizing and seeding unit 140 corresponding to a specific row among the fertilizing and seeding units 4a to 4l corresponding to rows 1 to 12 at a predetermined timing (row stop). When the work vehicle 10a travels automatically, the vehicle control device 11 causes the work vehicle 10a to travel automatically according to a target route R1 (see FIG. 2), and also causes the work vehicle 10a to perform fertilizing and seeding operations according to the target route R1 and operation information (details of which will be described later) that specifies the operation of each fertilizing and seeding unit 140.

[0046] Next, the specific configuration of the spreader 14b will be described with reference to FIGS.

[0047] Sprayer 14b is mounted to the rear of the body of work vehicle 10b. A PTO shaft (not shown) is disposed at the rear of the body to output the driving force of engine 131 to sprayer 14b. The driving force of engine 131 is transmitted to the PTO shaft via transmission 134.

[0048] The sprayer 14b includes a storage tank 30 for storing the material to be sprayed (such as a chemical solution), a boom unit 41 for spraying the material in the storage tank 30, and a pump 42 that is driven by driving force transmitted from the PTO shaft and pressurizes the material to be sprayed in the storage tank 30 to the boom unit 41.

[0049] The boom unit 41 includes a rear boom 43 that spreads the material behind the vehicle body, and a pair of side booms 44 (left boom 44L, right boom 44R) that spread the material on each side of the vehicle body. In other words, the sprayer 14b is made up of three booms (units). The rear boom 43 extends in the vehicle width direction (left-right direction) perpendicular to the direction of travel of the work vehicle 10. The rear boom 43 is provided with a plurality of rear nozzles 45 that are equally spaced in the direction in which the rear boom 43 extends. The multiple rear nozzles 45 discharge the material downward.

[0050] The left boom 44L is connected to the left end of the rear boom 43, and the right boom 44R is connected to the right end of the rear boom 43. Each side boom 44 is provided with multiple side nozzles 46 at equal intervals in the direction in which the side boom 44 extends. The multiple side nozzles 46 discharge material downward. The left boom 44L sprays material on the left side of the vehicle body, and the right boom 44R sprays material on the right side of the vehicle body.

[0051] The left boom 44L is rotatable about a predetermined vertical axis near the connection between the left boom 44L and the rear boom 43. By rotating, the left boom 44L moves between a standby position where the tip of the left boom 44L approaches the vehicle body so that the direction in which the left boom 44L extends is approximately the direction of travel, and a working position where the tip of the left boom 44L is away from the vehicle body so that the direction in which the left boom 44L extends is approximately the vehicle width direction. In other words, the position of the left boom 44L changes in the direction of the arrow shown in FIG. 7 between the standby position and the working position.

[0052] Similarly, the right boom 44R is rotatable about a predetermined vertical axis near the connection between the right boom 44R and the rear boom 43. By rotating, the right boom 44R moves between a standby position where the tip of the right boom 44R is close to the vehicle body so that the direction in which the right boom 44R extends is approximately the direction of travel, and a working position where the tip of the right boom 44R is away from the vehicle body so that the direction in which the right boom 44R extends is approximately the vehicle width direction. In other words, the position of the right boom 44R changes in the direction of the arrow shown in FIG. 7 between the standby position and the working position.

[0053] The sprayer 14b further includes a pair of boom rotation cylinders (not shown) that rotate the pair of side booms 44, and a boom lifting cylinder 40 (see FIG. 5) that raises and lowers the rear boom 43 and the pair of side booms 44. The boom rotation cylinders rotate the corresponding side booms 44 around a predetermined rotation center by extending and retracting the cylinder rods.

[0054] The boom lifting cylinder 40 extends and retracts the cylinder rod to simultaneously raise and lower the rear boom 43 and the pair of side booms 44. The pair of side booms 44 rise and lower between a lower position extending horizontally and an upper position inclined horizontally.

[0055] The sprayer 14b includes a rear valve (not shown) that controls the discharge of spray material from the multiple rear nozzles 45 of the rear boom 43, a left valve (not shown) that controls the discharge of spray material from the multiple side nozzles 46 of the left boom 44L, and a right valve (not shown) that controls the discharge of spray material from the multiple side nozzles 46 of the right boom 44R.

[0056] When the rear valve is opened while the pump 42 is driven, the material to be sprayed is discharged from the multiple rear nozzles 45 on the rear boom 43. When the left valve is opened while the pump 42 is driven, the material to be sprayed is discharged from the multiple side nozzles 46 on the left boom 44L. When the right valve is opened while the pump 42 is driven, the material to be sprayed is discharged from the multiple side nozzles 46 on the right boom 44R.

[0057] The vehicle control device 11 switches the spraying pattern based on the control information set for the target route R2. Examples of spraying patterns include an overall spraying pattern (see FIG. 7) in which spraying is performed from the left boom 44L, the rear boom 43, and the right boom 44R, a left side spraying pattern (not shown) in which spraying is performed from the left boom 44L and the rear boom 43, a right side spraying pattern (not shown) in which spraying is performed from the right boom 44R and the rear boom 43, and a spraying stop pattern (not shown) in which spraying from the left boom 44L, the rear boom 43, and the right boom 44R is stopped. The spraying patterns are not limited to these, and may include, for example, a spraying pattern in which spraying is performed only from the left boom 44L and the right boom 44R, a spraying pattern in which spraying is performed only from the left boom 44L, a spraying pattern in which spraying is performed only from the right boom 44R, and a spraying pattern in which spraying is performed only from the rear boom 43.

[0058] The working width in the left-right direction relative to the traveling direction of the work vehicle 10b is set according to the spraying pattern. For example, the working width in the full spraying pattern (see FIG. 7) is set to a working width (maximum working width) extending left and right behind the vehicle body, the working width in the left spraying pattern is set to a working width extending left and right behind and to the left of the vehicle body, and the working width in the right spraying pattern is set to a working width extending left and right behind and to the right of the vehicle body.

[0059] For example, when the vehicle control device 11 sets the spray pattern to the left side spray pattern, it moves the pair of side booms 44 to the down position, moves the left boom 44L to the operating position, and opens the left valve. Also, in the left side spray pattern, the vehicle control device 11 maintains the right boom 44R in the standby position.

