Control method for work machines, control program for work machines, control system for work machines, and work system

Abstract

To provide a work machine control method, a work machine control program, a work machine control system, and a work system that enable a load of a work machine to be inhibited from becoming excessive easily.SOLUTION: A control method of a work machine 10 is a control method of the work machine 10 that performs work in an object region F1 by a work machine while moving in the object region F1. The control method includes: setting permission or prohibition of a first backing operation for moving the work machine 10 backward; and moving the work machine 10 in the object region F1 on the basis of the setting state of permission or prohibition of the first backing operation.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a control method for a working machine, a control program for a working machine, a control system for a working machine, and a working system that perform work within a target area while moving the target area by a working machine.

Background Art

[0002] As related art, a working machine (tractor) equipped with a machine body (traveling machine body) capable of autonomously traveling within a target area (field) is known (see, for example, Patent Document 1). In the working machine according to the related art, various working machines such as a tiller are detachably attached to the machine body. This working machine is configured to be able to perform work (agricultural work) while traveling within the target area by controlling each part of the working machine (the machine body, the working machine, etc.) by a control unit. Specifically, the control unit causes the working machine to perform autonomous work along a work path included in the travel path while causing the machine body to autonomously travel along the travel path.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] [ In the configuration of the related art described above, for example, when the working machine is a towed working machine connected to the rear of the machine body, if the machine body is reversed on the travel path, the connection part between the working machine and the machine body may be buckled, and the load on the working machine may become excessive.

[0005] [[ID=;39]]An object of the present invention is to provide a control method for a working machine, a control program for a working machine, a control system for a working machine, and a working system that are easy to avoid excessive load on the working machine.

Means for Solving the Problems

[0006] A control method for a work machine according to one aspect of the present invention is a control method for a work machine that moves within a target area and performs work within the target area using the work machine, comprising: setting whether or not to allow a first reverse movement to move the work machine backward; and moving the work machine within the target area based on the setting state of whether or not to allow the first reverse movement.

[0007] A control program for a work machine according to one aspect of the present invention is a program that causes one or more processors to execute a control method for the work machine.

[0008] A control system for a work machine according to one aspect of the present invention is used for a work machine that moves within a target area and performs work within the target area using the work machine. The control system for the work machine comprises a mode setting processing unit and a control processing unit. The mode setting processing unit sets whether or not to allow a first reverse movement that moves the work machine backward. The control processing unit moves the work machine within the target area based on the setting state of whether or not to allow the first reverse movement.

[0009] A work system according to one aspect of the present invention comprises a control system for a work machine and a machine body of the work machine on which the work machine is mounted. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work system that make it easier to avoid excessive load on the work machine. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a schematic side view showing the external appearance of the work machine according to Embodiment 1. [Figure 2] Figure 2 is a schematic block diagram of the work system according to Embodiment 1. [Figure 3]Figure 3 is a schematic diagram showing the target path of the first pattern in the work system according to Embodiment 1. [Figure 4] Figure 4 is a schematic diagram showing the second pattern of target path in the work system according to Embodiment 1. [Figure 5] Figure 5 is a schematic diagram showing the main parts of the second pattern of the target path in the work system according to Embodiment 1. [Figure 6] Figure 6 is a schematic diagram showing the main parts of the third and fourth target paths in the work system according to Embodiment 1. [Figure 7] Figure 7 is a schematic diagram showing an example of a target path in the work system according to Embodiment 1. [Figure 8] Figure 8 is a schematic diagram showing an example of a target path in the work system according to Embodiment 1. [Figure 9] Figure 9 is a schematic diagram showing an example of a target path in the work system according to Embodiment 1. [Figure 10] Figure 10 is a schematic diagram showing an example of a target path in the work system according to Embodiment 1. [Figure 11] Figure 11 is a schematic diagram showing an example of a target path in the work system according to Embodiment 1. [Figure 12] Figure 12 is a schematic diagram showing an example of the display of the count setting screen in the work system according to Embodiment 1. [Figure 13] Figure 13 is a schematic diagram showing another example of the display of the count setting screen in the work system according to Embodiment 1. [Figure 14] Figure 14 is a schematic diagram showing an example of the display of the mode setting screen in the work system according to Embodiment 1. [Figure 15] Figure 15 is a flowchart showing an example of the operation of the control system for a work machine according to Embodiment 1. [Figure 16] Figure 16 is a schematic diagram showing an example of the display of the field area screen in the work system according to Embodiment 1. [Figure 17]FIG. 17 is a schematic diagram showing a display example of a joint writing field leveling work screen in the work system according to Embodiment 1. [Figure 18] FIG. 18 is a schematic diagram showing a display example of a height difference setting screen in the work system according to Embodiment 1. [Figure 19] FIG. 19 is a conceptual diagram showing other functions of the control system for a work machine according to Embodiment 1. [Figure 20] FIG. 20 is a schematic diagram showing a target path of a first pattern in the work system according to a modification of Embodiment 1. [Figure 21] FIG. 21 is a schematic diagram showing an example of a target path in the work system according to Embodiment 2. [Figure 22] FIG. 22 is a schematic diagram showing an example of a target path in the work system according to Embodiment 2.

MODE FOR CARRYING OUT THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are examples embodying the present invention and are not intended to limit the technical scope of the present invention.

[0013] (Embodiment 1) [1] Overall Configuration First, the overall configuration of the work system 100 according to the present embodiment will be described with reference to FIGS. 1 and 2. The control system 1 for a work machine according to the present embodiment (hereinafter, also simply referred to as "control system 1") constitutes the work system 100 together with the machine body 11 of the work machine 10. A work implement 12 is attached to the machine body 11. That is, the work system 100 includes the control system 1 for a work machine and the machine body 11 of the work machine 10 to which the work implement 12 is attached.

[0014] In this embodiment, the control system 1 includes a control device 13 (see Figure 2) mounted on the body 11 of the work machine 10, and a terminal device 20. The work machine 10 and the terminal device 20 are able to communicate with each other. In this disclosure, "able to communicate" means that information can be exchanged directly or indirectly via a communication network N1 or a repeater, etc., by an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). The work machine 10 and the terminal device 20 can communicate with each other via a communication network N1 such as the Internet, LAN (Local Area Network), WAN (Wide Area Network), public telephone line, mobile phone network, packet network, or wireless LAN. The means of communication between the work machine 10 and the terminal device 20 are not limited to the above examples and can be implemented by an appropriate means of communication. Furthermore, the ability of the work machine 10 and the terminal device 20 to communicate with each other is not an essential configuration in the control system 1.

[0015] The working machine 10 moves through the target area F1 (see Figure 3) and performs some work within the target area F1 using the working machine 12. In this disclosure, "work" refers to the work performed by the working machine 12 on the target area F1, and includes various agricultural operations such as leveling, sowing, fertilizing, pesticide spraying, planting (rice planting), or harvesting, as well as various construction operations. In this embodiment, as an example, the work performed by the working machine 10 is leveling work, which prepares the ground surface of the target area F1 to a uniform and flat state. Leveling work is a type of land preparation work among agricultural operations that prepares the field, which is the target area F1, and is an important operation for suppressing uneven growth caused by, for example, an uneven ground surface in a paddy field.

[0016] The work machine 12 performs work within the target area F1 as the body 11 of the work machine 10 moves through the target area F1. In this embodiment, as an example, the work machine 12 is a leveler that performs leveling work, and in particular is a laser leveler that can detect the height of the target area F1 by receiving laser light from a light emitter with a light receiver.

[0017] This type of work implement 12 includes a directly mounted work implement that is directly attached to the three-point linkage, and a towed work implement that is towed by the machine body 11. With a directly mounted work implement 12, the machine body 11 can move both forward and backward, whereas with a towed work implement 12, the machine body 11 can only move forward to prevent the connecting part from bending. In this embodiment, as an example, the work implement 12 is a directly mounted laser leveler that is detachably attached to the machine body 11 of the work machine 10. Here, the work implement 12 is attached to the rear side of the machine body 11 (opposite the direction of forward movement of the machine body 11). In other words, the (directly mounted) work implement 12 is connected to the rear side of the machine body 11 and performs work while moving forward with the machine body 11 when the machine body 11 moves forward. In this embodiment, the work implement 12 is included as a component of the work machine 10, but since the work implement 12 is detachable from the machine body 11, it does not have to be included as a component of the work machine 10.

[0018] In this disclosure, "working machine" means a machine that performs various tasks in a target area F1 such as a field, and as an example, agricultural machinery such as a tractor, seeder, rice transplanter, sprayer, sprayer, transplanter, and harvester. Working machine 10 may be, for example, construction machinery. In this embodiment, unless otherwise specified, the description will be given using the example that working machine 10 is a tractor equipped with a laser leveler as work implement 2. That is, working machine 10 is constructed by connecting a (directly mounted) laser leveler as work implement 12 to a tractor as the machine body 11. With this working machine 10, leveling work is possible to level the ground surface of the target area F1 by having the machine body 11 travel over the target area F1 such as a field.

[0019] Thus, in this embodiment, the aircraft 11 is a vehicle that moves by traveling through the target area F1, and therefore the work machine 10 constitutes a "work vehicle". However, the work machine 10 is not limited to a work vehicle, and may be, for example, a drone or multicopter for spraying pesticides or fertilizer, or other work flying object.

[0020] Furthermore, in this embodiment, as an example, the work machine 10 is an automated machine that can be operated by autonomous driving (autonomous driving and autonomous work) while still being capable of carrying a person (operator). However, it is not limited to this, and the work machine 10 may be an unmanned machine that operates by autonomous driving, or it may be operated by a person (operator) (including remote operation).

[0021] In this disclosure, the "target area" refers to an area where the work machine 10 moves and performs various operations such as leveling, sowing, fertilizing, pesticide spraying, planting (rice planting), or harvesting, and includes paddy fields, dry fields, orchards, and pastures. For example, if the target area F1 is a paddy field or dry field where crops (agricultural products) such as rice, wheat, soybeans, or buckwheat are grown, the crops grown in the target area F1 are agricultural products. Furthermore, if trees are grown in a nursery, the nursery becomes the target area F1, and if trees that will become timber are grown in a forest, as in forestry, the forest becomes the target area F1. In this case, the crops grown in the target area F1 are trees or shrubs. In this embodiment, unless otherwise specified, the work machine 10 is used for leveling work in a field (target area F1), and the explanation will be given using the example where the target area F1 is a paddy field for growing rice. Furthermore, the target area F1 is not limited to fields; for example, if the work machine 10 is a construction machine, then the site where the construction machine performs its work becomes the target area F1.

[0022] Furthermore, the work machine 10 can move automatically not only within the target area F1 (in this case, the field) but also on roads such as off-field routes outside the target area F1. Based on the positional information of the work machine 10's current position, which is determined by the positioning device 16 (see Figure 2), the work machine 10 is configured to automatically travel along pre-set target routes (including off-field routes) both within and outside the target area F1. Off-field routes are, for example, inter-field connecting roads that connect multiple target areas F1 (fields). Inter-field connecting roads may be farm roads, forest roads, public roads, private roads, or automobile roads, and may be roads exclusively for the work machine 10 or roads that are accessible to general vehicles (passenger cars, etc.).

[0023] [2] Configuration of the work machine Next, the configuration of the work machine 10 according to this embodiment will be described in detail with reference to Figures 1 and 2.

[0024] In this embodiment, for the sake of explanation, the vertical direction when the work machine 10 is in a usable state is defined as the up-down direction D1. The forward-backward direction D2 and the left-right direction D3 (see Figure 3) are defined based on the direction as seen from the person (operator) sitting in the machine body 11 (or its driver's unit 111) of the work machine 10. The left side of the left-right direction D3 refers to the left side when the machine body 11 is moving forward, and the right side of the left-right direction D3 refers to the right side when the machine body 11 is moving forward. However, these directions are not intended to limit the direction of use (direction during use) of the work machine 10.

[0025] As shown in Figure 2, the work machine 10 includes a main body 11 and a work machine 12, as well as a control device 13, a traveling device 14, a detection device 15, a positioning device 16, and a communication device 17. The control device 13, traveling device 14, detection device 15, positioning device 16, and communication device 17 are all mounted on the main body 11.

[0026] The machine body 11 has a driver's compartment 111 (see Figure 1) on which a person (operator) can board. The driver's compartment 111 is equipped with a steering device, a transmission, and control devices. The steering device, transmission, and control devices are control units operated by the operator or the control device 13. Therefore, the work machine 10 can be operated both manually by the operator and automatically by the control device 13. In addition, as described above, the work implement 12 is detachably connected to the rear of the machine body 11. It is also possible to connect a device other than the work implement 12 to the machine body 11.

