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

Abstract

[Project] To provide a control method for a work vehicle capable of driving the work vehicle along a more appropriate path, a control program for a work vehicle, a control system for a work vehicle, and a work system. [Solution] A control method for a work vehicle (10) is a control method for a work vehicle (10) capable of working while driving on a work site (F1). This control method includes setting an allowable limit distance (L1) and changing a margin value. The allowable limit distance (L1) is defined using a margin value based on the work vehicle (10) and becomes a limit that allows the work vehicle (10) to approach the outline (fourth outline (f14)) of the work site (F1).

Description

Technology Field

[0001] The present invention relates to a method for controlling a work vehicle capable of working while driving at a work site, a control program for a work vehicle, a control system for a work vehicle, and a work system. Background Technology

[0002] As a related technology, in an autonomous driving work vehicle (agricultural work vehicle) that travels on a work site (paved surface) bounded by a dike (boundary), a technology is known for setting a boundary line in the dike area to avoid contact between the vehicle and the dike (see, for example, Patent Document 1). The work vehicle according to the related technology is equipped with a vehicle position calculation unit that calculates the vehicle position and a boundary crossing prevention control unit that prohibits driving over the boundary line based on the boundary line and the vehicle position, and avoids contact between the vehicle and the dike by driving only within the boundary line. The boundary line indicates the vehicle position that serves as a limit to avoid contact between the work vehicle and the dike surrounding the work site, and as long as the vehicle position does not cross this boundary line, the work vehicle does not come into contact with the boundary, such as the dike.

[0003] A work vehicle according to the relevant technology further comprises a cross-traffic permission unit that permits the state in which the vehicle crosses a boundary line by a cross-traffic permission command, and a cross-traffic permission command unit that outputs a cross-traffic permission command to the cross-traffic permission unit based on the driving control state. For example, if seedling supply becomes necessary during seedling planting work while the work vehicle is traveling in a straight line back and forth, a cross-traffic permission command is given during seedling supply processing using remote control operation. Prior art literature

[0004] Japanese Patent Publication No. 2021-108597 The problem to be solved

[0005] In the configuration of the aforementioned related technology, the position of the boundary line remains constant unless a border crossing permission order is issued at the timing of seedling distribution, etc. For example, even in situations where there is no risk of contact even if the work vehicle approaches the outer line (bank) of the work site more closely, such as when the work vehicle is traveling at a low speed, it is difficult to drive the work vehicle along such a path.

[0006] The object of the present invention is to provide a method for controlling a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system that enable driving the work vehicle along a more appropriate path. means of solving the problem

[0007] A method for controlling a work vehicle according to one aspect of the present invention is a method for controlling a work vehicle capable of working while driving on a work site, and comprises setting an allowable limit distance defined using a margin value based on the work vehicle, which is a limit that allows the work vehicle to approach the work site with respect to the outline, and changing the margin value.

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

[0009] A control system for a work vehicle according to one aspect of the present invention is used in a work vehicle capable of performing work while driving on a work site. The control system for the work vehicle comprises a setting processing unit and a change processing unit. The setting processing unit sets an allowable limit distance, which is defined using a margin value based on the work vehicle and serves as a limit allowing the work vehicle to approach the outline of the work site. The change processing unit changes the margin value.

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

[0011] According to the present invention, a method for controlling a work vehicle, a control program for a work vehicle, a control system for a work vehicle, and a work system can be provided, which enable driving the work vehicle along a more appropriate path. Brief explanation of the drawing

[0012] FIG. 1 is a schematic side view showing the exterior of a work vehicle according to embodiment 1. FIG. 2 is a schematic block diagram of a work system according to Embodiment 1. FIG. 3 is a schematic showing an example of a target path in a work system according to Embodiment 1. It is also. FIG. 4 is a schematic plan view showing an example of operation of a work vehicle according to embodiment 1. FIG. 5 is a schematic diagram showing an example of a target path generated in a control system for a work vehicle according to Embodiment 1. FIG. 6 is a schematic diagram showing an example of an allowable limit distance used in a control system for a work vehicle according to Embodiment 1. FIG. 7 is a schematic diagram showing an example of an allowable limit distance used in a control system for a work vehicle according to Embodiment 1. FIG. 8 is a schematic diagram showing an example of an allowable limit distance used in a control system for a work vehicle according to Embodiment 1. FIG. 9 is a schematic diagram showing an example of an allowable limit distance used in a control system for a work vehicle according to Embodiment 1. FIG. 10 is a flowchart illustrating an example of operation of a control system for a working vehicle according to Embodiment 1. FIG. 11 is a schematic diagram showing an example of an allowable limit distance used in a control system for a work vehicle regarding a modified example. FIG. 12 is a schematic diagram showing an example of an allowable limit distance used in a control system for a work vehicle according to embodiment 2. FIG. 13 is a schematic diagram showing an example of an allowable limit distance used in a control system for a work vehicle according to embodiment 3. Specific details for implementing the invention

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

[0014] (Embodiment 1)

[0015] [1] Overall composition

[0016] First, the overall configuration of the work system (100) according to the present embodiment will be explained with reference to FIGS. 1 and FIGS. 2. The work vehicle control system (1) (hereinafter simply referred to as the “control system”) according to the present embodiment constitutes the work system (100) together with the body (11) of the work vehicle (10). A work device (12) is mounted on the body (11). That is, the work system (100) is equipped with the work vehicle control system (1) and the body (11) of the work vehicle (10).

[0017] In this embodiment, the control system (1) includes a control device (13) (see FIG. 2) mounted on the body (11) of the work vehicle (10) and a terminal device (20). The work vehicle (10) and the terminal device (20) can communicate with each other. The term “communicable” as used in this disclosure means that information can be exchanged directly or indirectly through a communication network (N1) or a relay, etc., by a suitable communication method of wired communication or wireless communication (communication using radio waves or light as a medium). The work vehicle (10) and the terminal device (20) can communicate through a communication network (N1), such as the Internet, LAN (Local Area Network), WAN (Wide Area Network), public telephone line, mobile phone line network, packet line network, or wireless LAN. The means of communication between the work vehicle (10) and the terminal device (20) is not limited to the above examples and is realized by a suitable means of communication. In addition, it is not an essential component of the control system (1) that the work vehicle (10) and the terminal device (20) can communicate with each other.

[0018] The work vehicle (10) travels through the work site (F1) (see FIG. 3) and performs a predetermined operation within the work site (F1) by means of the implement (12). The "operation" referred to in this disclosure is an operation performed by the implement (12) on the work site (F1), and includes various operations such as rice planting, sowing, fertilization, pesticide spraying, leveling, or harvesting, as well as various agricultural operations and construction operations. In this embodiment, as an example, the operation performed by the work vehicle (10) is a planting (rice planting) operation in which rice seedlings are planted in the paddy field serving as the work site (F1).