[0060] For example, when the vehicle control device 11 sets the spray pattern to the right spray pattern, it moves the pair of side booms 44 to the lower position, moves the right boom 44R to the operating position, and opens the right valve. In the right spray pattern, the vehicle control device 11 also maintains the left boom 44L in the standby position.

[0061] For example, when the vehicle control device 11 sets the spray pattern to the full spray pattern, it moves the pair of side booms 44 to a lower position, moves the left boom 44L and the right boom 44R to their operating positions, and opens the rear valve, the left valve, and the right valve.

[0062] For example, when the vehicle control device 11 sets the spray pattern to a spray stop pattern, it moves the pair of side booms 44 to an upper position, moves the left boom 44L and the right boom 44R to their respective standby positions, and closes the rear valve, the left valve, and the right valve.

[0063] As described above, in the work vehicle 10b, the vehicle control device 11 causes the work vehicle 10b to automatically travel along the target route R2 (see FIG. 3), and also switches the spraying pattern according to the target route R2 and the control information to perform spraying work. Note that the vehicle control device 11 may also cause the work vehicle 10b to travel manually and switch the spraying pattern to perform spraying work in response to an operator's operation.

[0064] Here, for example, when work vehicle 10a performs fertilizing and sowing work and then work vehicle 10b performs scattering work, the wheels of work vehicle 10b may run over the area that has been fertilized and sowed by work vehicle 10a.

[0065] FIG. 8 shows an example of fertilizing and sowing work by the work vehicle 10a. The fertilizing and sowing units 4a to 4l (see FIG. 6) are arranged to form a predetermined gap between the fourth and fifth rows and between the eighth and ninth rows in accordance with the traveling position of the wheels of the work vehicle 10a. The work vehicle 10a fertilizes and sows the first to twelfth rows while traveling along work route R11, fertilizes and sows the first to twelfth rows while traveling along the following work route R12, fertilizes and sows the first to twelfth rows while traveling along work route R13, and fertilizes and sows the first to twelfth rows while traveling along work route R14. When the work vehicle 10a has finished fertilizing and sowing, the work vehicle 10b performs a spraying operation in the fertilized and sown area.

[0066] 9 and 10 show an example of spraying work by work vehicle 10b. Note that in this example, the working width of work vehicle 10b (total width of spreader 14b) corresponds to a working width (total working width of work routes R11 to R14) that is four times the working width of work vehicle 10a (total width of fertilizer seeder 14a). Work vehicle 10b travels along work route R21 (see FIG. 9) and sprays an area of ​​four rows (48 rows (12 rows x 4 rows)) corresponding to work routes R11 to R14 at a time, and then travels along the subsequent work route R22 (see FIG. 10) and sprays an area of ​​four rows (48 rows) corresponding to work routes R15 to R18.

[0067] In this case, for example, as shown in FIG. 9, if the traveling position of the wheels of the work vehicle 10b traveling on the work path R21 overlaps with the third row of the work path R12 of the work vehicle 10a and the third row of the work path R13, the wheels will trample on the fertilized and sown portions of the third row of the work path R12 and the third row of the work path R13. Similarly, as shown in FIG. 10, if the traveling position of the wheels of the work vehicle 10b traveling on the work path R22 overlaps with the third row of the work path R16 of the work vehicle 10a and the third row of the work path R17, the wheels will trample on the fertilized and sown portions of the third row of the work path R16 and the third row of the work path R17. As a result, the fertilization and seeding work in the trampled portions will be wasted, resulting in a problem of reduced work efficiency. Note that the position where the wheels of the work vehicle 10b trample on varies depending on the working width and row spacing of the work vehicle 10a, the tread width and wheel width of the work vehicle 10b, etc. In contrast to this, the work system 1 according to this embodiment can improve the work efficiency of a plurality of works in the field F, as will be described below.

[0068] Specifically, the vehicle control device 11 of the work vehicle 10a stops the work processing of the fertilizing and seeding units 140, among the multiple fertilizing and seeding units 140, that correspond to a work stop position (described below) where fertilizing and seeding work are stopped. For example, the vehicle control device 11 of the work vehicle 10a stops the work processing of the fertilizing and seeding units 140 that correspond to the work stop position on a predetermined work route, among the multiple work routes traveled by the work vehicle 10a, that is specified according to the work width of the work vehicle 10b. For example, the vehicle control device 11 of the work vehicle 10a stops the drive of the fertilizing and seeding unit 140, among the multiple fertilizing and seeding units 140, that corresponds to the travel position of the wheels of the work vehicle 10b. In the example shown in FIGS. 9 and 10, the vehicle control device 11 of the work vehicle 10a stops the drive (work processing) of the fertilizing and seeding unit 4c (see FIG. 6) that corresponds to the third row when the work vehicle 10a travels on work routes R12, R13, R16, and R17.

[0069] In a configuration in which the work vehicle 10a travels automatically, the vehicle control device 11 of the work vehicle 10a controls the operation of each fertilizer sowing unit 140 based on the position information of the work vehicle 10a and operation information (details will be described later) set for each work route that indicates whether or not to perform work (here, fertilization work and sowing work). Here, the vehicle control device 11 temporarily stops (stops in rows) the fertilizer sowing unit 4c before the work vehicle 10a enters work route R12, and restarts the fertilizer sowing unit 4c before the work vehicle 10a enters work route R14. The vehicle control device 11 also temporarily stops (stops in rows) the fertilizer sowing unit 4c before the work vehicle 10a enters work route R16, and restarts the fertilizer sowing unit 4c before the work vehicle 10a enters work route R18.

[0070] In another embodiment, in a configuration in which the work vehicle 10a is manually driven, the vehicle control device 11 of the work vehicle 10a controls the operation of each fertilizer sowing unit 140 based on the operator's operation. For example, the operator performs an operation to stop the fertilizer sowing unit 4c before the work vehicle 10a enters the work path R12 based on the information about the work stop position displayed on the operation terminal 20 (see Figures 15 and 19). The vehicle control device 11 temporarily stops (row stops) the fertilizer sowing unit 4c in response to the operator's operation. Furthermore, the operator performs an operation to restart the fertilizer sowing unit 4c before the work vehicle 10a enters the work path R14 based on the information about the work positions where fertilization and sowing work are performed displayed on the operation terminal 20. The vehicle control device 11 restarts the fertilizer sowing unit 4c in response to the operator's operation. Similarly, for example, the operator performs an operation to stop the fertilizer sowing unit 4c before the work vehicle 10a enters the work path R16 based on the information about the work stop position displayed on the operation terminal 20. The vehicle control device 11 temporarily stops (stops in rows) the fertilizing and seeding unit 4c in response to an operation by the operator. Furthermore, the operator performs an operation to restart the fertilizing and seeding unit 4c before the work vehicle 10a enters the work route R18, based on the information on the work position displayed on the operation terminal 20. The vehicle control device 11 restarts the fertilizing and seeding unit 4c in response to an operation by the operator.