[0027] In this embodiment, the implement 12 is a directly mounted laser leveler, so leveling work can be performed on the field, which is the target area F1, when the machine body 11 is moving forward. The implement 12 has a variable relative position (relative height) in the vertical direction D1 with respect to the machine body 11. As a result, the height of the implement 12 is variable when the field surface, which is the ground surface of the target area F1, is used as a reference, and by adjusting the height of the implement 12, the height of the target surface for leveling work can be adjusted. The implement 12, which consists of a laser leveler, changes its height by automatic control based on the laser beam from the emitter, scraping soil from higher areas (raised areas) on the ground surface and carrying it to lower areas, thereby leveling the target area F1.

[0028] As shown in Figure 1, the running gear 14 includes front wheels 141, rear wheels 142, and a power source (engine and / or motor, etc.). For example, there are two pairs of front wheels 141 and two pairs of rear wheels 142, one on the left and one on the right. The running gear 14 can move the machine body 11 by driving the rear wheels 142 with power generated by the power source. Here, the front wheels 141 function as steering wheels, enabling turning in the left-right direction D3. As a result, the machine body 11 can move within the target area F1 in the front-rear direction D2 and the left-right direction D3. For example, the work machine 10 performs leveling work in the target area F1 while moving in a meandering manner within the target area F1 using the running gear 14.

[0029] In this embodiment, assuming travel through a muddy target area F1 (field), the running gear 14 is a half-crawler type, employing conventional wheels for the front wheels 141 and crawler tracks for the rear wheels 142, which serve as the drive wheels. Compared to a wheeled vehicle body that uses conventional wheels as drive wheels, the half-crawler type running gear 14 can transmit driving force to the ground over a larger contact area, and can exhibit sufficient off-road capability even in relatively muddy target area F1. However, the running gear 14 is not limited to a half-crawler type; for example, it may be a wheeled type or a crawler type.

[0030] At least during autonomous driving, the driving system 14 operates according to the operations of the control device 13, such as the steering system, transmission system, and operating device described above. For example, in the driving system 14, the angle of the front wheels 141 is changed by a hydraulic power steering mechanism or the like in response to the operation of the steering system by the control device 13, and the direction of travel of the vehicle 11 is changed. Also, in response to the operation of the transmission system by the control device 13, the gears of the transmission are switched to forward gear or reverse gear, and the driving mode of the vehicle 11 is switched to forward or reverse. Furthermore, the control device 13 controls the rotational speed of the power source by operating the accelerator or brake of the operating device, and brakes the front wheels 141 and rear wheels 142 using electromagnetic brakes.

[0031] The detection device 15 detects obstacles in the detection area. The detection device 15 includes an obstacle sensor and a detection processing unit. The obstacle sensor may include various sensors such as a camera (image sensor), sonar sensor, human presence sensor, radar, or LiDAR (Light Detection and Ranging). The obstacle sensor may be a 3D sensor that measures the distance to an object (obstacle) using the TOF (Time Of Flight) method, which measures the distance to the distance measurement point based on the round-trip time it takes for light or sound to reach the distance measurement point and return. The detection processing unit detects obstacles based on the measurement information obtained from the obstacle sensor. Here, the detection processing unit may only detect the presence or absence of obstacles, or it may detect the position, shape, number, or attributes (including type, etc.) of the obstacles.

[0032] The detection results from the detection device 15 are output to the control device 13. When the detection device 15 detects an obstacle during the automatic operation of the work machine 10, the control device 13 outputs an alarm (including notification by sound and / or light) and controls the travel device 14 to perform obstacle avoidance processing (including detour, deceleration, or stopping). Furthermore, the control device 13 may output the location information of the obstacle and the execution history of the avoidance processing to the terminal device 20 and display them on the terminal device 20.

[0033] The positioning device 16 determines the current position (latitude, longitude, and altitude, etc.) of the aircraft 11. Specifically, the positioning device 16 calculates the current position (latitude and longitude) of the aircraft 11 using a satellite positioning system such as GNSS (Global Navigation Satellite System). In other words, the positioning device 16 has a positioning antenna that receives positioning signals from satellites and calculates the current position based on the positioning signals. Furthermore, the positioning device 16 includes an inertial sensor and can also detect the attitude of the aircraft 11, such as its current bearing.

[0034] Furthermore, the positioning device 16 may detect the current position with relatively high accuracy, such as RTK (Real Time Kinematic) positioning, by using correction information corresponding to a base station (reference station) close to the work machine 10 to calculate the current position of the work machine 10. The current position of the aircraft 11 may be the same as the positioning position (position of the positioning antenna), or it may be a position shifted from the positioning position, such as the center position of the aircraft 11 in a plan view. For example, a mobile phone terminal, smartphone, or tablet terminal may be used as the positioning device 16.

[0035] The communication device 17 is a communication interface for connecting the work machine 10 (control device 13 and positioning device 16, etc.) to an external device by wire or wireless connection, and for performing data communication with the external device in accordance with a predetermined communication protocol. In this embodiment, the communication device 17 can communicate with at least an external device, the terminal device 20, via the communication network N1. Furthermore, the communication device 17 can connect to the communication network N1 at least wirelessly, and even though the work machine 10 is moving (traveling) within the target area F1, it can communicate with the terminal device 20 at any time. For example, a mobile phone terminal, smartphone, or tablet terminal may be used as the communication device 17.

[0036] The control device 13 primarily consists of a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory), and performs various processes (information processing). In this embodiment, since the control device 13 primarily consists of a computer system having one or more processors, the control device 13 is realized when one or more processors execute a control program for the work machine. In this embodiment, the control device 13 is an integrated controller that controls the entire work machine 10, and consists of, for example, an electronic control unit (ECU). However, the control device 13 may be provided separately from the integrated controller.

[0037] The control device 13 is configured to communicate with devices provided on various parts of the machine body 11. In other words, the control device 13 is electrically connected to the work machine 12, the travel device 14, the detection device 15, the positioning device 16, and the communication device 17, etc. As a result, the control device 13 can control the work machine 12 and the travel device 14, etc., and acquire the detection results of the detection device 15 and the positioning device 16. Here, the control device 13 may exchange various types of information (data) directly with each device, or it may do so indirectly via a relay or the like.

[0038] In this embodiment, the control device 13 includes a control processing unit 131 and a storage unit 132, as shown in Figure 2.

[0039] The control processing unit 131 has the function of controlling each part of the work machine 10, such as the traveling device 14 and the work implement 12. For example, the control processing unit 131 controls the traveling device 14 based on the current position of the work machine 10 calculated by the positioning device 16 and a preset target path, thereby enabling the work machine 10 to travel autonomously. Furthermore, the control processing unit 131 controls the work implement 12 based on the current position of the work machine 10 calculated by the positioning device 16 and a preset target path, thereby enabling the work machine 10 to perform autonomous work (leveling work in this embodiment) at appropriate positions along the target path.

[0040] Specifically, when the control processing unit 131 receives a start command from the terminal device 20, it starts the automatic operation (autonomous driving and autonomous work) of the work machine 10. For example, when an operator operates the start button on the operation screen of the terminal device 20, the terminal device 20 outputs a start command to the work machine 10. As a result, for example, the work machine 10 starts autonomous driving within the target area F1 according to the target path R1 (see Figure 3) and performs autonomous work (leveling work in this embodiment) using the work machine 12.

[0041] The target route R1 for automatically operating the work machine 10 is generated, for example, in the terminal device 20. That is, the work machine 10 obtains route data corresponding to the target route R1 from the terminal device 20 and performs automatic operation according to the target route R1.

[0042] Furthermore, when the control processing unit 131 receives a stop command from the terminal device 20, it stops the automatic operation (autonomous driving and autonomous work) of the work machine 10. For example, when an operator operates the stop button on the operation screen of the terminal device 20, the terminal device 20 outputs a stop command to the work machine 10.

[0043] As another example, the work machine 10 may be driven by the operator's manual steering. For example, the operator may ride in the work machine 10 and drive it by manual steering while confirming the target path R1.

[0044] The memory unit 132 is a non-volatile memory that stores various data such as control programs for the work machine and target path information related to the target path R1. In other words, the control processing unit 131 can make the traveling device 14 perform autonomous driving along the target path R1 based on the target path information stored in the memory unit 132.

[0045] In addition to the above-described configuration, the work machine 10 is further equipped with a battery, fuel tank, display device, and various sensors. The battery supplies power to operate various parts of the work machine 10, such as the control device 13. In particular, electronic devices such as the control device 13, detection device 15, positioning device 16, and communication device 17 operate using power supplied from the battery, allowing them to operate even when the power source (engine) of the travel device 14 is stopped. The display device is a user interface for presenting information to the user (operator), such as a liquid crystal display or organic EL display that displays various types of information.

[0046] [3] Configuration of terminal device Next, the configuration of the terminal device 20 according to this embodiment will be described in detail with reference to Figures 1 and 2.

[0047] In this embodiment, the terminal device 20 is capable of communicating with the work machine 10 as described above, and together with the control device 13 of the work machine 10, constitutes the control system 1. In other words, the components of the control system 1 are distributed and provided in at least the work machine 10 and the terminal device 20. However, the configuration is not limited to this, and for example, the functions of the control device 13 may be provided in the terminal device 20, in which case the components of the control system 1 will be realized by the terminal device 20 alone.

[0048] In this embodiment, as an example, the terminal device 20 is composed of a general-purpose terminal such as a tablet terminal, smartphone, or laptop computer. As shown in Figure 2, the terminal device 20 includes an information processing unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. Furthermore, the terminal device 20 also includes an audio output unit that outputs sound (including voice) to the user (operator), and a battery, etc.

[0049] The information processing unit 21 primarily consists of a computer system having one or more processors such as a CPU and one or more memories such as ROM and RAM, and performs various processes (information processing). In this embodiment, since the information processing unit 21 primarily consists of a computer system having one or more processors, the information processing unit 21 is realized when one or more processors execute a control program for the work machine. In other words, the control system 1 is realized through the cooperation of the control device 13 and the terminal device 20, as one or more processors of the control device 13 and one or more processors of the information processing unit 21 each execute a control program for the work machine.

[0050] The information processing unit 21 is configured to communicate with each part of the terminal device 20 (storage unit 22, operation display unit 23, and communication unit 24). In other words, the information processing unit 21 is electrically connected to the storage unit 22, operation display unit 23, and communication unit 24. This allows the information processing unit 21 to read and write information to the storage unit 22, control the display of the operation display unit 23, and acquire operation inputs for the operation display unit 23. Here, the information processing unit 21 may exchange various types of information (data) directly with each part, or indirectly via a relay or the like.

[0051] Such a terminal device 20 is a user interface for receiving operation input from a user (operator) and outputting various information to the user. For example, the terminal device 20 accepts various operations from the user by outputting electrical signals corresponding to the user's operations to the operation display unit 23. Furthermore, the terminal device 20 outputs various information to the user by displaying various screens on the operation display unit 23. In this disclosure, "screen" means an image (video) displayed on the operation display unit 23 of the terminal device 20, and includes illustrations, figures, photographs, text, and videos. The screens displayed on the terminal device 20 include not only still images but also images (videos) that change moment by moment.

[0052] The storage unit 22 is a non-volatile memory that stores various data such as control programs for work machines and target path information related to the target path R1. Furthermore, the storage unit 22 can store various data such as work machine information, work vehicle information, field information, and work information. Work machine information is information about work machines 12 attached to the machine body 11, and includes information such as the type of work machine 12 (e.g., direct-mount laser leveler / towed laser leveler, seeder or sprayer, etc.), identification information, model name, type and size (dimensions). Work vehicle information is information about the machine body 11 (vehicle body) of the work machine 10, and includes information such as the type of machine body 11 (e.g., half-crawler type / wheel type, etc.), identification information, model name, type and size (dimensions). Field information refers to information about the field designated as the target area F1, and includes information such as field identification information, field name, location, shape, size, work start position (travel start position) where work begins, work end position (travel end position) where work ends, and work direction. Work information refers to information about the work performed by the work machine 10, and includes information such as the type of work (e.g., leveling the water level, leveling the slope, sowing or spraying), and how the work is specifically performed. Furthermore, the work information may also include information such as whether or not there is coordinated work by the work machine 10, the number of skips which is the number of work paths skipped when the work machine 10 turns in the headland, the width of the headland, and the width of the uncultivated land.