[0019] The work device (12) performs work within the work site (F1) when the body (11) of the work vehicle (10) moves to the work site (F1). In this embodiment, as an example, the work device (12) includes a seedling stacking platform on which a seedling mat is placed to perform a simulated planting operation, and a planting arm that takes a seedling from the seedling mat and performs planting. Here, the work device (12) is mounted on the rear side of the body (11) (opposite to the forward direction of the body (11)). That is, the work device (12) is connected to the rear side of the body (11) and performs work while moving forward together with the body (11) when the body (11) moves forward. In this embodiment, the work device (12) is included as a component of the work vehicle (10), but the work device (12) does not have to be included as a component of the work vehicle (10).

[0020] The term "work vehicle" as used in this disclosure refers to a machine that performs various tasks at a work site (F1), such as a paving, for example, and is an agricultural machine (farming machine) such as a rice transplanter, tractor, seeder, spreader, sprayer, transplanter, and harvester. The work vehicle (10) is, for example, a construction machine (construction machine), and in this embodiment, unless otherwise specified, the case where the work vehicle (10) is a rice transplanter is described as an example. In this work vehicle (10), planting work such as planting seedlings in the work site (F1) is made possible by the body (11) driving through the work site (F1), such as a paving.

[0021] In addition, in this embodiment, as an example, the work vehicle (10) is an automatic machine capable of being operated by automatic driving (autonomous driving and autonomous work) while allowing a person (operator) to board it. However, it is not limited thereto, and the work vehicle (10) may be an unmanned machine operated by automatic driving, or may be operated by operation (including remote operation) by a person (operator).

[0022] The “work site” referred to in the present disclosure is an area where a work vehicle (10) moves and performs various tasks, such as planting (rice transplanting), sowing, fertilizing, spraying pesticides, leveling, or harvesting, and includes paddy fields, dry fields, orchards, and pastures. For example, if the work site (F1) is a paddy field or dry field where crops (agricultural products) such as rice, wheat, soybeans, or buckwheat are grown, the crop grown in the work site (F1) is an agricultural product. In addition, if trees are being grown in a tree planting field, the tree planting field becomes the work site (F1), and if trees that become timber are being grown in a forest, such as in forestry, the forest becomes the work site (F1). In this case, the crop grown in the work site (F1) is a potted plant or a tree, etc. In this embodiment, unless otherwise noted, the work vehicle (10) is used for simulated planting work in a field (work site (F1)), and the case where the work site (F1) is a paddy field for growing rice is explained as an example. In addition, the work site (F1) is not limited to a field, and for example, if the work vehicle (10) is a construction machine, the site where the construction machine performs work becomes the work site (F1).

[0023] Additionally, the work vehicle (10) can be moved by automatic driving not only on the work site (F1) (here, paved) but also on roads, for example, unpaved paths outside the work site (F1). The work vehicle (10) is configured to be able to drive (move) automatically according to a preset target path (including unpaved paths) within the work site (F1) and outside the work site (F1), based on the position information of the current location of the work vehicle (10) positioned by a positioning device (16) (see FIG. 2). The unpaved path is, for example, an inter-paved connecting road that connects between multiple work sites (F1) (paved). The inter-paved connecting road is a farm road, forest road, public road, private road, or motorway, and may be a road exclusively for the work vehicle (10) or a road where general vehicles (passenger cars, etc.) can pass.

[0024] [2] Composition of the work vehicle

[0025] Hereinafter, the configuration of the work vehicle (10) according to the present embodiment will be described in detail with reference to FIGS. 1 and FIGS. 2.

[0026] In this embodiment, for convenience of explanation, the vertical direction when the work vehicle (10) is in a usable state is indicated as the up-down direction (D1). The forward-backward direction (D2) and the left-right direction (D3) (see FIG. 3) are defined based on the direction viewed from the person (operator) riding in the body (11) (driver's section (111)) of the work vehicle (10). The left side of the left-right direction (D3) refers to the left side when the body (11) is driven forward, and the right side of the left-right direction (D3) refers to the right side when the body (11) is driven forward. However, these directions are not intended to limit the direction of use (direction during use) of the work vehicle (10).

[0027] As shown in FIG. 2, the work vehicle (10) is equipped with a control device (13), a driving device (14), a detection device (15), a positioning device (16), a communication device (17), and a display device (18), in addition to the body (11) and the work device (12). The control device (13), the driving device (14), the detection device (15), the positioning device (16), the communication device (17), and the display device (18) are all mounted on the body (11).

[0028] The vehicle (11) has a driving section (111) (see FIG. 1) in which a person (operator) can ride. The driving section (111) is equipped with a steering device, a transmission device, and an operating device. The steering device, transmission device, and operating device are operating parts that are operated by the operator or the control device (13). Therefore, the work vehicle (10) can perform both manual driving by manual operation by the operator and automatic driving by the control device (13). In addition, as described above, a work device (12) is connected to the rear side of the vehicle (11).

[0029] In this embodiment, the working machine (12) is connected to the rear side of the machine (11), and when the machine (11) moves forward, planting work can be performed on the packaging as a work site (F1). Here, the working machine (12) corresponds to planting multiple rows (for example, 6 rows, 7 rows, or 8 rows, etc.) and has a working width (W1) (see FIG. 4) corresponding to the number of rows in the width direction (left-right direction (D3)). That is, for example, if the working machine (12) corresponds to planting 7 rows, it is possible to simultaneously take seedlings for 7 rows in the width direction (left-right direction (D3)). In this embodiment, as an example, it is assumed that the work vehicle (10) is an 8-row transplanter equipped with a working machine (12) corresponding to 8 rows.

[0030] In this way, the work vehicle (10) according to the present embodiment can perform work on multiple work rows arranged in a direction intersecting the direction of travel (forward / backward direction (D2)) and the direction of travel (left / right direction (D3)). In the present embodiment, as an example, the work vehicle (10) is an 8-row rice transplanter, so the multiple work rows Vr1 to Vr8 (see FIG. 4) are 8 rows of seedlings arranged at a predetermined interval in the left / right direction (D3), each consisting of a row of seedlings formed by arranging multiple seedlings V1 (see FIG. 4) in the direction of travel (forward / backward direction (D2)). That is, the work vehicle (10) can perform planting work in parallel (simultaneously) on the 8 work rows Vr1 to Vr8. Therefore, the work vehicle (10) can perform planting of up to 8 work rows Vr1 to Vr8 simultaneously while moving forward.