[0071] As described above, the vehicle control device 11 of the work vehicle 10a causes the work vehicle 10a to perform fertilization work and sowing work at a work position identified based on work information of the work vehicle 10b (such as the working width of the spreader 14b provided on the work vehicle 10b, the tread width of the work vehicle 10b, and the wheel width of the work vehicle 10b), and the vehicle control device 11 of the work vehicle 10b causes the work vehicle 10a to perform spreading work in the area where the fertilization work and sowing work have been performed.

[0072] [Operation terminal 20] 1, the operation terminal 20 is an information processing device including a control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone.

[0073] The communication unit 24 is a communication interface that connects the operation terminal 20 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with external devices such as multiple work vehicles 10 via the communication network N1.

[0074] The operation display unit 23 is a user interface equipped with a display unit such as a liquid crystal display or organic EL display that displays various information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator (user) can operate the operation unit to register various information (such as work vehicle information, field information, and work information, which will be described later) on the operation screen displayed on the display unit. The operator can also operate the operation unit to issue instructions to the work vehicle 10 to start traveling, stop traveling, and the like. Furthermore, from a location away from the work vehicle 10, the operator can grasp the traveling status of the work vehicle 10, which is automatically traveling along a target route in the field F, by looking at the traveling trajectory displayed on the operation terminal 20.

[0075] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 22 stores control programs such as a setting program that causes the control unit 21 to execute a setting process (see FIG. 16 ), which will be described later. For example, the setting program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a reading device (not shown) such as a CD drive or DVD drive provided in the operation terminal 20 and stored in the storage unit 22. The setting program may be downloaded to the operation terminal 20 from a server (not shown) via the communication network N1 and stored in the storage unit 22.

[0076] Furthermore, a dedicated application for causing the work vehicle 10 to automatically travel is installed in the memory unit 22. The control unit 21 starts up the dedicated application to perform processing for setting various information related to the work vehicle 10, processing for generating a target route for the work vehicle 10, and issuing instructions for automatic travel to the work vehicle 10.

[0077] 1, the control unit 21 includes various processing units such as a setting processing unit 211, a generation processing unit 212, a display processing unit 213, and an output processing unit 214. The control unit 21 functions as the various processing units by executing various processes in accordance with the setting program using the CPU. Some or all of the processing units may be configured with electronic circuits. The setting program may be a program for causing multiple processors to function as the processing units.

[0078] The setting processing unit 211 sets information relating to the work vehicle 10 (hereinafter referred to as work vehicle information). Specifically, the setting processing unit 211 sets information such as the model of the work vehicle 10, the position where the positioning antenna 164 is attached on the work vehicle 10, the type of work implement 14, the size and shape of the work implement 14, the position of the work implement 14 relative to the work vehicle 10, the vehicle speed and engine rotation speed of the work vehicle 10 while working, and the vehicle speed and engine rotation speed of the work vehicle 10 while turning, by having the operator perform an operation to register this information on the operation terminal 20.

[0079] For example, the operator selects "Work machine registration" on menu screen D1 shown in FIG. 11, and registers the type of work machine (fertilizer sowing machine, weeder, spreader, etc.) and work machine information (working width, overlap width, etc.) on a registration screen (not shown). Here, the operator repeats the work machine registration operation multiple times in accordance with the work plan. For example, in accordance with a potato cultivation plan, the operator performs the work machine registration operation for each of the work tasks of plowing, soil leveling, fertilizing / seeding, weeding, pest control, and harvesting.

[0080] Next, the operator selects "Work Registration" on the menu screen D1 shown in FIG. 11 and registers multiple works included in the work plan on the registration screen (see FIG. 12). For example, on the registration screen D2 of FIG. 12, the operator presses the Add Work button K21 to select a work machine that corresponds to the work plan from multiple work machines that have been registered in advance, and registers work information such as the work area, headland work method, unmanned / manned travel, turning method, vehicle speed, and engine rotation speed. The setting processing unit 211 displays the work information registered by the operator in a work plan list D21. Specifically, the setting processing unit 211 displays a list of the work content, identification information (name, model number, etc.) of the work vehicle 10 (main machine) and work machine 14, and the work area for each work on the setting screen for setting the work plan.

[0081] Fig. 12 shows the state in which work information for the work of "plowing" has been registered. When creating a work plan (for example, a potato cultivation plan), the operator presses the add work button K21 on the registration screen D2 to register work information for each of the work tasks of plowing, leveling, fertilizing / seeding, weeding, pest control, and harvesting. Fig. 13 shows the work plan list D21 in which the work information for each of the above tasks has been registered.

[0082] Next, the operator selects "Route Creation" on the menu screen D1 shown in Fig. 11, and sets target routes corresponding to each of the multiple tasks included in the work plan on the route creation screen (not shown). For example, the operator selects the work plan for the task (here, "potato cultivation plan") from the work plan selection screen. Thereafter, the operator selects the field for the task, specifies the work area, sets the work direction, the work start position and work end position, sets the headland width, etc. on the registration screen (not shown).

[0083] The generation processing unit 212 generates a target route for automatically driving the work vehicle 10 in the field F based on the work information and the setting information. For example, the generation processing unit 212 generates a target route corresponding to each of a plurality of tasks included in the work plan. Here, the generation processing unit 212 collectively (collectively) generates a plurality of target routes corresponding to each of the tasks of plowing, soil leveling, fertilizing / seeding, weeding, pest control, and harvesting included in the potato cultivation plan. Note that for tasks among the plurality of tasks that share a common work implement 14 and work route (work range, work position), the generation processing unit 212 generates the same target route.

[0084] The display processing unit 213 causes the operation display unit 23 to display the target route generated by the generation processing unit 212 .