[0053] The information stored in the memory unit 22 (target route information, implement information, work vehicle information, field information, and work information, etc.) is set (registered) by user (operator) input to the operation display unit 23 or by acquisition from the work machine 10. For example, the type of implement 12 in the implement information may be specified by the user by operating the operation display unit 23, or the work machine 10 may automatically identify the implement 12 attached to the machine body 11 and transmit it to the terminal device 20. The terminal device 20 may also acquire this information from external devices other than the work machine 10 (e.g., a server, external storage medium, or other terminal device).

[0054] The operation display unit 23 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, mouse, keyboard, mechanical switch, or encoder that accepts operations. For example, an operator can set (register) various information by operating the operation unit of the operation display unit 23 on the operation screen displayed on the display unit of the operation display unit 23. For example, an operator can set automatic driving information (including target route information) related to the automatic driving of the work machine 10 (including autonomous driving and autonomous work).

[0055] Furthermore, the operation display unit 23 displays the progress of the work in the target area F1, as well as the operating status of the work machine 10, including the target path R1, the (actual) movement trajectory, the current position, and the movement speed, thereby enabling remote monitoring of the work machine 10 during automatic operation by the operator. In addition, the operation display unit 23 can receive instructions from the operator to start or stop the work machine 10. The terminal device 20 can remotely control the work machine 10 by transmitting these instructions to the work machine 10. Therefore, remote operation of the work machine 10 by the operator becomes possible.

[0056] The communication unit 24 is a communication interface for connecting the terminal device 20 to the work machine 10 by wire or wireless connection and for performing data communication with the work machine 10 in accordance with a predetermined communication protocol. In this embodiment, the communication unit 24 can communicate with at least the work machine 10 (its communication device 17) via the communication network N1. Furthermore, since the communication unit 24 can connect to the communication network N1 at least wirelessly, it is possible to communicate with the work machine 10 at any time, even when the communication unit 24 is located at a sufficiently distant location from the work machine 10.

[0057] In this embodiment, as shown in Figure 2, the information processing unit 21 includes a count setting processing unit 211, a configuration setting processing unit 212, a route generation processing unit 213, a registration processing unit 214, and an output processing unit 215. In this embodiment, as an example, the information processing unit 21 mainly consists of a computer system having one or more processors, so these multiple functional units (count setting processing unit 211, etc.) are realized by one or more processors executing a control program for a work machine. These multiple functional units included in the information processing unit 21 may be distributed across multiple housings or may be provided in a single housing.

[0058] The count setting processing unit 211 executes a count setting process to set the number of operations. Here, "number of operations" refers to the number of times the work machine 10 performs an operation on the same location within the target area F1. The number of operations is basically set as an integer of 1 or more. For example, if the number of operations for the entire target area F1 is "1," the work machine 10 will perform an operation on the entire target area F1 once, so that the work machine 12 in the working state passes through the entire target area F1 evenly once. For example, if the number of operations for the entire target area F1 is "2," the work machine 10 will repeat the operation on the entire target area F1 twice, so that the work machine 12 in the working state passes through the entire target area F1 twice evenly. In other words, if the number of operations is set to 2 or more (multiple times), the work machine 10 will repeatedly perform an operation on the same location within the target area F1.

[0059] Here, setting the number of operations is achieved by specifying or determining the number of operations by some means. In other words, "setting" here includes not only specifying by the user (operator) but also specifying by a computer or the like. In this embodiment, as an example, the operation count setting processing unit 211 stores (registers) the set number of operations in the storage unit 22. In other words, the number of operations stored in the storage unit 22 is the number of operations set by the operation count setting processing unit 211.

[0060] In this embodiment, as an example, the number of operations is set according to the work accuracy. In this disclosure, "work accuracy" refers to the accuracy of the work finish required for the work performed by the work machine 10. For example, in the case of leveling work, the flatness of the target area F1 corresponds to the work accuracy. For example, the higher the work accuracy, the higher the required accuracy of the work finish, so the number of operations is set to be higher. Therefore, if the flatness required for leveling work is high, the number of operations tends to be higher, and if the flatness required for leveling work is low, the number of operations tends to be lower. As a result, it is possible to set the number of operations appropriate to the work accuracy. As another example, the number of operations may be set according to field information, etc. In this case, for example, if it is a "consolidated field" where multiple fields have been merged into one, the number of operations tends to be higher.

[0061] In this embodiment, the count setting processing unit 211 is configured to automatically set the number of operations according to predetermined rules. That is, the count setting processing unit 211 can automatically set the number of operations according to predetermined rules without the user (operator) having to directly specify the number of operations. For example, if the number of operations is set according to the work accuracy as described above, the count setting processing unit 211 will automatically set the number of operations according to the work accuracy, according to predetermined rules that define the correspondence between work accuracy and the number of operations, so that the number of operations increases as the work accuracy increases. In this case, the user only needs to specify the work accuracy, and the number of operations appropriate for that work accuracy will be automatically set, saving the user the trouble of setting the number of operations.

[0062] Furthermore, in this embodiment, the count setting processing unit 211 is configured to set the number of operations according to the user's operation. That is, the count setting processing unit 211 can set the number of operations as the number of operations entered by the user (operator), for example, by operating the operation display unit 23. Therefore, for example, when the user is an expert, it is possible to set an appropriate number of operations by utilizing the user's experience. In addition, the work accuracy (flatness as an example) may be set according to the user's operation, and in this case, the count setting processing unit 211 may set the number of operations according to the set work accuracy.

[0063] Incidentally, when the work machine 10 performs work along two parallel work paths, the areas through which the work machine 12 passes may overlap between these two work paths to prevent any unworked areas from occurring between them. In this case, the work machine 12 will pass through the overlapping area twice while in operation. In this way, if only a portion of the work area (work site) where work has been performed by the work machine 12 (generally the ends in the left-right direction D3) overlaps, the number of operations is "1". In other words, the number of operations becomes "2" only when the work has been repeated twice over almost the entire work area (at least half or more) where work has been performed by the work machine 12.

[0064] However, the number of operations may include decimals. For example, if the degree of work (including intensity) is variable, the number of operations can be set to "1.5" by setting the degree of work for the second operation to half that of the first operation. Here, "degree of work" can refer to, for example, the degree of leveling performed in one operation (essentially the amount of soil moved) for leveling work, or the amount of soil spread in one operation for spreading work. Furthermore, non-operations may be set to a number of operations of "0". In other words, if the number of operations for a certain work path is set to "0", then no operations will be performed on that work path, and that work path will be skipped.

[0065] The mode setting processing unit 212 performs mode setting processing to set at least whether to permit or deny the first reverse movement. The first reverse movement is an operation to move the work machine 10 backward. Whether to permit or deny the first reverse movement, that is, whether to allow (allow) or deny the first reverse movement, is one of the movement modes, which is the mode of movement (driving) of the work machine 10 in the target area F1. In short, the mode setting processing unit 212 sets the movement mode (including whether to permit or deny the first reverse movement), which is the mode of movement of the work machine 10. If the mode setting processing unit 212 permits the first reverse movement, the work machine 10 can perform the first reverse movement to move the machine body 11 backward, for example in autonomous driving. On the other hand, if the mode setting processing unit 212 denies the first reverse movement, the work machine 10 cannot perform the first reverse movement to move the machine body 11 backward, for example in autonomous driving.

[0066] Here, the setting of the movement mode (including whether or not to allow the first reverse movement) is achieved by specifying or determining the movement mode by some means. In other words, "setting" here includes not only specifying by the user (operator) but also specifying by a computer or the like. In this embodiment, as an example, the mode setting processing unit 212 stores (registers) the set movement mode in the storage unit 22. In other words, the movement mode stored in the storage unit 22 is the movement mode set by the mode setting processing unit 212.

[0067] In this embodiment, as an example, whether or not the first reverse movement is permitted is set based on the work implement 12 or the type of work. That is, whether or not the first reverse movement is permitted is set according to the work implement 12 attached to the machine body 11. For example, whether or not the first reverse movement is permitted is set depending on whether the work implement 12 is directly mounted or towed, or whether or not the work implement 12 is a leveler, etc. As will be described in detail later, if the work implement 12 is towed, the first reverse movement is prohibited. In this embodiment, since the work implement 12 is a directly mounted laser leveler and not towed, the first reverse movement is permitted and not prohibited. In other words, if the work implement 12 is towed, it is basically preferable for the machine body 11 to only move forward so that the connecting part does not bend, whereas if the work implement 12 is directly mounted, work efficiency can be improved by allowing the first reverse movement. As a result, it is possible to set a movement mode suitable for the work implement 12.

[0068] In this embodiment, the mode setting processing unit 212 is configured to automatically set the movement mode according to predetermined rules. That is, the mode setting processing unit 212 can automatically set the movement mode according to predetermined rules even if the user (operator) does not directly specify the movement mode. For example, if the movement mode (whether or not to allow the first reverse movement) is set according to the work equipment 12 as described above, the mode setting processing unit 212 will automatically set the movement mode according to the work equipment 12 according to predetermined rules that define the correspondence between the work equipment 12 and the movement mode, such as prohibiting the first reverse movement if the work equipment 12 is towable. In particular, the user may specify what kind of work equipment 12 is attached to the machine body 11 by operating the operation display unit 23, but for example, the result of automatic determination by the work machine 10 may be transmitted to the terminal device 20. Therefore, for the user, all they have to do is specify the work equipment 12, or even not specify the work equipment 12 at all, and the movement mode suitable for this work equipment 12 will be automatically set, saving the user the trouble of setting the movement mode.

[0069] Furthermore, in this embodiment, the mode setting processing unit 212 is configured to set the movement mode according to user operation. That is, the mode setting processing unit 212 can set the movement mode directly based on the user's (operator's) input, for example, whether or not to allow the first reverse movement, by operating the operation display unit 23. Therefore, for example, when the user is an expert, it becomes possible to set an appropriate movement mode by utilizing the user's experience.

[0070] Here, the movement modes that can be set in the mode setting processing unit 212 include not only whether or not to allow the first reverse movement, but also whether or not to allow the second reverse movement. The second reverse movement is a temporary reverse movement of the aircraft 11 included in the turning path, and is not a reverse movement performed for the purpose of moving (advancing) the aircraft 11 backward.

[0071] Specifically, the turning method of the work machine 10 includes a type of turning method that allows the machine body 11 to turn in a limited space by switching between forward and reverse movement, such as the so-called "fishtail turn" or "straight back." For example, the turning path r14 shown in Figure 6 includes a first path r141 in which the machine body 11 moves forward while turning to the right, a second path r142 in which the machine body 11 moves straight backward, and a third path r143 in which the machine body 11 moves forward while turning to the right, thereby realizing a "fishtail turn" of the machine body 11. Temporary reverse movements of the machine body 11 included in such turning paths, such as the reverse movement of the machine body 11 when traveling along the second path r142 included in the turning path r14 in Figure 6, are for the purpose of changing direction and not for the purpose of moving the machine body 11 backward, and are therefore an example of a second reverse movement.

[0072] On the other hand, the work machine 10 can also move within the target area F1 by moving the machine body 11 backward. For example, in the case of the non-working path r12 shown in Figure 4, a reverse movement is achieved by moving the machine body 11 backward from the headland area on one end of the field, which is the target area F1, toward the headland area on the other end. Thus, the reverse movement of the machine body 11 when traveling along the non-working path r12 in Figure 6 is for the purpose of moving the machine body 11 backward, and is an example of a first reverse movement.

[0073] The route generation processing unit 213 executes a route generation process to generate a target route R1 for the work machine 10 to operate automatically (autonomously drive and perform autonomous work) in the target area F1. Here, the route generation processing unit 213 generates the target route R1 based on generation data, including work machine information, work vehicle information, field information, and work information, etc., stored in the storage unit 22. In other words, the route generation processing unit 213 generates the target route R1 based on work machine information, work vehicle information, field information, and work information, etc., which are set (registered) by, for example, user (operator) input to the operation display unit 23.

[0074] In this embodiment, the data to be generated includes the number of operations and the movement mode. That is, based on the number of operations set by the operation count setting processing unit 211 and the movement mode (including whether or not to allow the first reverse movement, etc.) set by the mode setting processing unit 212, the path generation processing unit 213 can generate the target path R1. The path generation processing unit 213 registers the generated target path R1 in association with the target area F1.