[0031] As shown in FIG. 1, the driving device (14) has a front wheel (141), a rear wheel (142), and a power source (an engine and / or a motor, etc.). The front wheel (141) and the rear wheel (142) are, for example, installed as a pair on the left and right sides, respectively. The driving device (14) can drive (move) the body (11) by driving at least the rear wheel (142) (in this embodiment, the rear wheel (142) and the front wheel (141)) with power generated from the power source. Here, the front wheel (141) functions as a steering wheel and enables turning in the left and right directions (D3). By doing so, the body (11) can be driven to move in the forward and backward directions (D2) and left and right directions (D3) within the work area (F1).

[0032] At least during autonomous driving, the driving device (14) operates according to the operation of the control device (13), such as the steering device, transmission device, and operation device described above. For example, in the driving device (14), in response to the operation of the steering device by the control device (13), the angle of the front wheel (141) is changed by a hydraulic or electric power steering mechanism, and the direction of travel of the vehicle (11) is changed. In addition, according to the operation of the transmission device by the control device (13), the gear of the transmission is switched to a forward gear or a reverse gear, the driving form of the vehicle (11) is switched to forward or reverse, and the driving state of the vehicle (11) is switched to forward or reverse. In addition, the control device (13) controls the rotational speed of the power source by operating the accelerator or brake of the operation device, or brakes the front wheel (141) and the rear wheel (142) by driving the brake with an electric actuator, etc.

[0033] The detection device (15) detects a detection target (obstacle) in the detection area (As1) (see FIG. 4). In this embodiment, as an example, the detection target includes people and other animals, moving objects such as vehicles (including other work vehicles), structures such as walls and pillars, plants, steps, or other obstacles. The detection device (15) may include, for example, radar, sonar sensors, and LiDAR (Light Detection and Ranging). Here, the detection device (15) is preferably a 3D sensor capable of measuring the distance and orientation to the detection target by a Time Of Flight (TOF) method, which measures the distance to a measurement point based on the round-trip time until light or sound reaches the measurement point and returns, or a stereo camera method. Accordingly, the detection device (15) can output measurement information including the position of the detection target when viewed in a plane to the control device (1). In this embodiment, as an example, the detection device (15) is assumed to be a radar using millimeter waves (millimeter wave radar) or a sonar sensor using ultrasound (or sound waves).

[0034] The positioning device (16) determines the current position (latitude, longitude, altitude, etc.) of the aircraft (11). Specifically, the positioning device (16) calculates the current position (latitude and longitude) of the aircraft (11) using a satellite positioning system such as a GNSS (Global Navigation Satellite System). That is, the position tracker (16) has a positioning antenna that receives a positioning signal from a satellite and calculates the current position based on the positioning signal. In addition, the positioning device (16) includes an inertial sensor and can also detect the attitude, such as the current bearing of the aircraft (11).

[0035] Additionally, the positioning device (16) may detect the current position with comparative high precision, such as RTK (Real Time Kinematic) positioning, by using correction information corresponding to a base station (reference station) close to the work vehicle (10) to calculate the current position of the work vehicle. The current position of the body (11) may be the same as the positioning position (position of the positioning antenna), or it may be a position deviating from the positioning position, such as the center position of the body (11) when viewed from a flat plane. As the positioning device (16), for example, a mobile phone terminal, a smartphone, or a tablet terminal may be used.

[0036] The communication device (17) is a communication interface for connecting a work vehicle (10) (control device (13) and positioning device (16, etc.)) to an external device via wired or wireless connection and for performing data communication according to a predetermined communication protocol with the external device. In this embodiment, the communication device (17) can communicate with at least the terminal device (20), which is an external device, through a communication network (N1). Additionally, the communication device (17) can be connected to the communication network (N1) at least wirelessly, and can communicate frequently with the terminal device (20) while being a work vehicle (10) that moves (drives) to a work site (F1). As the communication device (17), for example, a mobile phone terminal, a smartphone, or a tablet terminal can be used.

[0037] The display device (18) is a user interface for presenting information to a user (operator), such as a liquid crystal display or an organic EL display that displays various information. The display device (18) is, for example, placed in a driving unit (111) and presents various information to the operator by displaying a screen containing various information. The term "screen" as used in this disclosure refers to an image (picture) displayed on the display device (18), etc., and includes images, shapes, photographs, text, and videos. The screen displayed on the display device (18) includes not only still images but also images (videos) that change from moment to moment. In addition, the display device (18) has the function of outputting sound (voice) to the user (operator) and the function of accepting operations by the user (operator).

[0038] The control device (13) executes various processing (information processing) by having 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), as its main components. In this embodiment, since the control device (13) has a computer system having one or more processors as its main components, the control device (13) is realized by one or more processors executing a control program for a work vehicle. In this embodiment, the control device (13) is an integrated controller that controls the entire work vehicle (10), and is composed of, for example, an Electronic Control Unit (ECU). However, the control device (13) may be installed separately from the integrated controller.

[0039] The control device (13) is configured to communicate with devices installed in each part of the body (11). That is, the control device (13) is electrically connected to a work device (12), a driving device (14), a detection device (15), a positioning device (16), a communication device (17), and a display device (18). By doing so, the control device (13) can control the work device (12) and the driving device (14), etc., or acquire detection results from the detection device (15) and the positioning device (16). Here, the control device (13) can directly perform the exchange of various information (data) with each device or indirectly through a relay device.

[0040] In this embodiment, the control device (13) is equipped with an acquisition processing unit (131), a driving processing unit (132), a work support processing unit (133), a memory unit (134), a setting processing unit (135), and a change processing unit (136), as shown in FIG. 2.

[0041] The acquisition processing unit (131) executes an acquisition process to acquire work site information regarding the work site (F1). Here, the work site information includes outline information based on the outline (outline) of the work site (F1). That is, the acquisition processing unit (131) acquires outline information based on the outline of the work site (F1).

[0042] The driving processing unit (132) performs driving processing to control the driving device (14). As an example, the driving processing unit (132) performs automatic driving of the work vehicle (10) by controlling the driving device (14) based on the current position of the work vehicle (10) calculated by the positioning device (16) and a preset target path. In addition, the driving processing unit (132) performs work (planting work in this embodiment) by the work vehicle (10) at an appropriate location on the target path by controlling the work device (12) based on the current position of the work vehicle (10) calculated by the positioning device (16) and a preset target path.

[0043] Specifically, the driving processing unit (132) starts the automatic driving of the work vehicle (10) when it receives a driving start instruction from the terminal device (20). For example, when an operator operates the start button on the operation screen of the terminal device (20), the terminal device (20) outputs a driving start instruction to the work vehicle (10). Accordingly, for example, the work vehicle (10) starts the automatic driving along the target path (R1) (see FIG. 3) within the work site (F1) and performs work (planting work in this embodiment) by the work machine (12).

[0044] A target path (R1) for automatically driving a work vehicle (10) is generated, for example, by a terminal device (20). That is, the work vehicle (10) obtains path data corresponding to the target path (R1) from the terminal device (20) and performs automatic driving according to the target path (R1).