[0085] Specifically, the generation processing unit 212 specifies the work position where the rear work will be performed. Furthermore, the generation processing unit 212 specifies the work position where the front work will be performed based on the work information for the rear work. Furthermore, the generation processing unit 212 specifies the work stop position where the front work will be stopped based on the work information for the rear work. Here, the work information includes at least one of the work width of the work implement 14 provided on the work vehicle 10 performing the rear work, the distance between the left and right wheels of the work vehicle 10 (tread width), and the wheel width of the work vehicle 10.

[0086] Here, the pre-work includes fertilizing work and sowing work performed by work vehicle 10a, and the post-work includes spraying work performed by work vehicle 10b. For example, the generation processing unit 212 generates a target route R1 (see FIG. 2) corresponding to work vehicle 10a and a target route R2 (see FIG. 3) corresponding to work vehicle 10b in the field F. The display processing unit 213 displays the target routes R1 and R2 generated by the generation processing unit 212 on a route creation result screen D3 (see FIGS. 14A and 14B).

[0087] Furthermore, the generation processing unit 212 identifies a work stop position where the work vehicle 10a will stop fertilizing and seeding work based on at least one of the work width of the spreader 14b, the tread width of the work vehicle 10b, and the wheel width of the work vehicle 10b. In the example shown in FIGS. 8 to 10, the generation processing unit 212 identifies the third row of each of the work routes R12, R13, R16, and R17 as the work stop position for the work vehicle 10a. In this way, the generation processing unit 212 identifies the traveling position of the wheels of the work vehicle 10b as the work stop position for the work vehicle 10a.

[0088] Furthermore, the display processing unit 213 displays information about the work stop position on the route creation result screen D3. For example, as shown in FIG. 15, the display processing unit 213 displays identification information (row fastening location "third row") of the fertilizer seeding unit 140 corresponding to the work stop position on the route creation result screen D3. Furthermore, the display processing unit 213 displays, on the route creation result screen D3, the work route corresponding to the work stop position among the multiple work routes included in the target route R1 in an identifiable manner (the work route (row fastening route) indicated by the dotted line in FIG. 15). Note that the display processing unit 213 may display the route creation result screen D3 shown in FIG. 15 instead of the route creation result screen D3 shown in FIG. 14A, or may display the route creation result screen D3 shown in FIG. 15 when the operator presses "Next" on the route creation result screen D3 shown in FIG. 14A.

[0089] Furthermore, the display processing unit 213 may display the target routes R1 and R2 together on one route creation result screen D3. For example, the display processing unit 213 may display the target route R1 shown in Fig. 15 and the target route R2 shown in Fig. 14B superimposed on the field F on the route creation result screen D3.

[0090] When the operator confirms the generated target route, the generation processing unit 212 registers the target route corresponding to each task in association with the work plan. The generation processing unit 212 also registers information related to the task stop position in association with the target route. In the above example, the generation processing unit 212 registers, in association with the target route R1, operation information indicating that the task of the third row (fertilizing and seeding unit 4c) will not be performed (driving will be stopped) on each of the work routes R12, R13, R16, and R17, and that the tasks of the first to twelfth rows (fertilizing and seeding units 4a to 4l) will be performed on the other work routes. In this way, the generation processing unit 212 sets operation information indicating whether or not a task (here, fertilizing and seeding) will be performed for each work route.

[0091] As described above, when the previous task is affected by the subsequent task, the generation processing unit 212 generates the target route for the previous task by taking into account the task information for the subsequent task. Note that when the previous task is not affected by the subsequent task, the generation processing unit 212 generates the target route for the previous task without taking into account the task information for the subsequent task. In the example described above, the generation processing unit 212 generates the target route R1 and the target route R2 so that the traveling position of the wheels of work vehicle 10b overlaps with the traveling position of the wheels of work vehicle 10a.

[0092] Also, here, the generation processing unit 212 sets control information for switching between spray patterns (whole spray pattern, left side spray pattern, right side spray pattern, spray stop pattern, etc.) on the target route R2 corresponding to the work vehicle 10b.

[0093] The generation processing unit 212 generates multiple target routes corresponding to each of the tasks of plowing, soil leveling, fertilizing and sowing, weeding, pest control, and harvesting included in the work plan (potato cultivation plan), and registers them in association with the work plan. In this way, the generation processing unit 212 collectively generates multiple target routes corresponding to each of the tasks according to the work plan. The operator can easily check the work plan using the work plan list D21 (see FIGS. 12 and 13), and can also easily check the target routes corresponding to each task (see FIGS. 14A, 14B, and 15). For example, when the operator selects a specific task in the work plan list D21, the control unit 21 may display the target route corresponding to the task. This allows the operator to easily check the target route for each task.

[0094] Here, when starting work, the operator selects a field, selects a task (work plan), confirms the target route, and issues a command to start work. When the operator issues a command to start work, the output processing unit 214 outputs route data for the target route generated by the generation processing unit 212 to the work vehicle 10. Specifically, the output processing unit 214 outputs route data for target route R1 to work vehicle 10a, and outputs route data for target route R2 to work vehicle 10b.

[0095] When the route data generated in the operation terminal 20 is transferred to each work vehicle 10, the route data is stored in the memory unit 12. Each work vehicle 10 detects the current position of the work vehicle 10 using the positioning antenna 164 and executes automatic driving processing based on the route data.

[0096] For example, the operator checks the generated target route on the route creation result screen D3 (see FIG. 14B) and, if he or she determines that there are no problems, presses the work start button K31. When the operator issues a work start instruction, the output processing unit 214 outputs route data of the target route to the work vehicle 10. For example, the output processing unit 214 outputs route data of the target route R1 associated with the operation information that defines the operation (ON / OFF) of the fertilizer sowing units 4a to 4l (see FIG. 6) to the work vehicle 10a, and outputs route data of the target route R2 associated with the control information that defines the spraying pattern to the work vehicle 10b.

[0097] When each work vehicle 10 acquires the route data for the target route, it starts automatic driving along the target route. Note that, here, each work vehicle 10 performs automatic driving at the timing set for each task of plowing, soil leveling, fertilizing / seeding, weeding, pest control, and harvesting.

[0098] Furthermore, each work vehicle 10 executes automatic travel processing based on the route data while detecting the current position of the work vehicle 10 using the positioning antenna 164. For example, when the current position of each work vehicle 10 coincides with the travel start position in field F and the operator presses the start button on the operation screen to give a travel start instruction, the vehicle control device 11 of the work vehicle 10 starts automatic travel along the target route. In the above example, the work vehicle 10a stops (stops) work on the third row (fertilizer sowing section 4c) on each of the work routes R12, R13, R16, and R17, and performs work on rows 1 to 12 on the other work routes.