[0075] Specifically, the route generation processing unit 213 generates a target route R1 within the target area F1 based on the starting position P1 (see Figure 3) and ending position P2 (see Figure 3) included in the field information. For example, based on the generation data, the route generation processing unit 213 generates a target route R1 for moving the body 11 of the work machine 10 from the starting position P1 to the ending position P2 within the target area F1, as shown in Figures 3 and 4. In Figures 3 and 4, the front-rear direction D2 and the left-right direction D3 are directions relative to the orientation of the body 11 of the work machine 10 shown in Figures 3 and 4.

[0076] In the example shown in Figure 3, the target path R1 includes a work path r11 and a non-work path r12. The work path r11 is the path along which the work machine 10 travels (moves) while performing work with the work implement 12, and the non-work path r12 is the path along which the work machine 10 travels (moves) without performing work with the work implement 12. The target path R1 shown in Figure 3 is defined as the "first pattern" target path R1.

[0077] In the example in Figure 4, the target path R1 includes a work path r11, a non-work path r12, and a turning path r13. The work path r11 is the path along which the work machine 10 travels (moves) while performing work with the work implement 12, and the non-work path r12 is the path along which the work machine 10 travels (moves) without performing work with the work implement 12. The turning path r13 is the path along which the work machine 10 performs turning travel to change its direction of travel. Since the work machine 10 does not perform work with the work implement 12 while traveling (moving) along the turning path r13, the turning path r13 is a type of non-work path. The target path R1 shown in Figure 4 is defined as the "second pattern" target path R1.

[0078] The registration processing unit 214 executes a registration process to register implement information, work vehicle information, field information, and work information. In other words, the implement information, work vehicle information, field information, and work information used to generate the target route R1 are registered (set) by the registration processing unit 214, for example, through user (operator) input to the operation display unit 23.

[0079] The output processing unit 215 performs output processing, for example, to output the route data of the target route R1 to the work machine 10. That is, the route data for the target route R1 generated by the route generation processing unit 213 is output from the output processing unit 215 to, for example, the communication unit 24, and then transmitted from the communication unit 24 to the work machine 10.

[0080] For example, when starting work, the operator selects a field (target area F1), selects a task, confirms the target route R1, etc., and issues a work start command. When the operator issues a work start command, the output processing unit 215 transmits (outputs) the route data of the target route R1 generated by the route generation processing unit 213 to the work machine 10. When the work machine 10 receives the route data generated in the terminal device 20, it stores the route data in the storage unit 132. Then, the work machine 10 performs automatic driving (autonomous driving and autonomous work) based on the current position of the work machine 10 calculated by the positioning device 16 and the target route R1 identified in the route data.

[0081] Furthermore, the output processing unit 215 can output the generated target path R1 to the operation display unit 23, thereby displaying it on the operation display unit 23. The output of the output processing unit 215 is not limited to transmission to or display to the work machine 10 as described above, but may also be transmitted to other devices (such as user terminals), printed (printed out), written to a non-temporary recording medium, or output as audio.

[0082] The terminal device 20 may be able to access the website (agricultural support site) of the agricultural support service provided by the server via the communication network N1. In this case, the terminal device 20 can function as an operating terminal for the server by having a browser program executed by the information processing unit 21. The server then has the above-mentioned processing units and executes each of them.

[0083] [3] Control method for working machinery The following describes an example of a control method (hereinafter simply referred to as "control method") for the work machine 10, which is mainly performed by the control system 1 (control device 13 and terminal device 20), with reference to Figures 3 to 19.

[0084] The control method according to this embodiment is executed by a control system 1, which mainly consists of a computer system; in other words, it is embodied in a control program for a work machine (hereinafter simply referred to as the "control program"). That is, the control program according to this embodiment is a computer program that causes one or more processors to execute each process related to the control method.

[0085] Here, the control system 1 executes the following various processes related to the control method when a specific pre-set start operation is performed to run the control program. The start operation is, for example, the operation to start the application program (control program for the work machine) on the terminal device 20. On the other hand, the control system 1 terminates the following various processes related to the control method when a specific pre-set end operation is performed. The end operation is, for example, the operation to terminate the application program (control program for the work machine) on the terminal device 20.

[0086] Furthermore, in the diagrams representing the target path R1, such as Figures 3 to 11, the path along which the work machine 10 performs work (work path r11) is shown as a solid line, and the paths along which the work machine 10 does not perform work (non-work path r12 and turning path r13, etc.) are shown as dotted lines. In the diagrams representing the target path R1, such as Figures 3 to 11, the target path R1 (and the work machine 10) generated for the target area F1 in a plan view is schematically represented.

[0087] Furthermore, in the diagrams representing the target path R1, such as Figures 4-7 and Figure 11, two paths shown in close proximity to each other actually represent paths located at the same position in the target area F1. For example, in Figure 4, the non-work path r12 is shown shifted to the right of the work path r11, but in reality, it is generated on the work path r11. Therefore, the work machine 10 moves forward along the work path r11, and then moves in the opposite direction (i.e., backward) along the non-work path r12, thereby performing a reciprocal motion by switching between forward and reverse along the same straight line. Similarly, for example, in Figure 3, the non-work path r12 extending from the end of the last column (rightmost in the figure) of the work path r11 to the end of travel position P2 may be generated on the work path r11. In this case, the work machine 10 moves forward along the final work path r11, and then moves in the opposite direction along the work path r11 (i.e., in reverse) along the non-work path r12, thereby performing a reciprocating motion by switching between forward and reverse along the same straight line.

[0088] Furthermore, in the following, we assume that the target area F1 is a rectangular field in plan view, and that of the outer perimeter of the target area F1, one short side is designated as "first side f11", the other short side as "second side f12", one long side as "third side f13", and the other long side as "fourth side f14". Then, in the target area F1, the starting position P1 is located near the corner between the first side f11 and the third side f13, and the ending position P2 is located near the corner between the second side f12 and the third side f13.

[0089] [3.1] Target path First, the target path R1 generated for a target area F1 consisting of a field by the control system 1 according to this embodiment will be explained. As mentioned above, the target path R1 shown in Figure 3 is the "first pattern" target path R1, and the target path R1 shown in Figure 4 is the "second pattern" target path R1. Figure 5 is a schematic diagram showing the main parts of the "second pattern" target path R1. Furthermore, Figure 6 shows the "third pattern" and the "fourth pattern" target paths R1, respectively.

[0090] The route generation processing unit 213 can generate one of these multiple target route R1 patterns based on the movement pattern set by the pattern setting processing unit 212, or other generation data (including work equipment information, work vehicle information, field information, and work information, etc.). Alternatively, the route generation processing unit 213 may generate two or more target route R1 patterns from these multiple target route R1 patterns. In this case, the user (operator) selects one of the target route R1 patterns from the two or more target route R1 patterns displayed on the operation display unit 23, for example.

[0091] The first pattern's target path R1 includes multiple work paths r11 that extend from one long side (third side f13) of the target area F1 to the other long side (fourth side f14), as shown in Figure 3. That is, in the target path R1 illustrated in Figure 3, a work path r11 is arranged extending upward in the figure from a starting position P1 set in the lower left corner of the figure, and furthermore, multiple work paths r11 parallel to (along) this work path r11 are arranged at regular intervals to the right in the figure. Here, adjacent pairs of work paths r11 are connected by a non-work path r12 that connects the end of one work path r11 on the first side f11 (upper end in the figure) to the beginning of the other work path r11 on the second side f12 (lower end in the figure). Then, from the end of the work path r11 in the last column (rightmost in the figure) of the target area F1 (upper end in the figure), a non-work path r12 is positioned toward the travel end position P2, which is set in the lower right corner of the figure.

[0092] Here, the multiple work paths r11 are all linear paths along which the work machine 10 moves forward while performing work with the work machine 12. The spacing between adjacent work paths r11 is set based on the width dimension D3 in the left-right direction of the work machine 12, and by the work machine 10 traveling along the multiple work paths r11, leveling work is performed over almost the entire area of ​​the target area F1 (excluding the headland area which forms the outer perimeter). On the other hand, the multiple non-work paths r12 are all non-linear paths along which the work machine 10 moves backward (first backward movement) without performing work with the work machine 12. That is, the work machine 10 moves from the first side f11 to the second side f12 while automatically driving along the target path R1 shown in Figure 3, reciprocating between the third side f13 and the fourth side f14.

[0093] More specifically, a non-working path r12 connecting one work path r11 to another work path r11 includes a path in which the machine 11 moves forward a short distance from the end of the first work path r11, a path in which the machine 11 moves backward while turning to the right, a path in which the machine 11 moves straight backward along the work path r11, a path in which the machine 11 moves backward while turning to the right, and a path in which the machine 11 moves forward towards the beginning of the next (other) work path r11. Similarly, a non-working path r12 extending from the last column (rightmost in the figure) work path r11 includes a path in which the machine 11 moves forward a short distance from the end of that work path r11, a path in which the machine 11 moves backward while turning to the right, and a path in which the machine 11 moves straight backward along the work path r11 towards the end of travel position P2. As a result, when the work machine 10 moves straight backward on the non-work path r12, it will travel on the right side of the work path r11. Consequently, when the work machine 10 travels along the work path r11 and performs leveling work, it is possible to trample the ridge-shaped soil that overflows to the right side of the work machine 12 with the travel device 14 when moving backward on the non-work path r12, thereby leveling the ridge-shaped soil. Furthermore, when the work machine 10 performs a reverse movement (first reverse movement) on the non-work path r12, it may lightly touch the work machine 12 to the ground to level the ridge-shaped soil.

[0094] The second pattern of target path R1 includes multiple work paths r11 that extend from one long side (third side f13) of the target area F1 to the other long side (fourth side f14), as shown in Figure 4. That is, in the target path R1 illustrated in Figure 4, a work path r11 is arranged extending upward in the figure from a travel start position P1 set in the lower left corner of the figure, and furthermore, multiple work paths r11 parallel to (along) this work path r11 are arranged at regular intervals to the right in the figure. Here, adjacent pairs of work paths r11 are connected by non-work paths r12 and turning paths r13.

[0095] Specifically, the non-working path r12 is a path that extends from the end (upper end in the figure) of one of the pair of adjacent working paths r11, which is on the first side f11, towards the beginning (lower end in the figure) of that working path r11. The turning path r13 connects the end (lower end in the figure) of the non-working path r12 to the beginning (lower end in the figure) of the other working path r11, which is on the second side f12 of the pair of adjacent working paths r11, and is a path that causes the working machine 10 to turn. Furthermore, from the end (upper end in the figure) of the working path r11 in the last row (right end in the figure) of the target area F1, the non-working path r12 is arranged to extend along that working path r11 to the travel end position P2 set in the lower right corner of the figure.

[0096] Here, the multiple work paths r11 are all straight paths along which the work machine 10 moves forward while performing work with the work machine 12. The spacing between adjacent work paths r11 is set based on the width dimension D3 in the left-right direction of the work machine 12, and by the work machine 10 traveling along the multiple work paths r11, leveling work is performed over almost the entire area of ​​the target area F1 (excluding the headland area which forms the outer perimeter). On the other hand, the multiple non-work paths r12 are all straight paths along which the work machine 10 moves backward (first backward movement) without performing work with the work machine 12. The multiple non-work paths r12 are each set to be in the same straight line as the multiple work paths r11, and after the work machine 10 moves forward along each work path r11, it moves in the opposite direction along the non-work path r12 (i.e., moves backward). In other words, the work machine 10 will automatically operate along the target path R1 shown in Figure 4, moving back and forth between the third side f13 and the fourth side f14, and moving from the first side f11 towards the second side f12.

[0097] As shown in Figure 5, the turning path r13 of the second pattern target path R1 includes a first path r131 in which the machine 11 moves backward while turning, and a second path r132 in which the machine 11 moves forward while turning. With this turning path r13 which involves changing the direction of travel of the machine 11, the work machine 10 can move between adjacent work paths r11 even in a relatively narrow space in the headland area along the third side f13 and the fourth side f14.

[0098] Furthermore, as shown in Figure 5, near the travel start position P1 and near the travel end position P2, it is preferable that the turning direction in the turning path r13 be opposite to the outer edge of the target area F1 (first side f11 and second side f12). In other words, in the turning path r13 that connects to the non-working path r12 of the first row (leftmost in the figure) adjacent to the first side f11, it is preferable to turn the machine 11 toward the opposite side of the first side f11 (to the right in the figure). In the turning path r13 that connects to the working path r11 of the last row (rightmost in the figure) adjacent to the second side f12, it is preferable to turn the machine 11 toward the opposite side of the second side f12 (to the left in the figure). With such a turning path r13, the machine 11 can turn even in a relatively narrow space in the headland area along the first side f11 and second side f12.