[0045] Additionally, the driving processing unit (132) stops the automatic driving of the work vehicle (10) when it receives a driving stop instruction from the terminal device (20). For example, when an operator operates the stop button on the operation screen of the terminal device (20), the terminal device (20) outputs a driving stop instruction to the work vehicle (10).

[0046] In addition, "automatic driving" as used in the present disclosure includes "autonomous driving" in which the work vehicle (10) drives autonomously without operation by an operator, and "semi-autonomous driving" in which only steering is automated, such as straight-line assist.

[0047] For example, "autonomous driving" is a driving mode in which, in addition to automatic steering of the steering wheel (front wheel (141)) so that the work vehicle (10) drives along a target path (R1), the vehicle speed and other factors are also automatically controlled. For example, "straight-line assist" is a driving mode in which only automatic steering of the steering wheel (front wheel (141)) is performed so that the work vehicle (10) drives along a straight path parallel to a reference straight line (reference line), and the vehicle speed and other factors are controlled by the operator.

[0048] As another example, the work vehicle (10) can be driven by manual steering by an operator. For example, the operator drives the work vehicle (10) by manual steering while checking the target path (R1) while riding in the work vehicle (10).

[0049] The work support processing unit (133) performs work support processing to support work by the work machine (12) (planting work in this embodiment). The work support processing includes, for example, processing to support the operation of the work machine (12) by an operator by performing a presentation (display or voice output, etc.) regarding the operation of the work machine (12) on a user interface such as a display device (18), and processing to directly control the work machine (12). In this embodiment, basically, the work support processing unit (133) performs the former processing (i.e., processing to support the operation of the work machine (12) by an operator) as work support processing.

[0050] The memory unit (134) is a non-volatile memory that stores various data, such as a control program for a work vehicle and target path information regarding a target path (R1). That is, the driving processing unit (132) can execute automatic driving according to the target path (R1) on the driving device (14) based on the target path information stored in the memory unit (134).

[0051] The setting processing unit (135) performs a setting process to set an allowable limit distance (L1) (see FIG. 6). The allowable limit distance (L1) is defined using a margin value (L11) (see FIG. 7) based on the work vehicle (10) and is a distance that serves as a limit allowing the work vehicle (10) to approach the outline of the work site (F1). The allowable limit distance (L1) set by the setting processing unit (135) is set based on the work vehicle (10) and is a distance that determines whether the work vehicle (10) is allowed to approach the outline of the work site (F1). Simply put, while the work vehicle (10) is driving within the work site (F1), it can approach the outline up to a position where the allowable limit distance (L1) is from the outline, whereas it cannot approach the outline beyond that, that is, up to a position where the allowable limit distance (L1) is less than the outline.

[0052] The change processing unit (136) performs a change processing to change the margin value (L11). That is, in this embodiment, the margin value (L11) used to define the allowable limit distance (L1) is not a constant value and can be changed by the change processing unit (136). If the margin value (L11) increases, the allowable limit distance (L1) also increases, and if the margin value (L11) decreases, the allowable limit distance (L1) also decreases. Therefore, for example, by making the margin value (L11) smaller and thus making the allowable limit distance (L1) smaller, the work vehicle (10) can approach the outline of the work site (F1) more closely and can travel a path (target path (R1)) that is closer to the outline of the work site (F1).

[0053] Additionally, when the detection device (15) detects an obstacle as a target object during automatic driving of at least the work vehicle (10), the control device (13) outputs an alarm (including warning by sound and / or light) and controls the driving device (14) to perform an obstacle avoidance process (including detour, deceleration, or stop, etc.). Additionally, the control device (13) may output the location information of the obstacle and the execution history of the avoidance process to the terminal device (20) and display it on the terminal device (20).

[0054] In addition, the work vehicle (10) is further equipped with a battery, a fuel tank, and various sensors in addition to the configuration described above. The battery supplies operating power to various parts of the work vehicle (10), such as a control device (13), for example. In particular, electronic devices such as a control device (13), a detection device (15), a positioning device (16), a communication device (17), and a display device (18) can operate even while the power source (engine) of the driving device (14) is stopped, by operating through power supply from the battery.

[0055] [3] Configuration of the terminal device

[0056] Hereinafter, the configuration of the terminal device (20) according to the present embodiment will be described in detail with reference to FIGS. 1 and FIGS. 2.

[0057] In this embodiment, the terminal device (20) is capable of communicating with the work vehicle (10) as described above and forms a control system (1) together with the control device (13) of the work vehicle (10). That is, the components of the control system (1) are distributed and installed at least between the work vehicle (10) and the terminal device (20). However, this configuration is not limited to this configuration; for example, the function of the control device (13) may be installed in the terminal device (20), in which case the components of the control system (1) are realized only by the terminal device (20). Conversely, for example, the function of the terminal device (20) may be installed in the control device (13), in which case the components of the control system (1) are realized only by the control device (13).

[0058] In this embodiment, as an example, the terminal device (20) is configured as a general-purpose terminal such as a tablet terminal, a smartphone, or a laptop computer. As shown in FIG. 2, the terminal device (20) is equipped with an information processing unit (21), a memory unit (22), an operation display unit (23), and a communication unit (24). Additionally, the terminal device (20) is further equipped with a sound output unit that outputs sound (including voice) to a user (operator), and a battery, etc.

[0059] The information processing unit (21) performs various processing (information processing) by having a computer system having one or more processors such as a CPU and one or more memories such as ROM and RAM as its main components. In this embodiment, since the information processing unit (21) has a computer system having one or more processors as its main components, the information processing unit (21) is realized by one or more processors executing a control program for a work vehicle. That is, by one or more processors of a control device (13) included in the control system (1) and one or more processors of the information processing unit (21) each executing a control program for a work vehicle, the control device (13) and the terminal device (20) cooperate to realize the control system (1).

[0060] The information processing unit (21) is configured to communicate with each part (memory unit (22), operation display unit (23), and communication unit (24) of the terminal device (20). That is, the memory unit (22), operation display unit (23), and communication unit (24), etc. are electrically connected to the information processing unit (21). By doing so, the information processing unit (21) can read and write information to the memory unit (22), control the display of the operation display unit (23), or obtain operation input for the operation display unit (23). Here, the information processing unit (21) may directly exchange various information (data) with each part, or indirectly through a relay device, etc.

[0061] This terminal device (20) is a user interface for receiving operation inputs from a user (operator) and outputting various information to the user. For example, the terminal device (20) receives various operations by the user by outputting an electrical signal corresponding to the user's operation on the operation display unit (23). In addition, the terminal device (20) outputs various information to the user by displaying various screens on the operation display unit (23).