[0099] In this embodiment, the work system 1 automatically drives the work vehicle 10a according to the target route R1 in the field F, and after starting the automatic driving of the work vehicle 10a, automatically drives the work vehicle 10b according to the target route R2. Furthermore, after starting the automatic driving of the work vehicle 10a in the field F, the work system 1 may also start the automatic driving of the work vehicle 10b based on the work position of the work vehicle 10a.

[0100] While the work vehicles 10a, 10b are traveling automatically, the operator can grasp the traveling conditions, work status, and the like within the field F on the operation terminal 20.

[0101] The operation terminal 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 operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit. The server is provided with each of the processing units described above and executes each process.

[0102] [Settings processing] An example of the setting process executed by the control unit 21 of the operation terminal 20 will be described below with reference to Fig. 16. For example, the setting process is started by the control unit 21 when the control unit 21 receives a setting operation for generating a target route for the work vehicle 10 from the operator.

[0103] The present invention may be understood as an invention of a setting method (an example of an operation method of the present invention) in which part or all of the setting process is executed by the control unit 21, or as an invention of a setting program (an example of an operation program of the present invention) for causing the control unit 21 to execute part or all of the setting method. The setting process may also be executed by one or more processors.

[0104] In step S1, the control unit 21 performs work registration. For example, on the registration screen D2 of FIG. 12, when the operator presses the add work button K21, selects a work machine corresponding to the work plan from multiple work machines registered in advance, and performs an operation to register work information such as the work area, headland work method, unmanned / manned travel, turning method, vehicle speed, and engine rotation speed, the control unit 21 registers the work information in association with the work. Based on the operator's registration operation, the control unit 21 registers work information for each of multiple works included in the work plan. For example, when the operator performs an operation to register work information for each of the works of plowing, soil leveling, fertilizing / seeding, weeding, pest control, and harvesting in order to create a potato cultivation plan, the control unit 21 registers the work information for each of the works in association with the potato cultivation plan.

[0105] Next, in step S2, the control unit 21 displays a work plan (work plan list D21) including work information of the registered multiple works. For example, as shown in Fig. 13, the control unit 21 displays the work plan list D21 of a potato cultivation plan on the operation display unit 23.

[0106] Next, in step S3, the control unit 21 generates a target route for each task. Specifically, the operator selects "route creation" on the menu screen D1 (see FIG. 11), selects a task plan (here, "potato cultivation plan") on the route creation screen (not shown), and then selects a field, specifies a task area, sets the task direction, task start position and task end position, sets the headland width, etc. on the registration screen (not shown).

[0107] The control unit 21 generates a target route corresponding to each of the multiple tasks included in the work plan. Here, the control unit 21 collectively generates a multiple target routes corresponding to each of the tasks of plowing, soil preparation, fertilization / seeding, weeding, pest control, and harvesting included in the potato cultivation plan.

[0108] Next, in step S4, the control unit 21 determines whether a work stop position exists. Specifically, the control unit 21 determines whether a location where work should be stopped in the previous work (work stop position) exists based on the generated target route and the work information of the subsequent work. For example, for the target route R1 for the previous work, fertilizing and sowing, and the target route R2 for the subsequent work, spraying, the control unit 21 determines whether any of the multiple work routes included in the target route R1 exists that will be affected by the spraying work, for example, any of the work routes that overlap with the running position of the wheels of the work vehicle 10b. If the control unit 21 determines that any of the multiple work routes included in the target route R1 exists that will be affected by the spraying work, it identifies a work stop position. If the control unit 21 determines that the work stop position exists (S4: Yes), it proceeds to step S5. On the other hand, if the control unit 21 determines that the work stop position does not exist (S4: No), it proceeds to step S6.

[0109] 8 to 10, the multiple work routes included in the target route R1 include work routes R12, R13, R16, and R17 that overlap with the traveling position of the wheels of the work vehicle 10b. In this case, the control unit 21 identifies, as the work stop position, positions on the work routes R12, R13, R16, and R17 that overlap with the traveling position of the wheels of the work vehicle 10b (here, the "third row" and the "fertilizer sowing unit 4c").

[0110] Next, in step S5, the control unit 21 sets operation information indicating whether or not to perform work for each work path. In the above example, the control unit 21 sets operation information indicating that the work of the third row (fertilizing and sowing unit 4c) will not be performed (driving will be stopped) for each of the work paths R12, R13, R16, and R17 on the target path R1, and sets operation information indicating that the work of the first to twelfth rows (fertilizing and sowing units 4a to 4l) will be performed for the other work paths.

[0111] Next, in step S6, the control unit 21 registers the generated target routes for each task. Here, the control unit 21 registers a plurality of target routes corresponding to each task in association with the potato cultivation plan. The control unit 21 also registers the operation information in association with the target routes.

[0112] Next, in step S7, the control unit 21 determines whether or not a work start instruction has been received from the operator. If the control unit 21 receives the work start instruction (S7: Yes), the control unit 21 shifts the process to step S8. The control unit 21 waits until the work start instruction is received (S7: No).

[0113] In step S8, the control unit 21 outputs route data of the generated target route to the work vehicles 10. Here, the control unit 21 outputs route data of the target route corresponding to each of the tasks of plowing, soil leveling, fertilizing / seeding, weeding, pest control, and harvesting to each work vehicle 10.

[0114] Each work vehicle 10 automatically travels along a target route at a predetermined timing for each task of plowing, leveling, fertilizing / seeding, weeding, pest control, and harvesting. Each work vehicle 10 also performs tasks based on the operation information. For example, when traveling along work routes R12, R13, R16, and R17, work vehicle 10a stops the fertilizing / seeding unit 4c (see FIG. 6) corresponding to the third row, thereby skipping the fertilizing and seeding tasks on the third row. On the other work routes, work vehicle 10a drives the fertilizing / seeding units 4a to 4l (see FIG. 6) corresponding to the first to twelfth rows to perform the fertilizing and seeding tasks.