[0099] The third pattern of target path R1 includes multiple work paths r11 that extend from one long side (third side f13) to the other long side (fourth side f14) of the target area F1, as shown on the left side of Figure 6. In other words, in the third pattern of target path R1, a work path r11 is arranged that extends upward in the figure from the starting position P1 set in the lower left corner of the figure, and furthermore, multiple work paths r11 that run parallel to (along with) this work path r11 are arranged at regular intervals to the right of the figure. Here, adjacent pairs of work paths r11 are connected by a turning path r14, a non-working path r12, and a turning path r15.

[0100] Specifically, the turning path r14 is a path that connects the end of one of the pair of adjacent work paths r11, which is on the first side f11 (upper end in the figure), to the start of the non-work path r12 (upper end in the figure), and rotates the work machine 10. The non-work path r12 is a path that extends from the end of the turning path r14 along the work path r11 toward the start of that work path r11 (lower end in the figure). The turning path r15 is a path that connects the end of the non-work path r12 (lower end in the figure) to the start of the other work path r11, which is on the second side f12 (lower end in the figure), and rotates the work machine 10.

[0101] Here, the multiple work paths r11 are all straight paths along which the work machine 10 moves forward while performing work on the work machine 12. The spacing between adjacent work paths r11 is set based on the width dimension D3 in the left-right direction of the work machine 12, and by the work machine 10 traveling along the multiple work paths r11, leveling work is performed over almost the entire area of ​​the target area F1 (excluding the headland area which forms the outer perimeter). The turning path r14, as described above, includes the first path r141, the second path r142, and the third path r143, and reverses the direction of the machine 11 by performing a "fishtail turn" of the machine 11.

[0102] The multiple non-working paths r12 are all straight paths through which the work machine 10 moves forward without performing any work on the work machine 12. The multiple non-working paths r12 are each set to be in the same straight line as the multiple working paths r11, and after moving forward along each working path r11, the work machine 10 reverses the direction of the machine body 11 in the turning path r14, and then moves forward along the working path r11 in the opposite direction along the non-working path r12. The turning path r15 of the third pattern's target path R1 includes, as shown in Figure 6, a first path r151 through which the machine body 11 moves forward while turning to the left, a second path r152 through which the machine body 11 moves straight backward, and a third path r153 through which the machine body 11 moves forward while turning to the left, thereby realizing a "fishtail turn" for the machine body 11. Since the work machine 10 does not perform any work with the work machine 12 while traveling (moving) along the turning paths r14 and r15, the turning paths r14 and r15 are a type of non-working path.

[0103] In other words, the work machine 10 will automatically operate along the target path R1 shown in Figure 6, moving back and forth between the third side f13 and the fourth side f14, and moving from the first side f11 towards the second side f12. Furthermore, with the turning paths r14 and r15, which involve reversing the direction of travel of the machine body 11, the work machine 10 can turn even in a relatively narrow space in the headland area along the third side f13 and the fourth side f14. However, especially in the turning path r15, if there is sufficient space between adjacent work paths r11, a "fishtail turn" is not mandatory, and a U-turn or the like without reversing the direction of travel of the machine body 11 may be applied.

[0104] The target path R1 of the fourth pattern includes multiple work paths r11 that extend from one long side (third side f13) of the target area F1 to the other long side (fourth side f14), as shown on the right side of Figure 6. In other words, in the target path R1 of the third pattern, a work path r11 is arranged extending upward in the figure from the starting position P1 set in the lower left corner of the figure, and furthermore, multiple work paths r11 parallel to this work path r11 are arranged at regular intervals to the right in the figure. Here, adjacent pairs of work paths r11 are connected by a turning path r13 and a non-work path r12.

[0105] Specifically, the turning path r13 is a path that connects the end (upper end in the figure) of one of the pair of adjacent work paths r11 that is on the first side f11 side, to the beginning (upper end in the figure) of the non-working path r12, and rotates the work machine 10. The non-working path r12 is located at the same position as the other work path r11 that is on the second side f12 side of the pair of adjacent work paths r11, and is a path that extends from the end of the turning path r13 along the work path r11 toward the beginning (lower end in the figure) of the work path r11.

[0106] Here, the multiple work paths r11 are all straight paths along which the work machine 10 moves forward while performing work with the work machine 12. The spacing between adjacent work paths r11 is set based on the width dimension D3 in the left-right direction of the work machine 12, and by the work machine 10 traveling along the multiple work paths r11, leveling work is performed over almost the entire area of ​​the target area F1 (excluding the headland area which forms the outer perimeter). On the other hand, the multiple non-work paths r12 are all straight paths along which the work machine 10 moves backward (first backward movement) without performing work with the work machine 12. The multiple non-work paths r12 are each set to be in the same straight line as the multiple work paths r11, and after the work machine 10 moves forward along each work path r11, it moves in the opposite direction (i.e., backward movement) along the non-work path r12 on the next work path r11. In other words, the work machine 10 will automatically operate along the target path R1 shown in Figure 6, moving back and forth between the third side f13 and the fourth side f14, and moving from the first side f11 towards the second side f12.

[0107] The turning path r13 of the fourth pattern target path R1 includes a first path r131 in which the machine 11 moves forward while turning, and a second path r132 in which the machine 11 moves backward while turning, as shown in Figure 6. With this turning path r13 which involves changing the direction of travel of the machine 11, the work machine 10 can move between adjacent work paths r11 even in a relatively narrow space in the headland area along the third side f13 and the fourth side f14.

[0108] Regardless of which of the above-described target paths R1 the work machine 10 receives the path data for the target path R1 from the terminal device 20 and automatically operates along the target path R1. At this time, when the work machine 10 travels along the work path r11 shown by a solid line in the figure, it has the work machine 12 perform work, but when it travels along the non-work path r12 (or the turning paths r13, r14, r15) shown by a dotted line in the figure, it does not have the work machine 12 perform work. In this embodiment, since the work machine 12 is a directly mounted laser leveler, when the work machine 10 travels along the work path r11, it has the work machine 12 perform leveling work by positioning the work machine 12 at the work position, and when it travels along the non-work path r12 (or the turning paths r13, r14, r15), it raises the work machine 12 and positions it at the non-work position so that the work machine 12 does not perform leveling work. In other words, the route data includes not only information indicating the route the work machine 10 will take, but also operational information regarding the work content, such as whether or not work will be performed by the work machine 12.

[0109] As a result, while the work machine 10 autonomously travels along the target path R1 from the starting position P1 to the ending position P2, the work (leveling work in this embodiment) is performed once on almost the entire area of ​​the target region F1.

[0110] Furthermore, the operation information included in the route data may include the travel speed (vehicle speed) and / or engine speed of the travel device 14 when traveling along each path in the target route R1 (including the work route r11 and the non-work route r12, etc.). This makes it possible, for example, to change the travel speed (vehicle speed) and / or engine speed of the work machine 10 between the work route r11 and the non-work route r12. As an example, the travel speed (vehicle speed) of the work machine 10 when traveling along the work route r11 can be set to a lower speed compared to when traveling along the non-work route r12.

[0111] [3.2] Number of operations Next, the number of operations set in the control system 1 according to this embodiment will be explained with reference to Figures 7 to 11.

[0112] In this embodiment, the route generation processing unit 213 generates the target route R1 based on at least the number of operations set by the operation count setting processing unit 211, as described above. Therefore, the number of operations is basically reflected in the target route R1.

[0113] As an example, Figure 7 shows the target path R1 when the number of operations is set, based on the second pattern of target path R1. In the example in Figure 7, the number of operations for the operations r11 in the 1st, 2nd, and 4th columns from the 1st side f11 is set to "2 times", and the number of operations for the operations r11 in the 3rd column from the 1st side f11 is set to "1 time".

[0114] In this case, the control processing unit 131 moves the work machine 10 along the target path R1 within the target area F1 based on the number of operations. As a result, when the work machine 10 is operating automatically according to the target path R1, it will repeatedly travel along each work path r11 for each row for the number of operations set for each row. In other words, in the example in Figure 7, for each work path r11 of the 1st, 2nd, and 4th rows from the 1st side f11, the work machine 10 performs the leveling operation twice by moving forward along the work path r11 from the beginning to the end while performing the first leveling operation, moving backward along the non-work path r12, and then moving forward along the work path r11 from the beginning to the end while performing the second leveling operation. On the other hand, for the work path r11 of the 3rd row from the 1st side f11, the work machine 10 performs the leveling operation only once by moving forward along the work path r11 from the beginning to the end while performing the first leveling operation. Once the set number of operations for each row's work path r11 is completed, the work machine 10 moves to the starting point of the next row's work path r11 via the non-work path r12 and the turning path r13.

[0115] Thus, the control method for the work machine 10 according to this embodiment is a control method for a work machine 10 that moves within a target area F1 and performs work within the target area F1 using a work machine 12, and comprises setting the number of work operations, which is the number of times the work machine 10 performs work on the same location within the target area F1, and moving the work machine 10 within the target area F1 along a target path R1 based on the number of work operations.

[0116] Therefore, instead of trying to complete the work by the work machine 10 in a single autonomous run, it is possible to have the work machine 10 run autonomously multiple times as needed. For example, if the work machine 12 is a laser leveler, especially in areas with large height differences, repeating the work by the work machine 10 multiple times can suppress the work machine 12 from digging too deep, and thus reduce the load on the work machine 12. As a result, it is possible to provide a control method for the work machine 10 that makes it easier to avoid excessive load on the work machine 12.

[0117] In this embodiment, the work implement 12 is a leveler for leveling the target area F1. In this type of work implement 12, if the work implement 10 is forced to complete the work in a single autonomous run, the work implement 12 will dig too deep, especially in areas with large elevation differences, and the load on the work implement 12 tends to become excessive. The control method for the work implement 10 according to this embodiment is particularly useful for this type of work implement 12.

[0118] Furthermore, in this embodiment, the target path R1 includes multiple work paths r11 for the work machine 10 to move while performing work. The number of work cycles is set for each of the multiple work paths r11. In other words, since the number of work cycles can be set individually for each column of work path r11, it is possible to set different numbers of work cycles for each location within the target area F1. For example, in areas with large elevation differences, setting a higher number of work cycles allows for efficient leveling work across the entire target area F1 while keeping the load on the work machine 12 down. Moreover, even within a single work path r11, different numbers of work cycles may be set for each section. This makes it possible, for example, to set a higher number of work cycles for only a part of a certain work path r11.

[0119] Furthermore, the number of operations is not limited to being reflected in the target path R1, but may also be set in real time during the automatic operation of the work machine 10. For example, in this embodiment, if the work machine 12 is a laser leveler and the height of the work machine 12 is automatically controlled, the number of operations for the work path r11 may be set according to the amount of change in the height of the work machine 12 while moving from the start to the end of the work path r11. In other words, if the amount of change in the height of the work machine 12 is less than or equal to a predetermined amount, the leveling work for the work path r11 is considered complete, and the machine proceeds to the next work path r11. In this configuration, the work machine 10 will repeatedly perform the leveling work for the work path r11 until the amount of change in the height of the work machine 12 is less than or equal to a predetermined amount.

[0120] In other words, in the example in Figure 7, when the work machine 10 moves forward along the work path r11, the fourth column from the first side f11, while performing the second leveling operation, the count setting processing unit 211 monitors the amount of change in the height of the work machine 12 during that time. If the amount of change is less than or equal to a predetermined amount, the count setting processing unit 211 sets the number of operations for the work path r11 to "2," and the work machine 10 determines that it has completed the operations for that number of operations and moves on to the next work path r11. On the other hand, if the amount of change is greater than the predetermined amount, the count setting processing unit 211 increases the number of operations for the work path r11 by one to "3," and the work machine 10 repeats the leveling operation for the work path r11.

[0121] Thus, the count setting processing unit 211 may dynamically set the number of operations while the work machine 10 is actually performing the work, while monitoring the progress of the work. Here, the means for monitoring the progress of the work are not limited to the amount of change in the height of the work machine 12 as described above, but may also be, for example, the height difference of the work machine 12, the magnitude of the load on the work machine 10, or the condition of the target area F1 (leveling, etc.).