[0062] The memory unit (22) is a non-volatile memory that stores various data, such as a control program for a work vehicle and target path information regarding a target path (R1). Additionally, the memory unit (22) can store various data, such as work machine information, work vehicle information, packaging information, and work information. Work machine information is information regarding a work machine (12) mounted on a body (11), and includes, for example, information such as the type of the work machine (12), identification information, model name, type, and size (dimensions). Work vehicle information is information regarding the body (11) (vehicle body) of a work vehicle (10), and includes, for example, information such as the type of the body (11) (e.g., half crawler type / wheel type), identification information, model name, type, and size (dimensions). Packaging information is information regarding packaging designated as a work site (F1), and includes information such as packaging identification information, packaging name, location, shape, size, work start location (driving start location) for starting work, work end location (driving end location) for ending work, and work direction. Work information is information regarding work performed by the work vehicle (10), and includes, for example, information such as the type of work and how the work is specifically performed. In addition, information regarding the presence or absence of cooperative work by the work vehicle (10), as well as the width of cultivated land and the width of non-cultivated land, may also be included in the work information.

[0063] These information (target route information, work machine information, work vehicle information, paving information, and work information, etc.) stored in the memory unit (22) is set (registered) by operation input by a user (operator) to the operation display unit (23) or by being acquired from the work vehicle (10). For example, regarding the type of work machine (12) in the work machine information, even if it is specified to operate the user operation display unit (23), the work vehicle (10) may automatically identify the work machine (12) mounted on the body (11) and transmit it to the terminal device (20). This information may be acquired by the terminal device (20) from an external device other than the work vehicle (10) (e.g., a server, an external storage medium, or another terminal device).

[0064] The operation display unit (23) is a user interface equipped with 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 receives operations. For example, an operator can perform an operation to 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, the operator can set automatic driving information (including target path information) regarding the automatic driving of the work vehicle (10).

[0065] Additionally, the operation display unit (23) enables close-range and remote monitoring by an operator of the work vehicle (10) that is in automatic operation by displaying the progress of work at the work site (F1), the target path (R1) of the work vehicle (10), the (actual) movement trajectory, the current location, and the movement speed. Close-range monitoring refers, for example, to monitoring within a range that can be visually confirmed by the operator, and remote monitoring refers, for example, to monitoring by the surrounding image of the work vehicle (10) displayed on the terminal device (20). According to remote monitoring, it is possible to monitor multiple work vehicles (10) by a single terminal device (20). However, this definition is merely an example, and other definitions may exist. Here, the operation status of the work vehicle (10) includes the detection of a target object by the detection device (15). Additionally, the operation display unit (23) can receive instructions to start driving or stop driving of the work vehicle (10) from the operator. The terminal device (20) can remotely control the work vehicle (10) by transmitting the driving start instructions or driving stop instructions, etc., to the work vehicle (10). Accordingly, remote operation of the work vehicle (10) by an operator becomes possible.

[0066] The communication unit (24) is a communication interface for connecting the terminal device (20) to the work vehicle (10) via wired or wireless connection and for performing data communication according to a predetermined communication protocol with the work vehicle (10). In this embodiment, the communication unit (24) can communicate with at least the work vehicle (10) (and its communication device (17)) through a communication network (N1). Additionally, since the communication unit (24) can connect to the communication network (N1) at least wirelessly, it is possible to communicate with the work vehicle (10) frequently even at a location sufficiently far from the work vehicle (10).

[0067] Meanwhile, in this embodiment, the information processing unit (21) is equipped with a generation processing unit (211), a registration processing unit (212), and an output processing unit (213), as shown in FIG. 2. In this embodiment, as an example, the information processing unit (21) is mainly composed of a computer system having one or more processors, so that these multiple functional units (such as the generation processing unit (211)) are realized by one or more processors executing a control program for a work vehicle. These multiple functional units included in the information processing unit (21) may be distributed and installed in multiple housings, or they may be installed in a single housing.

[0068] The generation processing unit (211) executes a path generation process to generate a path (target path (R1)) for driving (automatically driving) the work vehicle (10) at the work site (F1). Here, the generation processing unit (211) generates the target path (R1) based on generation data including work machine information, work vehicle information, paving information, and work information, which are stored in the memory unit (22). That is, the target path (R1) is generated by the generation processing unit (211) based on work machine information, work vehicle information, paving information, and work information, etc., which are set (registered) by, for example, operation input by a user (operator) on the operation display unit (23).

[0069] Specifically, the generation processing unit (211) generates a target path (R1) within the work area (F1) based on the driving start position (P1) (see FIG. 3) and the driving end position (P2) (see FIG. 3) included in the packaging information. For example, the generation processing unit (211) generates a target path (R1) for moving the body (11) of the work vehicle (10) from the driving start position (P1) to the driving end position (P2) within the work area (F1) based on the generation data.

[0070] In this embodiment, the packaging information included in the generation data includes outline information based on the outline of the work site (F1). Since the work vehicle (10) travels within the work site (F1) along the target path (R1), the generation processing unit (211) basically generates a path (target path (R1)) based on the generation data to drive the work vehicle (10) so as not to deviate from the outline of the work site (F1) specified by the outline information.

[0071] The registration processing unit (212) performs a registration process to register work machine information, work vehicle information, paving information, and work information, etc. That is, the work machine information, work vehicle information, paving information, and work information used to generate the target path (R1) are each registered (set) by the registration processing unit (212) according to, for example, operation input by a user (operator) to the operation display unit (23).

[0072] The output processing unit (213) performs an output processing to output, for example, route data of a target route (R1) to a work vehicle (10). That is, route data regarding the target route (R1) generated by the generation processing unit (211) is output from the output processing unit (213) to, for example, a communication unit (24), and is transmitted from the communication unit (24) to the work vehicle (10).

[0073] For example, when the operator starts the work, the operator performs the selection of packaging (work site (F1)), selection of the work, confirmation of the target path (R1), etc., and gives a work start instruction. When the operator gives a work start instruction, the output processing unit (213) transmits (outputs) the path data of the target path (R1) generated by the generation processing unit (211) to the work vehicle (10). When the work vehicle (10) receives the path data generated by the terminal device (20), it stores the path data in the memory unit (134). Then, the work vehicle (10) performs automatic driving (autonomous driving and autonomous work) based on the current location of the work vehicle (10) calculated by the positioning device (16) and the target path (R1) specified in the path data.

[0074] Additionally, the output processing unit (213) may also display the generated target path (R1) on the operation display unit (23) by outputting it to the operation display unit (23). The output of the output processing unit (213) is not limited to transmission or display to the work vehicle (10) as described above, and may be, for example, transmission to another vehicle (user terminal, etc.), printing (print out), recording to a non-transient recording medium, or voice output.