[0115] As described above, the work system 1 of this embodiment identifies the work position where the first work of the previous work will be performed and / or the work stop position where the previous work will be stopped based on the work information of the second work of the subsequent work, and causes the work vehicle 10a to perform the first work based on the work position and / or the work stop position, and causes the work vehicle 10b to perform the second work in the field F where the first work was performed.

[0116] For example, the work system 1 identifies the running position of the wheels of the work vehicle 10b as the work stop position based on at least one of the working width of the work implement 14 provided on the work vehicle 10b, the tread width of the wheels of the work vehicle 10b, and the wheel width of the work vehicle 10b.

[0117] Furthermore, the work system 1 identifies a second work position where the second work of the subsequent work is to be performed, and when the first work of the preceding work is to be performed, notifies work support information related to at least one of the second work position, the first work position where the first work is to be performed that is identified based on work information of the second work, and the work stop position where the first work is to be stopped that is identified based on the work information. For example, the work system 1 identifiably displays the row stop position of the work implement 14 that corresponds to the work stop position and the work route that corresponds to the work stop position (see FIG. 15).

[0118] According to the above configuration, in the first work, work in the position where the wheels of the work vehicle 10b for the second work are traveling can be stopped (omitted), thereby preventing the occurrence of unnecessary work in the first work. This makes it possible to improve the work efficiency of multiple works in the field F.

[0119] [Other embodiments] The present invention is not limited to the above-described embodiment, and may be embodied in the following manner.

[0120] In the above-described embodiment, the control unit 21 stops the drive (work processing) of the working unit (fertilizing and sowing unit 140) corresponding to the work stop position. In another embodiment, the control unit 21 may set intervals between multiple work paths included in the target path based on work information of the subsequent work.

[0121] For example, if the third row of each of the work routes R12, R13, R16, and R17 included in the target route R1 for the work vehicle 10a overlaps with the running position of the wheels of the work vehicle 10b (see FIGS. 9 and 10), the control unit 21 sets the work routes R12, R13, R16, and R17 so that the running position of the wheels of the work vehicle 10b overlaps with any row of the work route for the work vehicle 10a, as shown in FIGS. 17 and 18. For example, the control unit 21 sets the work routes R12, R13, R16, and R17 so that the running position of the wheels of the work vehicle 10b overlaps with the row closest to that running position. Here, the control unit 21 shifts the work routes R12, R13, R16, and R17 to the right from the center position (the work route shown by the dotted line) by half the distance between the rows. As a result, when the work vehicle 10b travels along work route R21 (see FIG. 17), the left wheel passes through the gap between the third and fourth rows of work route R12, and the right wheel passes through the gap between the second and third rows of work route R13. Also, when the work vehicle 10b travels along work route R22 (see FIG. 18), the right wheel passes through the gap between the third and fourth rows of work route R16, and the left wheel passes through the gap between the second and third rows of work route R17.

[0122] 17 and 18, the control unit 21 shifts the work routes R12, R13, R16, and R17 to the right, as they overlap with the travel position of the wheels of the work vehicle 10b. In another embodiment, the control unit 21 may shift the work routes R12, R13, R16, and R17 to the left. In this case, when the work vehicle 10b travels along the work route R21, the left wheel passes through the gap between the second and third rows of the work route R12, and the right wheel passes through the gap between the third and fourth rows of the work route R13. Furthermore, when the work vehicle 10b travels along the work route R22, the right wheel passes through the gap between the second and third rows of the work route R16, and the left wheel passes through the gap between the third and fourth rows of the work route R17.

[0123] In another embodiment, the control unit 21 may shift the work paths R12 and R16 to the right, and shift the work paths R13 and R17 to the left. In this case, when the work vehicle 10b travels along the work path R21, the left wheels pass through the gap between the third and fourth rows of the work path R12, and the right wheels pass through the gap between the third and fourth rows of the work path R13. Furthermore, when the work vehicle 10b travels along the work path R22, the right wheels pass through the gap between the third and fourth rows of the work path R16, and the left wheels pass through the gap between the third and fourth rows of the work path R17.

[0124] In another embodiment, the control unit 21 may receive an operation from the operator to select a shift direction of the work path that overlaps with the traveling position of the wheels of the work vehicle 10b, and generate the target path R1 in accordance with the operator's operation. This makes it possible to generate a target path intended by the operator.

[0125] In this way, the control unit 21 corrects (shifts in the left / right direction) the position of a work route that overlaps the travel position of the wheels of the work vehicle 10b, among a plurality of work routes arranged at equal intervals, to generate the target route R1.

[0126] 17 and 18, the control unit 21 sets work routes R12, R13, R16, and R17 so that the travel position of the wheels of work vehicle 10b overlaps with any gap on the work route of work vehicle 10a. In another embodiment, the control unit 21 may set work routes R12, R13, R16, and R17 so that the travel position of the wheels of work vehicle 10b overlaps with a gap through which the wheels of work vehicle 10a pass. For example, if the third row of each of work routes R12, R13, R16, and R17 included in target route R1 for work vehicle 10a overlaps with the running position of the wheels of work vehicle 10b (see Figures 9 and 10), the control unit 21 sets work routes R12, R13, R16, and R17 so that the running position of the wheels of work vehicle 10b overlaps with the gap through which the wheels of work vehicle 10a pass (here, the gap between the fourth and fifth rows), as shown in Figures 19 and 20. Here, the control unit 21 shifts work routes R12 and R16 to the right from the center position (work route shown by dotted line), and shifts work routes R13 and R17 to the left from the center position (work route shown by dotted line).

[0127] In the above example, when the third row overlaps with the running position of the wheels of the work vehicle 10b (see FIG. 9), the control unit 21 sets the work route R12 so that the running position of the wheels of the work vehicle 10b overlaps with the gap between the fourth and fifth rows (see FIG. 19). In another embodiment, when the sixth row overlaps with the running position of the wheels of the work vehicle 10b, for example, the control unit 21 sets the work route R12 so that the running position of the wheels of the work vehicle 10b overlaps with the gap between the fourth and fifth rows, and when the seventh row overlaps with the running position of the wheels of the work vehicle 10b, for example, the control unit 21 may set the work route R12 so that the running position of the wheels of the work vehicle 10b overlaps with the gap between the eighth and ninth rows. That is, when there are multiple gaps corresponding to the work vehicle 10a (here, the gap between the 4th and 5th rows, and the gap between the 8th and 9th rows), the control unit 21 may set the work path R12 so that the running position of the wheels of the work vehicle 10b overlaps with the gap that is closer to the row position that overlaps with the running position of the wheels of the work vehicle 10b. For this reason, the shift direction of the work path is not limited to one direction, and the work path is shifted in a direction according to the row position that overlaps with the running position of the wheels of the work vehicle 10b.