[0122] Furthermore, in the control method according to this embodiment, as shown in Figure 8, if the number of operations is set to two or more, it is also possible to start the next operation only after the first operation has been completed for the entire area to be worked on within the target area F1. Figure 8 illustrates the target path R1 of the first pattern. In this embodiment, it is possible to switch between a "whole mode" in which the next operation is started only after the first operation has been completed for the entire area to be worked on within the target area F1, and an "individual mode" in which the operation is repeated for the specified number of operations for each operation path r11 in each column.

[0123] In the overall mode, the target path R1 includes a return path r16 that extends from the end of travel position P2 towards the start of travel position P1. That is, for example, if the number of operations is set to "2" for multiple work paths r11, the work machine 10 first performs the first operation on all rows of work paths r11, and then returns to the start of travel position P1 from the end of travel position P2 via the return path r16. Since the work machine 10 does not perform any operations on the work machine 12 while traveling (moving) along the return path r16, the return path r16 is a type of non-work path. Then, the work machine 10 performs the second operation on all rows of work paths r11. As an example, the return path r16 consists of a path in which the machine body 11 is moved slightly backward from the end of travel position P2, and then moves forward while turning towards the start of travel position P1, as shown in Figure 8. The return path r16 is not limited to such a path; for example, as shown in Figure 9, it may consist only of a path in which the machine 11 moves forward while turning from the end position P2 to the start position P1.

[0124] Thus, in overall mode, the work machine 10 does not move to the next work path r11 only after completing the second operation on each work path r11 in each row; instead, it can perform operations on multiple work paths r11 in each operation. As a result, in overall mode, the total length of the target path R1 can be kept shorter compared to individual mode, and a reduction in working time can be expected.

[0125] Furthermore, the control method according to this embodiment further includes confirming the results of the work each time a task is completed. For example, in overall mode, when the work machine 10 reaches the end of travel position P2, the terminal device 20 displays the progress (leveling, etc.) of the work in the target area F1 on the operation display unit 23. At this time, the terminal device 20 may receive an operation from the operator to instruct the start of the next (second or subsequent) task on the operation display unit 23, and in response to this instruction, cause the work machine 10 to start the second (second round) of work. This allows the operator to start the next task after confirming the results (progress, etc.) of the work. Alternatively, the confirmation of the results (progress) of the work may be performed by, for example, the control processing unit 131 or the information processing unit 21.

[0126] Furthermore, in this embodiment, since the number of operations can be set for each of the multiple operation paths r11, it is preferable that at least one of the multiple operation paths r11 can be skipped, as shown in Figure 9. Figure 9 shows the target path R1 for the second operation (second round) in the overall mode when the number of operations is set to "1" only for the operation path r11 in the second column from the first side f11. In Figure 9, the first operation path r11 is shown as a dashed line. Thus, in the second operation, the end of the operation path r11 in the first column from the first side f11 is connected to the start of the operation path r11 in the third column from the first side f11 by a non-operation path r12, and the operation path r11 in the second column from the first side f11 is skipped by the non-operation path r12.

[0127] As another example, in the second operation, it is conceivable to perform a dummy run along the second row of work path r11 from the first side f11 without performing any work with the work machine 12. Compared to the case of dummy run, skipping work path r11 can shorten the total length of the target path R1, and thus a reduction in work time can be expected.

[0128] Here, the target path R1 includes non-working paths (non-working path r12, turning paths r13, r14, r15, and return path r16) for the work machine 10 to move without performing work. The non-working paths (non-working path r12, turning paths r13, r14, r15, and return path r16) change depending on the number of work operations. That is, for example, the return path r16 for performing the second and subsequent operations, and the non-working path r12 for skipping the work path r11, etc., change appropriately depending on the number of operations. This makes efficient work possible.

[0129] Furthermore, in this embodiment, the work path r11 for the work machine 10 to move while performing work can be set for each work cycle within the target path R1. For example, Figure 10 shows an example where the work path r11 for the second work cycle is inclined relative to the work path r11 for the first work cycle. Figure 10 shows the target path R1 for the second (second cycle) work cycle in the overall mode, and the work path r11 for the first cycle is shown by a dashed line. In this way, by setting a work path r11 with a different angle relative to the first side f11, for example, for each work cycle, unevenness in work on the target area F1 is less likely to occur.

[0130] Furthermore, as shown in Figure 11, the work path r11 may differ only in the direction in which the work machine 10 moves depending on the work cycle. In Figure 11, the target path R1 for the second (second cycle) of work in the overall mode is shown, and the work path r11 for the first time is shown by a dashed line. In other words, in the example in Figure 11, the work machine 10 moves along the work path r11 from the third side f13 to the fourth side f14 in the first work cycle, while in the second work cycle, it moves along the work path r11 from the fourth side f14 to the third side f13. In this way, by setting a work path r11 with a different direction for each work cycle, unevenness in work on the target area F1 is less likely to occur.

[0131] [3.3] Settings screen Next, with reference to Figures 12 to 14, the count setting screen G1 for setting the number of operations and the mode setting screen G2 for setting the movement mode will be described. In this embodiment, the count setting screen G1 and the mode setting screen G2 are displayed on the operation display unit 23 of the terminal device 20 when a specific operation is performed on the terminal device 20. In Figures 12 to 14, the dashed lines, leader lines, and reference numerals representing areas are all there for explanatory purposes only and are not actually displayed on the operation display unit 23.

[0132] The count setting screen G1, as shown in Figure 12, includes a route selection unit G11, a count setting unit G12, and a route display unit G13. The route selection unit G11 is an object that accepts user (operator) operations to select a work route r11 for which the number of operations to be set. In Figure 12, as an example, the route selection unit G11 has a pair of cursors G111 and G112 and a batch button G113. The count setting unit G12 is an object that accepts user operations to set the number of operations for the selected work route r11. In Figure 12, as an example, the count setting unit G12 has a pair of cursors G121 and G122 and a count window G123. The route display unit G13 displays multiple work routes r11 in association with their respective set number of operations, and the selected work route r11 is highlighted. Here, it is preferable that a recommended value for the number of operations is set as the initial value (default value) for each work route r11. In this case, before the user sets the number of operations, the route display unit G13 displays multiple operations r11, each associated with its initial value (recommended value) of the number of operations.

[0133] In the route selection unit G11, the selected work route r11 in the route display unit G13 moves left or right in response to the operation of the pair of cursors G111 and G112, and when the batch button G113 is operated, all work routes r11 in the route display unit G13 are selected at once. In the count setting unit G12, the currently set number of operations for the currently selected work route r11 is displayed in the count window G123, and the count in the count window G123 increases or decreases in response to the operation of the pair of cursors G121 and G122.

[0134] In response to the user's (operator's) actions on the count setting screen G1, the count setting processing unit 211 sets the number of operations. Therefore, the user can set the number of operations while checking the number of operations for each operation path r11 on the count setting screen G1.

[0135] Furthermore, as shown in Figure 13, in the route display section G13 of the count setting screen G1, altitude information at each position (point) in the target area F1 may be visualized in association with the work route r11. In the example in Figure 13, an altitude map with different colors (shades) according to the altitude information (here, darker indicates a higher position) is displayed behind the work route r11 (background). By displaying the altitude information in association with the work route r11 in this way, the user can set the number of work attempts while checking the elevation differences of the target area F1. The altitude map is not limited to the form that represents the altitude information for each sub-section when the target area F1 is divided into multiple sub-sections, as in Figure 13, but may also be a form in which the color (shade) changes continuously according to the altitude within the target area F1. Furthermore, the work route r11 only needs to be associated with the altitude information, and is not limited to being displayed superimposed on the altitude information (altitude map, etc.), but may also be displayed side by side with the altitude information, for example. The method for obtaining the altitude information of the target area F1 will be described later.

[0136] As shown in Figure 14, the mode setting screen G2 includes a first setting unit G21, a second setting unit G22, and a route display unit G23. The first setting unit G21 is an object that accepts user (operator) input to set whether or not to allow the first reverse operation. In Figure 14, as an example, the first setting unit G21 has an allow button G211 and a prohibit button G212. The second setting unit G22 is an object that accepts user input to set whether or not to allow the second reverse operation. In Figure 14, as an example, the second setting unit G22 has an allow button G221 and a prohibit button G222. The route display unit G23 displays the target route R1, which includes multiple work routes r11.

[0137] In the first setting unit G21, the operation of the allow button G211 accepts an operation to allow the first reverse movement, and the operation of the prohibit button G212 accepts an operation to prohibit the first reverse movement. Furthermore, the object selected by the allow button G211 and the prohibit button G212 is highlighted (for example, with a thick border). Similarly, in the second setting unit G22, the operation of the allow button G221 accepts an operation to allow the second reverse movement, and the operation of the prohibit button G222 accepts an operation to prohibit the second reverse movement. Furthermore, the object selected by the allow button G221 and the prohibit button G2222 is highlighted (for example, with a thick border).

[0138] Here, the route display unit G23 displays the target route R1, which reflects the settings in the first setting unit G21 and the second setting unit G22 (whether the first reverse operation is permitted or not, and whether the second reverse operation is permitted or not). For example, when the permit button G211 of the first setting unit G21 is operated, the target route R1 when the first reverse operation is permitted is displayed in the route display unit G23. On the other hand, when the prohibit button G212 of the first setting unit G21 is operated, the target route R1 when the first reverse operation is prohibited is displayed in the route display unit G23. In this way, the target route R1 of the work machine 10 in the target area F1 is presented according to the setting status of whether the first reverse operation is permitted or not. Here, the manner in which the target route R1 is presented is not limited to display on the route display unit G23, etc., but may also be, for example, transmission to other devices (including the work machine 10), printing (printout), writing to a non-temporary recording medium, or audio output.

[0139] In response to user (operator) operations on the mode setting screen G2, the mode setting processing unit 212 sets the movement mode (whether to allow or deny the first reverse movement, and whether to allow or deny the second reverse movement). Furthermore, the target path R1, which immediately reflects the movement mode setting, is presented on the path display unit G23. Therefore, the user can set the movement mode (whether to allow or deny the first reverse movement, and whether to allow or deny the second reverse movement) on the mode setting screen G2 while confirming the target path R1 generated based on the set values.

[0140] Incidentally, as described above, the route generation processing unit 213 generates the target route R1 based at least on the movement patterns (whether or not to allow the first reverse movement, and whether or not to allow the second reverse movement) set in the pattern setting processing unit 212. Therefore, the movement patterns (whether or not to allow the first reverse movement, and whether or not to allow the second reverse movement) are basically reflected in the target route R1.

[0141] For example, as in this embodiment, if the work machine 12 is a directly mounted laser leveler, the reverse movement of the machine body 11 is permitted, so the first reverse movement is set to "permitted". Therefore, it can be applied to any of the target paths R1, for example, the first pattern (see Figure 3), the second pattern (see Figure 4), the third pattern, and the fourth pattern (see Figure 6). In other words, if the target path R1 is the first pattern, the machine body 11 will perform the first reverse movement when traveling on the non-work path r12, and if the first reverse movement is set to "permitted", it can also be applied to that target path R1.

[0142] On the other hand, if the work machine 12 is, for example, a towed laser leveler, then the machine body 11 is prohibited from moving backward, and the first backward movement is set to "prohibited". In this case, for example, of the first, second, third, and fourth patterns, all but the third pattern are not applicable. In other words, if the target path R1 is the first pattern, the machine body 11 will perform the first backward movement when traveling on the non-work path r12, but if the first backward movement is set to "prohibited", then the target path R1 is not applicable.

[0143] The route data of the target route R1 generated in this way is transmitted from the terminal device 20 to the work machine 10, allowing the work machine 10 to automatically operate within the target area F1 along the target route R1. In other words, the control method of the work machine 10 moves the work machine 10 within the target area F1 indirectly based on the setting state of the movement mode, such as whether or not the first reverse movement is permitted. Furthermore, if multiple target routes R1 are applicable, these multiple target routes R1 may be presented (e.g., displayed) to the user, and the user may be allowed to select any target route R1 from among them. For example, if the machine 11 is allowed to move in reverse, all of the first, second, third, and fourth pattern target routes R1 may be presented to the user, and the user may select any target route R1 from among them.

[0144] In other words, the control processing unit 131 moves the work machine 10 within the target area F1 based on the setting state for whether or not to allow the first reverse movement. As a result, when the work machine 10 is operating automatically according to the target path R1, whether or not to perform at least the first reverse movement changes based on the setting state for whether or not to allow the first reverse movement.