[0075] The terminal device (20) may be able to access the website of the agricultural support service (agricultural support site) provided by the server via a communication network (N1). In this case, the terminal device (20) may function as a terminal for operating the server by executing a browser program by the information processing unit (21). The server is equipped with each of the processing units described above and executes each processing.

[0076] [4] Control method of the work vehicle

[0077] Hereinafter, with reference to FIGS. 3 to 10, an example of a work vehicle (10) control method (hereinafter simply referred to as the “control method”) executed by a control system (1) (control device (13) and terminal device (20)) will be described.

[0078] The control method according to the present embodiment is executed by a control system (1) having a computer system as its main component, so in other words, it is implemented as a control program for a work vehicle (hereinafter simply referred to as a “control program”). That is, the control program according to the present embodiment is a computer program for executing each process related to the control method on one or more processors.

[0079] Here, when a specific pre-set start operation for executing a control program is performed, the control system (1) executes the following various processes regarding the control method. The start operation is, for example, an operation to start an application program (control program for a work vehicle) on a terminal device (20). Meanwhile, when a specific pre-set end operation is performed, the control system (1) terminates the following various processes regarding the control method. The end operation is, for example, an operation to terminate an application program (control program for a work vehicle) on a terminal device (20).

[0080] In addition, below, it is assumed that the work area (F1) is a rectangular shape when viewed from a planar view, as shown in FIG. 3, and that one short side of the outer edge (outer circumference) of the work area (F1) is the “first outer edge (f11),” the other short side is the “second outer edge (f12),” the other short side is the “third outer edge (f13),” and the other short side is the “fourth outer edge (f14).” Furthermore, in the work area (F1), the driving start position (P1) is positioned near the corner between the first outer edge (f11) and the third outer edge (f13), and the driving end position (P2) is positioned near the corner between the second outer edge (f12) and the third outer edge (f13).

[0081] [4.1] Basic Operation

[0082] First, regarding the control system (1) according to the present embodiment, the basic operation of automatically driving a work vehicle (10) along a target path (R1) in a work area (F1) made of some packaging will be explained with reference to FIG. 3 and FIG. 4. FIG. 4 is a schematic enlarged view of the area near the corner between the first outline line (f11) and the fourth outline line (f14) of FIG. 3.

[0083] In the example of FIGS. 3 and 4, the target path (R1) includes a work path (r11), a connecting path (r12), and an outer path (r13). The work path (r11) and the outer path (r13) are paths through which the work vehicle (10) travels while performing work on the work device (12). The connecting path (r12) is a path that connects between a plurality of work paths (r11) and is for the work vehicle (10) to perform turning travel to change its direction of travel, and is a path (non-work path) through which the work vehicle (10) travels without performing work on the work device (12).

[0084] In the drawing showing the target path (R1) of FIG. 3, the path where the work vehicle (10) performs work (work path (r11) and the outer path (r13) is shown as a solid line, and the path where the work vehicle (10) does not perform work (connection path (r12)) is shown as a dotted line. In the drawing showing the target path (R1) of FIG. 3, the target path (R1) (and the work vehicle (10)) generated for the work site (F1) when viewed from a plane is schematically shown. In FIG. 3 and FIG. 4, the front-rear direction (D2) and the left-right direction (D3) are directions based on the direction of the body (11) of the work vehicle (10) shown in FIG. 3 and FIG. 4.

[0085] More specifically, the target path (R1) includes a plurality of work paths (r11) extending between a pair of long sides (third outline line (f13) and fourth outline line f14) of the work area (F1), as illustrated in FIG. 3. That is, in the target path (R1) exemplified in FIG. 3, a work path (r11) extending upward in the drawing is arranged from a driving start position (P1) set at the lower left corner of the drawing, and a plurality of work paths (r11) along (parallel to) said work path (r11) are arranged at regular intervals in the right side of the drawing. The plurality of work paths (r11) are arranged such that a work path (r11) heading from one long side (third outline line (f13)) of the work area (F1) to the other long side (fourth outline line (f14)) and a work path (r11) in the opposite direction are arranged alternately.

[0086] Here, multiple work paths (r11) are all straight paths (straight paths) through which the work vehicle (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 (work width (W1)) of the left-right direction (D3) of the work machine (12), and by driving the work vehicle (10) along the multiple work paths (r11), planting work is performed over approximately the entire work area (F1) (excluding the immersion area that is the outer periphery). Furthermore, a pair of adjacent work paths (r11) are connected by a connecting path (r12) that connects the end of one work path (r11) which is on the side of the first outline (f11) and the beginning of another work path (r11) which is on the side of the second outline (f12).

[0087] Additionally, the outer path (r13) is a path that is continuous with the end of the final work path (r11) (on the side of the second outline (f12)) among the multiple work paths (r11), and circles the outer periphery of the work site (F1) along the outline of the work site (F1) (first to fourth outlines (f11~f14)). In the example of FIG. 3, the outer path (r13) extends from the lower right corner of the drawing to the lower left corner of the drawing, extends from the lower left corner of the drawing to the upper left corner of the drawing, extends from the upper left corner of the drawing to the upper right corner of the drawing, and extends from the upper right corner of the drawing to the driving end position (P2) of the lower right corner of the drawing, thereby completing the immersion area that becomes the outer periphery of the work site (F1).

[0088] According to this target path (R1), the work vehicle (10) performs planting work by traveling back and forth along the work path (r11) parallel to the starting position (P1) in the inner area (F11) (inside the dotted line in FIG. 3), excluding the outer area (F12) which is the outer part of the work site (F1). After that, the work vehicle (10) performs planting work by traveling along the outer path (r13) clockwise from the outer area (F12) toward the ending position (P2). However, when the work vehicle (10) travels along the outer path (r13), it is preferable to perform automatic driving of the work vehicle (10) in a "manual state" where an operator is on board the vehicle (11). By doing so, the work vehicle (10) can perform planting work over approximately the entire work site (F1), including the outer area (F12).

[0089] In short, when the work vehicle (10) travels along the work path (r11), it performs work (planting work) with the work tool (12). As shown in FIG. 4, a plurality of seedlings (V1) are planted in the passing area (A1) through which the work vehicle (10) (the work tool (12)) passes within the inner area (F11). Here, in the passing area (A1), a plurality of work examples (Vr1~Vr8) (seedling rows) are formed in the left and right directions (D3) that are perpendicular to the direction of travel of the work vehicle (10).

[0090] Likewise, when the work vehicle (10) travels along the outer path (r13), it performs work (planting work) with the work machine (12), so a plurality of seedlings (V1) are planted in the passing area (A2) in the outer area (F12) through which the work vehicle (10) (indicated by the imaginary line (2-dot dashed line) in FIG. 4) passes. Here, although not shown in FIG. 4, in the passing area (A2), a plurality of work rows (Vr1~Vr8) (seedling rows) are formed, arranged side by side in the left and right directions (D3) perpendicular to the direction of travel of the work vehicle (10).