[0128] In addition, in the example shown in Figures 19 and 20, since shifting the work paths R12, R13, R16, and R17 causes the first and second lines to overlap with adjacent work paths, the control unit 21 may set operation information indicating that the work of the first and second lines will not be performed (driving will be stopped).

[0129] In this way, the control unit 21 may set intervals between multiple work routes based on the work information of the subsequent work, generate a target route R1, and output the generated target route R1 to the work vehicle 10a. The work vehicle 10a performs fertilizing work and sowing work while automatically traveling along the target route R1 (see FIGS. 17 to 20).

[0130] As described above, the work system 1 may be provided with a first configuration (see FIGS. 9 and 10) that identifies a work stop position where the work vehicle 10a should stop the preceding work based on work information for the subsequent work by the work vehicle 10b, and stops the work processing of the working unit corresponding to the work stop position, or a second configuration (see FIGS. 17 to 20) that sets intervals between multiple work routes based on work information for the subsequent work by the work vehicle 10b, generates a target route R1 for the work vehicle 10a, and causes the work to be performed according to the target route R1. The work system 1 may also be capable of switching between the first configuration and the second configuration in response to a selection operation by the operator. That is, the work system 1 may display a selection screen on the operation terminal 20 that allows the user to select whether to stop work at the work stop position or to generate a target route R1 for the work vehicle 10a so that the work stop position does not occur.

[0131] In another embodiment of the present invention, the work system 1 may cause the work vehicle 10 to perform a travel process (manual travel) and a work process in accordance with manual operation by an operator. In this case, the control unit 21 causes the operation display unit 23 to display work support information according to the position of the work vehicle 10a. Specifically, the control unit 21 causes the operation display unit 23 to display the work support information after the work vehicle 10a starts work in the field F and before the work vehicle 10a starts traveling along the work path corresponding to the work stop position. For example, before the work vehicle 10a starts work along the work path R12, that is, before the work vehicle 10a reaches the start position of the work path R12, the control unit 21 displays a message on the travel screen D4 as shown in FIG. 21 , urging the operator to temporarily suspend fertilization and seeding work. Specifically, the control unit 21 displays information indicating the position (row stop location) at which work should be stopped (here, "third row" or "fertilizer / seeding unit 4c"). After confirming the information, the operator performs an operation to stop (OFF) the drive of the fertilizing and seeding unit 4c. As a result, the work vehicle 10a performs fertilizing and seeding work on the first, second, and fourth to twelfth rows (excluding the third row) while traveling along the work route R12 in accordance with the operator's manual operation.

[0132] Furthermore, when the work vehicle 10a performs fertilization work and sowing work, the control unit 21 may identifiably display, on the traveling screen D4, information about the fertilizing and sowing unit 140 corresponding to the work stop position (row stop position "third row") and the work route (work routes R12, R13, R16, R17) corresponding to the work stop position. Furthermore, when the work vehicle 10a performs fertilization work and sowing work, the control unit 21 may display, on the traveling screen D4, the work position (target route R2) of the work vehicle 10b. That is, when the work system 1 executes a previous work, it displays work support information related to at least one of the work position of the subsequent work, the work position of the previous work identified based on the work information of the subsequent work, and the work stop position of the previous work identified based on the work information. The work system 1 may also output the work support information as audio. The display processing and audio output processing of the work support information are examples of the notification processing of the present invention.

[0133] The work system of the present invention may be configured with the operation terminal 20 alone, or may be configured with the work vehicle 10 and the operation terminal 20, or may be configured with the work vehicle 10 alone. The work system may also be configured with a server equipped with each processing unit included in the operation terminal 20.

[0134] [Notes on the Invention] The following is a summary of the invention extracted from the embodiments. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0135] <Appendix 1> A work method for having a first work vehicle perform a first task in a work area, and having a second work vehicle perform a second task after the first task, comprising: Identifying a work position where the first work is to be performed based on work information of the second work; causing the first work vehicle to perform the first work at the work position in the work area; causing the second work vehicle to perform the second work in the work area where the first work was performed; How to perform the work.

[0136] <Appendix 2> The work information includes at least one of the working width of a work implement provided on the second work vehicle, the distance between the left and right wheels of the second work vehicle, and the wheel width of the second work vehicle. The working method described in Appendix 1.

[0137] <Appendix 3> Identifying a work stop position where the first work is to be stopped based on the work information; The work stop position corresponds to the travel position of the wheels of the second work vehicle. The working method described in Appendix 1 or 2.

[0138] <Appendix 4> the first work vehicle is equipped with a plurality of working units each capable of performing a work process independently; stopping the work processing of the work unit corresponding to the work stop position among the plurality of work units; The working method described in Appendix 3.

[0139] <Appendix 5> stopping the work processing of a working unit corresponding to the work stop position on a predetermined first work route specified in accordance with the work width of the second work vehicle out of a plurality of first work routes on which the first work vehicle travels; The working method described in Appendix 4.

[0140] <Appendix 6> generating a first target route for the first work vehicle in the work area; generating a second target route for the second work vehicle in the work area; The method according to any one of appendices 1 to 5, further comprising:

[0141] <Appendix 7> the first target path includes a plurality of work paths; setting intervals between the plurality of work paths based on the work information; The working method described in Appendix 6.

[0142] <Appendix 8> the first target path includes a plurality of work paths; correcting the position of a work path among the plurality of work paths that corresponds to the traveling position of the wheels of the second work vehicle; The method of operation described in Appendix 6 or 7.

[0143] <Appendix 9> the first target path includes a plurality of work paths; generating the first target route and the second target route so that the traveling position of the wheels of the second work vehicle overlaps with a gap between adjacent work routes or with the traveling position of the wheels of the first work vehicle; A method of operation according to any one of appendices 6 to 8.

[0144] <Appendix 10> the first target path includes a plurality of work paths; setting operation information indicating whether or not the first task is to be performed for each of the plurality of task paths; causing the first work vehicle to perform the first work based on the operation information; A method of operation according to any one of appendices 6 to 9.