[0145] Thus, the control method for the work machine 10 according to this embodiment is a control method for a work machine 10 that moves within the target area F1 and performs work within the target area F1 using the work machine 12, and comprises setting whether or not to allow a first reverse movement that moves the work machine 10 backward, and moving the work machine 10 within the target area F1 based on the setting state of whether or not to allow the first reverse movement.

[0146] Therefore, for example, in the case where the work implement 12 is a towed work implement connected to the rear of the machine body 11, it is possible to avoid moving the machine body 11 in reverse along the travel path, and it is possible to avoid the connection part between the work implement 12 and the machine body 11 buckling and the load on the work implement 12 becoming excessive. As a result, it is possible to provide a control method for the work machine 10 that makes it easier to avoid excessive load on the work implement 12.

[0147] Furthermore, in this embodiment, it is possible to set whether the first reverse movement and the second reverse movement are permitted or not. In other words, it is possible to set the first reverse movement to be prohibited while allowing the second reverse movement included in the turning path. Therefore, for example, as shown in the third pattern target path R1 in Figure 6, a target path R1 that includes turning paths r14, r15 having a path for the second reverse movement (second paths r142, r152) can be applied. Thus, the degree of freedom of the target path R1 of the work machine 10 is improved.

[0148] Here, it is preferable that the selection of the second reverse operation changes depending on the setting status of the first reverse operation. In this case, for example, in the mode setting screen G2, the selection of the second reverse operation in the second setting unit G22 changes depending on whether the first reverse operation is permitted or prohibited in the first setting unit G21. This makes it possible to link the setting of whether the second reverse operation is permitted or prohibited to the setting of whether the first reverse operation is permitted or prohibited, making it easier to set a preferred combination of the first reverse operation and the second reverse operation.

[0149] Specifically, it is preferable to allow or deny the second reverse movement when the first reverse movement is prohibited. For example, in the mode setting screen G2, if the prohibit button G212 is operated in the first setting unit G21, the second setting unit G22 will be in a state where either the allow button G221 or the prohibit button G222 can be operated (selected). This allows, for example, when the work machine 12 is a towed laser leveler, to set the first reverse movement to "prohibited" while allowing the second reverse movement, thereby making it possible to apply a target path R1 that includes a second reverse movement, such as the third pattern target path R1.

[0150] Furthermore, if the first reverse operation is permitted, it is preferable that the second reverse operation cannot be set to allow or deny. For example, in the mode setting screen G2, if the allow button G211 is operated in the first setting unit G21, the second setting unit G22 will make it impossible to operate (select) either the allow button G221 or the prohibit button G222 by hiding them or other means. In this case, it is actually preferable to fix the setting for the second reverse operation to "prohibited". This makes it easier to avoid situations where, for example, the target path R1 to be generated diverges due to both the first and second reverse operations being set to allow.

[0151] Furthermore, it is preferable to determine, based on other conditions, whether or not to allow a second reverse movement when a first reverse movement is permitted. These "other conditions" may include, for example, the shape or size of the field (target area F1), or the type of implement 12 or the type of work. For instance, if the field (target area F1) is irregularly shaped, such as a trapezoid or a polygon other than a quadrilateral, then even if the first reverse movement is permitted, the second reverse movement can be allowed or denied. Conversely, if the field (target area F1) is not irregularly shaped, then even if the first reverse movement is permitted, the second reverse movement cannot be allowed or denied. This allows the target path R1 to be generated taking these other conditions into account, thereby increasing the degree of freedom of the target path R1 of the implement 10.

[0152] By the way, in this embodiment, as described above, whether or not the first reverse movement is permitted can be automatically set based on the work implement 12 or the type of work. In other words, even if the user does not operate on the mode setting screen G2, the movement mode, such as whether or not the first reverse movement is permitted, can be automatically set. Here, as a means for determining the work implement 12 or the type of work, for example, the user may specify it by operating the operation display unit 23, but for example, the result of the automatic determination by the work machine 10 may be transmitted to the terminal device 20. In other words, when the work implement 12 is attached to the machine body 11, the work implement 12 and the machine body 11 communicate with each other so that the type of work implement 12 can be automatically determined, and the determination result may be transmitted to the terminal device 20.

[0153] The movement mode (whether or not the first reverse movement is permitted) that is set automatically in this manner may be applied, for example, as the initial value (default value) of the mode setting screen G2. For example, if the work implement 12 is a towable type, the first reverse movement is automatically set to "prohibited," and when the mode setting screen G2 is displayed in this state, the first reverse movement is set to "prohibited" as the initial value. However, even in this case, it is possible for the user to operate the mode setting screen G2 and permit the first reverse movement. Alternatively, the movement mode (whether or not the first reverse movement is permitted, etc.) may be set automatically while user changes are prohibited. Furthermore, examples of work in which the first reverse movement is set to "prohibited" include puddling work.

[0154] [3.4] Overall Processing Next, the overall flow of the control method will be explained with reference to Figure 15.

[0155] As shown in Figure 15, the count setting processing unit 211 of the control system 1 displays the count setting screen G1 on the operation display unit 23 (S1). The count setting processing unit 211 then sets the number of operations in accordance with the user's operation on the count setting screen G1 and determines whether the setting of the number of operations has been completed (S2). For example, if the registration button on the count setting screen G1 is operated, the count setting processing unit 211 determines that the setting of the number of operations has been completed (S2: Yes) and proceeds to step S3. If the setting of the number of operations has not been completed (S2: No), the count setting processing unit 211 proceeds to step S1.

[0156] In step S3, the mode setting processing unit 212 of the control system 1 displays the mode setting screen G2 on the operation display unit 23. The mode setting processing unit 212 then sets the movement mode (allowing or not allowing the first reverse movement, allowing or not allowing the second reverse movement) in response to user operation on the mode setting screen G2, and determines whether the setting of the movement mode is complete or not (S4). For example, if the registration button on the mode setting screen G2 is operated, the mode setting processing unit 212 determines that the setting of the movement mode is complete (S4: Yes), and proceeds to step S5. If the setting of the movement mode is not complete (S4: No), the mode setting processing unit 212 proceeds to step S3.

[0157] In step S5, the route generation processing unit 213 of the control system 1 generates the target route R1. The target route R1 generated here reflects at least the number of operations and the movement pattern. The output processing unit 215 of the control system 1 then determines whether or not there is a command to start driving from the user (operator) (S6). When a specific operation is performed on the operation display unit 23, the output processing unit 215 determines that there is a command to start driving (S6: Yes) and proceeds to step S7. If there is no command to start driving (S6: No), the output processing unit 215 continues the determination in step S6.

[0158] In step S7, the output processing unit 215 of the control system 1 outputs the route data of the target route R1 by transmitting it to the work machine 10 from the communication unit 24. The control processing unit 131 of the work machine 10, which has received the route data, performs automatic operation control of the work machine 10 according to the target route R1 (S8).

[0159] The control system 1 repeatedly executes the processes S1 to S8 described above. However, the flowchart shown in Figure 15 is merely an example, and processes may be added or omitted as appropriate, or the order of processes may be changed as appropriate.

[0160] [3.5] Consolidation of fields Next, the functions related to field consolidation in the control method will be explained with reference to Figures 16 and 17. When "field consolidation" is performed to merge multiple fields into one, the field information for the multiple fields is updated and field information for the consolidated field (the single field that has been consolidated) is generated. In other words, the control system 1 performs field consolidation by updating the field information. Here, field consolidation is performed by manual operation by the user while the control system 1 displays a field consolidation screen G3, as shown in Figure 16, on the operation display unit 23. Specifically, the field consolidation screen G3 has a field display unit G31 and a setting unit G32. The field display unit G31 displays information about multiple fields that are candidates for consolidation (for example, an image diagram representing the shape of each field). When a user selects multiple fields to be consolidated in the field display unit G31, the selected fields are highlighted (for example, with a thick border). When multiple fields are selected, the user operates the registration button G321 on the setting unit G32, and the selected fields are consolidated. In the example in Figure 16, fields A and B are selected from the three fields A, B, and C. When the registration button G321 is operated in this state, the two fields A and B are consolidated to create one consolidated field. Alternatively, the control system 1 may perform field consolidation by acquiring information related to "field consolidation work" to integrate multiple fields into one, such as the work of flattening the ridge between two adjacent fields, from an external source, and automatically updating the field information based on that information.

[0161] In the consolidated field obtained in this manner, it is preferable that leveling work be carried out based on the elevation difference between the multiple fields targeted for consolidation. The control system 1, for example, identifies the relative elevation difference between the multiple fields targeted for consolidation from the elevation information of each of these fields, and makes it possible to set whether or not leveling work is necessary based on this elevation difference. As an example, the control system 1 displays a consolidated field leveling work screen G4 as shown in Figure 17 on the operation display unit 23, and sets (determines) whether or not to carry out leveling work in accordance with the user's manual operation on the consolidated field leveling work screen G4. The consolidated field leveling work screen G4 has a field display unit G41 and a selection unit G42. The field display unit G41 displays information regarding the elevation difference between the multiple fields targeted for consolidation (for example, an image diagram visualizing the average elevation of each field). Specifically, the field display unit G41 displays whether there is an elevation difference of more than a predetermined value between the multiple fields, and if there is an elevation difference, the magnitude of that difference. The user checks the elevation difference on the field display unit G41 and, if they wish to perform leveling work with the consolidated field as the target area F1, they operate the "Yes" button G421 on the selection unit G42. As a result, the control system 1 automatically generates a target path R1 for the leveling work for the consolidated field. Here, it is preferable that the control system 1 generates the target path R1 based on the elevation difference between the multiple fields targeted for consolidation. As an example, Figure 17 assumes that field A is "higher" than field B, so the control system 1 generates a target path R1 so that the work machine 10 travels along the work path r11 from the relatively "higher" field A to the relatively "lower" field B. However, it is not essential that the target path R1 is generated based on the difference in elevation between the multiple fields to be merged. Alternatively, the control system 1 may automatically determine whether leveling work is necessary, for example, based on the difference in elevation between the multiple fields to be merged, instead of manual operation.

[0162] [3.6] Adding elevation differences Next, the function related to assigning elevation differences to the field in the control method will be explained with reference to Figure 18. Depending on the field, elevation differences may be intentionally assigned to the field by sloping the ground surface to level it at an angle, depending on the direction of water distribution in the field or at the user's discretion. As an example, the control system 1 displays an elevation difference setting screen G5 as shown in Figure 18 on the operation display unit 23, and sets the elevation difference of the field, which is the target area F1, according to the user's manual operation on the elevation difference setting screen G5. The elevation difference setting screen G5 has a field display unit G51, a setting unit G52, and a batch leveling button G53. The user selects the area for which elevation differences are to be set on the field display unit G51 of the elevation difference setting screen G5 by sliding along the outer edge of the area, or by specifying (touching) three or more designated points and setting an outline connecting those designated points. Then, the user can increase the elevation of the selected area by operating the cursor G521 on the setting unit G52, and decrease the elevation of the selected area by operating the cursor G522 on the setting unit G52. In the example in Figure 18, assuming a case where water is drawn into the field from water channel A and drained into water channel B, an elevation difference is assigned to the field so that the side of the field on water channel A is relatively higher and the side on water channel B is relatively lower. In this case, the control system 1 generates a target path R1 so that the work machine 10 travels along the work path r11 from the relatively "lower" water channel B to the relatively "higher" water channel A. Furthermore, when the batch leveling button G53 is operated, a batch leveling process is executed to set the elevation difference to "0" (i.e., no elevation difference) for the entire field area displayed on the field display unit G51. This makes it possible to cancel the elevation differences assigned on the elevation difference setting screen G5 all at once.

[0163] Furthermore, when users choose to add elevation differences, they may choose to add local elevation differences at arbitrary locations within the field, such as making the center of the field higher or lower than the outer perimeter, or making the corners of the field higher or lower than the center. In such cases, it is preferable for the control system 1 to generate a target path R1 for leveling work so that soil can be collected in areas of the field that should be relatively higher, or soil can be removed from areas that should be relatively lower. In addition, for example, after leveling the entire field, if there is a tendency for a part of the field to become lower due to water flow when flooding the field, the elevation difference may be added according to the field's tendencies, such as pre-raising that part.

[0164] Furthermore, setting information regarding elevation differences assigned to a field may be stored in association with that field. In this case, for example, the initial value (default value) of the elevation difference for a field can be automatically set based on the setting information stored in association with that field. This makes it possible to use the previously set elevation difference during future leveling work on the same field without having to reassign the elevation difference.