[0091] The target path (R1) is not limited to the path exemplified in FIG. 3 and is set appropriately. Also, in FIG. 3, the work vehicle (10) first travels through the inner area (F11) and then travels through the outer area (F12), but the order of travel of the work vehicle (10) is not limited to this. For example, the work vehicle (10) may first travel through the outer area (F12) and then travel through the inner area (F11).

[0092] In addition, in the example of FIG. 3, the connecting path (r12) set in the outer area (F12) includes a turning path for turning in a gentle turn, but the turning shape for changing the orientation of the work vehicle (10) is not limited to a "gentle turn." The connecting path (r12) may include a turning shape that turns the vehicle (11) while switching between forward and backward to enable turning of the vehicle (11) within a limited space, such as, for example, a so-called "fishtail turn." Likewise, for the turning shape of the work vehicle (10) when driving on the outer path (r13), an appropriate turning shape such as a "turn path" or a "fishtail turn" may be applied.

[0093] In order to realize automatic driving of the work vehicle (10) as described above, it is necessary to recognize and register the shape of the work site (F1) in advance. As an example, an operator boards the work vehicle (10) and drives it to make a full circle along the outer perimeter of the work site (F1) to be registered (teaching drive), and the terminal device (20) obtains location information during driving from the work vehicle (10), recognizes the location and shape of the work site (F1) based on said location information, and registers it as the work site (F1). In this teaching drive, an outer perimeter path (r13) is created on the path where the work vehicle (10) travels. By registering the work site (F1) based on such teaching drive or past driving path performance information, it is possible to create a target path (R1) that avoids obstacles that are difficult to detect with only the detection device (15), such as a culvert, from the beginning.

[0094] Additionally, multiple work paths (r11) may be created with a width of multiple strokes in the outer area (F12) of the work site (F1), and multiple outer paths (r13) may be created along the outer perimeter (outer line) of the work site (F1). In this case, the work vehicle (10) drives the multiple work paths (r11) and then sequentially drives the multiple outer paths (r13) from the inside to the outside. At that time, it is preferable for the work vehicle (10) to automatically drive the inner outer path (r13) in an unmanned state and to automatically drive the outermost outer path (r13) in a manned state.

[0095] [4.2] Permissible limit distance

[0096] Next, processing (setting processing, etc.) related to the allowable limit distance (L1) will be explained with reference to FIGS. 5 to 9.

[0097] In the control system (1) according to the present embodiment, a target path (R1) is basically generated to drive (automatically drive) the work vehicle (10) so as not to deviate from the outer line of the work site (F1). Accordingly, the work vehicle (10) performs work on the work site (F1) while driving within the work site (F1) along the target path (R1) so that the body (11) does not deviate from the work site (F1) (i.e., outside the outer diameter).

[0098] In this case, for example, as shown in FIG. 5, it is possible to generate a target path (R1) based at least on the boundary line (La1) so that the body (11) of the work vehicle (10) does not deviate outward from the boundary line (La1). That is, considering detection errors in the positioning device (16), a target path (R1) is generated so that the work vehicle (10) avoids contact with the embankment, etc., on the outer side of the work site (F1), and a safety margin is secured on the outer periphery of the work site (F1), and the work vehicle (10) travels further inward. In other words, when the work vehicle (10) travels through the work site (F1), the work vehicle (10) is not brought to the limit of the outer line (first to fourth outer lines (f11 to f14)) of the work site (F1), but rather a target path (R1) is generated so that the work vehicle (10) can travel without deviating from the boundary line (La1) set inward by a certain value (L2) from the outer line.

[0099] As shown in FIG. 5, when the boundary line (La1) is located on the inner side of the outline, the area between the boundary line (La1) and the outline (the halftone area in FIG. 5) becomes the safety margin zone. The target path (R1) is generated based on the boundary line (La1) so that the work vehicle (10) does not deviate outward (toward the outline) from the boundary line (La1), which is the inner circumference of the safety margin zone. Therefore, even if a detection error occurs in the positioning device (16), the work vehicle (10) only deviates from the safety margin zone and it becomes difficult to deviate from the outline (first to fourth outlines (f11 to 14)).

[0100] However, when the width of the aforementioned safety margin zone is a constant value L2, the position of the boundary line (La1) set on the inner side of the outer line is constant. For example, even in situations where there is no risk of contact even if the work vehicle (10) is brought closer to the outer line (bank) of the work site (F1), such as when the work vehicle (10) is traveling at a low speed, it is difficult to drive the work vehicle (10) along such a path.

[0101] Accordingly, in the control method according to the present embodiment, it is possible to drive the work vehicle (10) along a more appropriate path by means of the configuration described below.

[0102] That is, the control method of the work vehicle (10) according to the present embodiment is a control method of the work vehicle (10) capable of working while driving on the work site (F1). This control method includes setting an allowable limit distance (L1) and changing a margin value (L11). The allowable limit distance (L1) is defined using the margin value (L11) based on the work vehicle (10) and is a distance that serves as a limit allowing the work vehicle (10) to approach the outline of the work site (F1).

[0103] In summary, in the control method for the present execution form, rather than based on the outline of the work site (F1), an allowable limit distance (L1) is set based on the work vehicle (10) to allow the work vehicle (10) to approach the outline of the work site (F1). Accordingly, while the work vehicle (10) is driving within the work site (F1), it can approach the outline up to a position that is the allowable limit distance (L1) from the outline, whereas it cannot approach the outline beyond that point, that is, up to a position that is less than the allowable limit distance (L1) from the outline. Therefore, even if a detection error occurs in the positioning device (16), it becomes difficult for the work vehicle (10) to deviate from the outline (first to fourth outlines (f11 to f14)).

[0104] Furthermore, in this control method, the allowable limit distance (L1) can be changed by changing the margin value (L11) used to define the allowable limit distance (L1). Therefore, in situations where there is no risk of contact even when the work vehicle (10) is brought closer to the outline (bank) of the work site (F1), such as when the work vehicle (10) is traveling at a low speed, the margin value (L11) is reduced to reduce the allowable limit distance (L1), thereby making it possible to drive the work vehicle (10) even at a position closer to the outline of the work site (F1). As a result, there is an advantage in that it is possible to drive the work vehicle (10) along a more appropriate path.

[0105] More specifically, as illustrated in FIG. 6, the allowable limit distance (L1) is set based on a reference point (Ps1) set for the work vehicle (10) when viewed in a plane. In this embodiment, as an example, the reference point (Ps1) is set near the center of the body (11) of the work vehicle (10) when viewed in a plane. However, the reference point (Ps1) may be located inside the body (11) of the work vehicle (10) when viewed in a plane, or it may be located outside the body (11).