[0145] <Appendix 11> A work method for having a first work vehicle perform a first task in a work area, and having a second work vehicle perform a second task after the first task, comprising: Identifying a second work position where the second work is to be performed; When the first work is performed, work support information relating to at least one of the second work position, the first work position where the first work is performed and identified based on work information of the second work, and the work stop position where the first work is stopped and identified based on the work information is to be notified. How to perform the work.

[0146] <Appendix 12> the first work vehicle is equipped with a plurality of working units each capable of performing a work process independently; displaying, on an operation terminal, identification information of a work unit among the plurality of work units that corresponds to the work stop position; The working method described in Appendix 11.

[0147] <Appendix 13> generating a first target route for the first work vehicle in the work area; generating a second target route for the second work vehicle in the work area; displaying, on an operation terminal, a work route corresponding to the work stop position among a plurality of work routes included in the first target route in an identifiable manner; 13. The method of operation according to claim 11 or 12.

[0148] <Appendix 14> displaying the first target route and the second target route in an overlapping manner in the work area displayed on the operation terminal; The working method described in Appendix 13.

[0149] <Appendix 15> generating the first target route and the second target route so that the traveling position of the wheels of the second work vehicle overlaps with a gap between adjacent work routes or with the traveling position of the wheels of the first work vehicle; 13. The method of operation according to claim 14.

[0150] <Appendix 16> displaying the work support information on an operation terminal after the first work vehicle has started the first work in the work area and before the first work vehicle has started traveling along a work route corresponding to the work stop position; A method of operation according to any one of appendices 11 to 15.

[0151] <Appendix 17> displaying on the operation terminal a selection screen that allows the user to select whether to stop the first work at the work stop position, or to generate a first target route for the first work vehicle so that the work stop position does not occur; 17. The method of any one of appendices 11 to 16.

[0152] <Appendix 18> The work stop position corresponds to the travel position of the wheels of the second work vehicle. A method of operation according to any one of appendices 11 to 17.

[0153] <Appendix 19> The work information includes at least one of the working width of a work implement provided on the second work vehicle, the distance between the left and right wheels of the second work vehicle, and the wheel width of the second work vehicle. A method of operation according to any one of appendices 11 to 18. [Explanation of symbols]

[0154] 1: Work system 10a: Work vehicle (first work vehicle) 10b: Work vehicle (second work vehicle) 11: Vehicle control device (work processing unit) 12: Storage section 13: Running gear 14a: Fertilizer seeding machine (work machine) 4a~4l: Fertilization and seeding department (work department) 14b: Spreading machine (work machine) 15: Communications Department 20: Operation terminal 21: Control unit 22: Storage section 23: Operation display section 24: Communications Department 211: Setting processing section 212: Generation processing unit (specific processing unit) 213: Display processing unit (notification processing unit) 214: Output processing section F: Field (working area) R1: Target route (first target route) R2: Target route (second target route) R11~R18: Work route (first work route) R21~R25: Work route (second work route)

Claims

1. A work method for causing a first work vehicle to perform a first task in a work area, and causing a second work vehicle to perform a second task after the first task, comprising: Identifying a work position where the first work is to be performed based on work information of the second work; Identifying a work stop position at which to stop the first work based on the work information, the work stop position corresponding to a traveling position of wheels of the second work vehicle; causing the first work vehicle to perform the first work at the work position in the work area; causing the second work vehicle to perform the second work in the work area where the first work was performed; How to perform the work.

2. The work information includes at least one of a working width of a work implement provided on the second work vehicle, a distance between left and right wheels of the second work vehicle, and a wheel width of the second work vehicle.

2. The method of claim 1.

3. the first work vehicle is equipped with a plurality of working units each capable of performing a work process independently; stopping the work processing of the work unit corresponding to the work stop position among the plurality of work units; 2. The method of claim 1.

4. stopping the work processing of a working unit corresponding to the work stop position on a predetermined first work route specified in accordance with the work width of the second work vehicle out of a plurality of first work routes on which the first work vehicle travels; 4. The method of claim 3.

5. A work method in which a first work vehicle is caused to perform a first task in a work area, and a second work vehicle is caused to perform a second task after the first task, generating a first target route for the first work vehicle in the work area, the first target route including a plurality of work routes; generating a second target route for the second work vehicle in the work area; setting operation information indicating whether or not the first task is to be performed for each of the plurality of task paths; causing the first work vehicle to perform the first work based on the operation information; and causing the second work vehicle to perform the second work in the work area where the first work was performed; How to perform the work.

6. Setting the intervals between the plurality of work paths based on the work information of the second work.

6. The method of claim 5.

7. Correcting the position of the work path among the plurality of work paths that corresponds to the running position of the wheels of the second work vehicle.

6. The method of claim 5.

8. The first target path and the second target path are generated so that the running position of the wheels of the second work vehicle overlaps with the gap between the adjacent work paths or the running position of the wheels of the first work vehicle.

6. The method of claim 5.

9. A work system that causes a first work vehicle to perform a first task in a work area, and causes a second work vehicle to perform a second task after the first task, an identification processing unit that identifies a work location where the first work is to be performed based on work information for the second work, and that identifies a work stop location where the first work is to be stopped based on the work information, the work stop location corresponding to a traveling position of wheels of the second work vehicle; a work processing unit that causes the first work vehicle to perform the first work at the work position in the work area, and causes the second work vehicle to perform the second work in the work area where the first work was performed; A working system comprising:

10. a work program that causes a first work vehicle to perform a first work and causes a second work vehicle to perform a second work in a work area after the first work, Identifying a work position where the first work is to be performed based on work information of the second work; Identifying a work stop position at which to stop the first work based on the work information, the work stop position corresponding to a traveling position of wheels of the second work vehicle; causing the first work vehicle to perform the first work at the work position in the work area; causing the second work vehicle to perform the second work in the work area where the first work was performed; A working program for execution by one or more processors.

11. A work system that causes a first work vehicle to perform a first task in a work area, and causes a second work vehicle to perform a second task after the first task, a generation processing unit that generates a first target route for the first work vehicle in the work area, the first target route including a plurality of work routes, generates a second target route for the second work vehicle in the work area, and sets operation information indicating whether or not the first work will be performed for each of the plurality of work routes; a work processing unit that causes the first work vehicle to perform the first work based on the operation information, and causes the second work vehicle to perform the second work in the work area where the first work was performed; A working system comprising:

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