[0165] [3.7] Other features Next, other functions of the control method will be explained with reference to Figure 19.

[0166] In other words, if there is an elevation difference in the field, which is the target area F1, it is preferable to perform the leveling work by the work machine 10 from the higher area toward the lower area. For example, as shown in the upper part of Figure 19, when the target area F1 is divided in two by a diagonal line connecting the corner between the first side f11 and the fourth side f14 and the corner between the second side f12 and the third side f13, it is assumed that the area on the first side f11 side is relatively higher. In this case, the path generation processing unit 213 generates a target path R1 that includes a work path r11 that is inclined with respect to the first side f11, so that the work path r11 is generated from the higher area to the lower area of ​​the target area F1, for example, as shown in the lower part of Figure 19.

[0167] In this way, the working direction of the work machine 10 (the direction of the working path r11) is determined according to the elevation difference of the target area F1, making it easier to efficiently perform leveling work on the target area F1 with elevation differences. In particular, it is more preferable that the direction of the working path r11 is set along the slope direction of the target area F1. In other words, the closer the working direction of the work machine 10 is to the slope direction of the target area F1, the easier it is to improve the efficiency of the leveling work.

[0168] Here, if the gradient direction of the target area F1 is not uniform, it is common to change the working direction at each location in the target area F1, and the working direction may be partially reversed. For example, if there is a difference in elevation between the outer perimeter and the central part of the target area F1, it is preferable to generate a working path r11 from the central part towards the outer perimeter, or from the outer perimeter towards the central part. Furthermore, the order in which the working path r11 is traveled may also be determined according to the elevation difference of the target area F1.

[0169] Furthermore, the greater the difference in elevation of the target area F1, the more it is preferable to set a higher number of operations. This makes it possible to keep the load on the work machine 12 in a single operation small. In this case as well, the number of operations may be set for each work path r11.

[0170] Here, the elevation difference of the target area F1 can be determined, for example, from the travel history of the work machine that performed another operation on the target area F1 immediately before, or from the travel history of the work machine 10 when it was driven in a non-working state before the start of the (leveling) operation. In other words, by recording the altitude information at each position of the work machine when it travels through the target area F1, the elevation difference of the target area F1 can be obtained from this altitude information. However, the method of determining the elevation difference of the target area F1 is not limited to this, and for example, the elevation difference of the target area F1 may be determined by three-dimensional measurement from above using a drone, or by the user visually or using measuring instruments.

[0171] Furthermore, another function of the control method according to this embodiment is the ability to automatically adjust the height of the work implement 12 according to the magnitude of the load on the work implement 12. Specifically, when the work machine 10 is in motion, it is preferable to raise the height of the work implement 12 as the magnitude of the load on the work implement 12 increases. This prevents the work implement 12 from becoming excessively loaded due to digging too deep, and allows the work implement 12 to be controlled to a shallower position, especially during the first leveling operation. As a result, although the number of operations increases, it becomes easier to avoid excessive load on the work implement 12.

[0172] [4] Modified form The following lists some modifications of Embodiment 1. The modifications described below can be combined and applied as appropriate.

[0173] The control system 1 in this disclosure includes a computer system. The computer system mainly consists of one or more processors and one or more memories as hardware. The functions of the control system 1 in this disclosure are realized by the processor executing a program (a control program for a work machine) recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by the computer system. Furthermore, some or all of the functional parts included in the control system 1 may be composed of electronic circuits.

[0174] Furthermore, it is not essential for control system 1 to have at least some of its functions integrated into a single enclosure; the components of control system 1 may be distributed across multiple enclosures. Conversely, functions that are distributed across multiple devices (e.g., control device 13 and terminal device 20) in Embodiment 1 may be integrated into a single enclosure. Moreover, at least some of the functions of control system 1 may be implemented by the cloud (cloud computing) or the like.

[0175] Furthermore, the terminal device 20 is not limited to general-purpose terminals such as tablet terminals, smartphones, or laptop computers, but may also consist of dedicated terminals. Moreover, multiple terminal devices 20 may be associated with one work machine 10, in which case multiple terminal devices 20 can control one work machine 10. Conversely, one terminal device 20 may be associated with multiple work machines 10, in which case one terminal device 20 can control multiple work machines 10.

[0176] Furthermore, the target paths R1 described above are merely examples and can be changed as appropriate. For example, instead of the non-working path r12 shown in Figure 3, a non-working path r12 as shown in Figure 20 may be applied as the target path R1 of the first pattern. In Figure 20, the non-working path r12 is a non-linear path that extends from the end of one of a pair of adjacent working paths r11, which is on the first side f11, to the beginning of the other working path r11, which is on the second side f12. By applying such a non-working path r12, the time required for the work machine 10 to move between the pair of working paths r11 can be reduced, leading to improved work efficiency. Similarly, the working path r11 may also be, for example, a non-linear path.

[0177] Furthermore, the working direction of the work machine 10 (the direction of the work path r11) and / or the travel sequence of the work path r11 are not necessarily set automatically according to the elevation difference of the target area F1, and may be set arbitrarily by the user. Moreover, the working direction of the work machine 10, etc., which is set automatically according to the elevation difference of the target area F1, may be applied as a recommended value or option in, for example, a route setting screen that accepts user input. In this case, for example, even if a direction parallel to the gradient direction of the target area F1 is set as the recommended value for the direction of the work path r11, the user can change the direction of the work path r11 to a direction perpendicular to the gradient direction of the target area F1 through user operation.

[0178] (Embodiment 2) The control method for the work machine 10 according to this embodiment differs from that of Embodiment 1 in that the work machine 12 is a towable laser leveler. Hereinafter, components similar to those in Embodiment 1 will be denoted by common reference numerals and their descriptions will be omitted as appropriate.

[0179] In the control method for the work machine 10 according to this embodiment, since the first reverse movement is set to "prohibited", the path generation processing unit 213 generates a target path R1 that does not include the first reverse movement, for example, as shown in Figure 21. The target path R1 illustrated in Figure 21 includes a plurality of work paths r11 and a plurality of connecting paths r17. Of the plurality of work paths r11, the work path r11 located between the center of the target area F1 and the first side f11 is a linear path that moves the work machine 10 forward from the third side f13 toward the fourth side f14. Of the plurality of work paths r11, the work path r11 located between the center of the target area F1 and the second side f12 is a linear path that moves the work machine 10 forward from the fourth side f14 toward the third side f13. The plurality of connecting paths r17 are paths that connect the work paths r11 and extend along the third side f13 or the fourth side f14.

[0180] The multiple connection paths r17 are all paths through which the work machine 10 moves forward without performing any work with the work machine 12. Here, the connection path r17 on the third side f13 causes the work machine 10 to move forward from the second side f12 towards the first side f11, and the connection path r17 on the fourth side f14 causes the work machine 10 to move forward from the first side f11 towards the second side f12. In other words, the work machine 10 moves while turning (turning clockwise in the example of Figure 21) within the target area F1 by automatically driving along the target path R1 shown in Figure 21. Since the work machine 10 does not perform any work with the work machine 12 while traveling (moving) along the connection path r17, the connection path r17 is a type of non-work path.

[0181] Furthermore, even with a target path R1 as illustrated in Figure 21, a work path r11 for the work machine 10 to move while performing the work can be set for each work cycle. For example, Figure 22 shows an example where the work path r11 for the second work cycle intersects (in this case is orthogonal) with the work path r11 for the first work cycle. Figure 22 shows the target path R1 for the second (second cycle) work cycle in the overall mode, and the work path r11 for the first cycle is shown as a dashed line. In this way, by setting a work path r11 with different angles, for example, relative to the first side f11, for each work cycle, unevenness in the work on the target area F1 becomes less likely.

[0182] Furthermore, in the examples shown in Figures 21 and 22, a series of spiral target paths R1 are generated that are set up as if drawn in a single stroke over the entire target area F1, but the system is not limited to this example. For example, depending on the size or shape of the field which is the target area F1, or the area where leveling work is required, the control system 1 may divide the target area F1 into multiple blocks and generate a spiral target path R1 for each block.

[0183] The configuration of Embodiment 2 can be adopted in appropriate combination with the various configurations (including modified versions) described in Embodiment 1.

[0184] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0185] <Note 1> A method for controlling a work machine that moves within a target area and performs work within that area using the work machine, Setting whether or not to allow the first reverse movement that moves the aforementioned work machine backward, The process involves moving the work machine within the target area based on the setting state of whether or not the first reverse movement is permitted. A method for controlling industrial machinery.

[0186] <Note 2> The aforementioned work machine is capable of performing a second reverse movement included in the turning path, separate from the first reverse movement. Control method for the work machine described in Appendix 1.

[0187] <Note 3> The first reverse movement and the second reverse movement can each be set to allow or deny the following: Control method for the work machine described in Appendix 2.

[0188] <Note 4> Depending on the setting state of the first reverse operation, the option for the second reverse operation changes. The control method for the work machine described in Appendix 3.

[0189] <Note 5> If the first reverse operation is prohibited, the second reverse operation can be set to be permitted or not. Control method for the work machine described in Appendix 4.

[0190] <Note 6> If the first reverse operation is permitted, the second reverse operation cannot be set to allow or disallow. A control method for the work machine described in Appendix 4 or 5.

[0191] <Note 7> When the first reverse operation is permitted, whether or not the second reverse operation can be permitted is determined based on other conditions. A control method for the work machine described in Appendix 4 or 5.

[0192] <Note 8> Depending on the setting state for whether the first reverse movement is permitted or not, the target path of the work machine in the target area is presented. A control method for the work machine described in any of the appendices 1 to 7.

[0193] <Note 9> Whether or not the first reverse movement is permitted is set based on the type of work implement or work. A control method for the work machine described in any of the appendices 1 to 8.

[0194] <Note 10> If the aforementioned work machine is towable, the first reverse movement is prohibited. Control method for the work machine described in Appendix 9.

[0195] <Note 11> The control method for the work machine described in any of the appendices 1 to 10, A control program for a work machine to be executed by one or more processors. [Explanation of Symbols]

[0196] 1. Control system for industrial machinery 10 Working Machines 11 aircraft 12 Work Machines 100 work systems 131 Control Processing Unit 212 Mode setting processing unit F1 Target area R1 Target Route r13, r14, r15 turning path

Claims

1. A method for controlling a work machine that moves within a target area and performs work within that area using the work machine, Setting whether or not to allow the first reverse movement that moves the aforementioned work machine backward, The process involves moving the work machine within the target area based on the setting state of whether or not the first reverse movement is permitted, The aforementioned work machine is capable of performing a second reverse movement included in the turning path, separate from the first reverse movement. A method for controlling industrial machinery.

2. The first reverse movement and the second reverse movement can each be set to allow or deny the following: A method for controlling a work machine according to claim 1.

3. Depending on the setting state of the first reverse movement, the options for the second reverse movement change. A method for controlling a work machine according to claim 2.

4. If the first reverse movement is prohibited, the second reverse movement can be set to be permitted or not. A method for controlling a work machine according to claim 3.

5. If the first reverse operation is permitted, the second reverse operation cannot be set to permit or disperform. A method for controlling a work machine according to claim 3 or 4.

6. When the first reverse operation is permitted, whether or not the second reverse operation can be permitted is determined based on other conditions. A method for controlling a work machine according to claim 3 or 4.

7. Depending on the setting state for whether the first reverse movement is permitted or not, the target path of the work machine in the target area is presented. A method for controlling a work machine according to any one of claims 1 to 4.

8. Whether or not the first reverse movement is permitted is set based on the type of work implement or work. A method for controlling a work machine according to any one of claims 1 to 4.

9. If the aforementioned work machine is a towable type, the first reverse movement is prohibited. A method for controlling a work machine according to claim 8.

10. A control method for a work machine according to any one of claims 1 to 4, A control program for a work machine to be executed by one or more processors.

11. Used in a work machine that moves within a target area and performs work within that target area using a work machine, A mode setting processing unit that sets whether or not to allow a first reverse movement that moves the aforementioned work machine backward, The system includes a control processing unit that moves the work machine within the target area based on the setting state of whether or not the first reverse movement is permitted, The aforementioned work machine is capable of performing a second reverse movement included in the turning path, separate from the first reverse movement. Control system for industrial machinery.

12. A control system for a work machine according to claim 11, The machine comprises a body on which the aforementioned work implement is attached, Work system.

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