[0106] By setting such an allowable limit distance (L1), a virtual circle (C1) centered on a reference point (Ps1) is established, as shown in FIG. 6. The virtual circle (C1) is a virtual line that serves as a limit allowing the work vehicle (10) to approach the outline of the work site (F1), and its radius is the allowable limit distance (L1). Therefore, when the margin value (L11) is changed and the allowable limit distance (L1) is changed, the size of the virtual circle (C1) centered on the reference point (Ps1) changes. For example, by making the margin value (L11) smaller and thus making the allowable limit distance (L1) smaller, the virtual circle (C1) becomes smaller.

[0107] When the work vehicle (10) travels through the work site (F1), it basically travels along the target path (R1) so that the outline of the work site (F1) does not enter the virtual circle (C1). Meanwhile, a contact determination between the work vehicle (10) and the embankment is performed based on the distance from the work vehicle (10) to the embankment (outline). For example, if the embankment is locally approaching the target path (R1), if the probability of contact is high, a contact avoidance process (stopping the work vehicle (10), or detouring, etc.) is executed. At this time, an allowable limit distance (L1) is used for the contact determination. When the embankment comes within the allowable limit distance (L1) (i.e., within the virtual circle (C1)), if it is determined that the probability of contact is high, the allowable limit distance (L1) is reduced to mitigate the contact determination, thereby preventing unnecessary contact avoidance processing. In this way, as the allowable limit distance (L1) decreases and the virtual circle (C1) becomes smaller, it becomes possible to drive the work vehicle (10) even at a position closer to the outline of the work site (F1).

[0108] The margin value (L11) is changed, for example, according to user operation. Specifically, a setting screen for changing (setting) the margin value (L11) is displayed on the operation display unit (23) of the terminal device (20), and the margin value (L11) can be changed on the setting screen according to the operation of the operator (user) on the operation display unit (23). As an example, the margin value (L11) can be made larger or smaller by a predetermined engraving width (for example, “1 cm”) according to user operation.

[0109] Accordingly, for the operator, it is possible to adjust the margin value (L11) to an arbitrary value and set the allowable limit distance (L1) to an arbitrary distance on the setting screen displayed on the operation display unit (23).

[0110] However, the margin value (L11) can be changed according to, for example, the position of the work vehicle (10) on the path (target path (R1)) when the work vehicle (10) is driving automatically, the driving speed (vehicle speed) of the work vehicle (10), and the distance from the outline of the work site (F1) to the work vehicle (10). That is, the change processing unit (136) of the control device (13) changes the margin value (L11) according to the position of the work vehicle (10), the vehicle speed of the work vehicle (10), and the distance from the outline of the work site (F1) to the work vehicle (10). Accordingly, the allowable limit distance (L1) set based on the work vehicle (10) (reference point (Ps1)) changes automatically according to the position of the work vehicle (10) on the target path (R1), the vehicle speed of the work vehicle (10), and the distance from the outline of the work site (F1) to the work vehicle (10).

[0111] In the example of FIG. 6, for a work vehicle traveling on an outer path (r13) in automatic driving, an allowable limit distance (L1) is shown based on the work vehicle (10). As an example in FIG. 6, the margin value (L11) included in the allowable limit distance (L1) changes according to the work vehicle speed. Basically, as the speed of the work vehicle (10) becomes higher, the allowable limit distance (L1) (margin value (L11)) becomes larger (longer), and as the speed of the work vehicle (10) becomes lower, the allowable limit distance (L1) (margin value (L11)) becomes smaller (shorter).

[0112] Additionally, the margin value (L11) included in the allowable limit distance (L1) can vary depending on the distance from the outline of the work site (F1) to the work vehicle (10). In this case, basically, as the distance from the outline of the work site (F1) to the work vehicle (10) decreases, the allowable limit distance (L1) (margin value (L11)) becomes larger (longer), and as the distance from the outline of the work site (F1) to the work vehicle (10) increases, the allowable limit distance (L1) (margin value (L11)) becomes smaller (shorter).

[0113] Furthermore, the control method according to the present embodiment further includes performing suppression control to prevent the work vehicle (10) from deviating from the outline when the distance from the reference point (Ps1) of the work vehicle (10) to the outline becomes less than or equal to the allowable limit distance (L1). The "suppression control" referred to here is a control that prevents the work vehicle (10) from deviating from the outline by, for example, deceleration, stopping, turning, or a combination thereof. That is, the driving processing unit (132) of the control device (13) prevents the work vehicle (10) from deviating from the outline by, for example, decelerating or stopping the work vehicle (10) when the distance from the reference point (Ps1) of the work vehicle (10) to the outline becomes less than or equal to the allowable limit distance (L1).

[0114] Accordingly, even if unexpected behavior such as slipping of the work vehicle (10) occurs, for example, it is possible to avoid the work vehicle (10) coming into contact with the embankment, etc., on the outside of the work site (F1). Here, for example, when the work vehicle (10) is traveling at a low speed, the effect of the unexpected behavior such as slipping is small, so the margin value (L11) changes according to the speed of the work vehicle (10), so it is possible to avoid taking the allowable limit distance (L1) larger than necessary and moving the work vehicle (10) far from the outer line.

[0115] In this embodiment, as shown in FIG. 7, the allowable limit distance (L1) is a distance obtained by adding a margin value (L11) to the braking distance (L12) according to the speed of the work vehicle (10). The "braking distance" referred to here is the distance required for the work vehicle (10) to stop (come to a halt) when a braking force is applied to the work vehicle (10) while it is in motion. This braking distance (L12) is not a constant value but changes according to the speed (driving speed) of the work vehicle (10). That is, as the speed of the work vehicle (10) becomes higher, the braking distance (L12) becomes larger (longer), and as the speed of the work vehicle (10) becomes lower, the braking distance (L12) becomes smaller (shorter).

[0116] That is, the allowable limit distance (L1) is the sum of the margin value (L11) and the braking distance (L12) (L1=L11+L12). Therefore, when the allowable limit distance (L1) is set starting from the reference point (Ps1) of the work vehicle (10), a virtual circle (C2) centered on the reference point (Ps1) and a double virtual circle of the virtual circle (C1) are set, as shown in FIG. 7. The virtual circle (C2) is a virtual line centered on the reference point (Ps1) with a radius equal to the braking distance (L12). That is, the virtual circle (C2) is set inward from the virtual circle (C1) by the margin value (L11).

[0117] And, by using the allowable limit distance (L1) obtained by adding the margin value (L11) to the braking distance (L12) in this way, when stopping the work vehicle (10) that is in automatic driving, the work vehicle (10) can be stopped at a position that does not exceed the outline of the work site (F1).

[0118] In addition, in this embodiment, as illustrated in FIG. 7, the margin value (L11) and the braking distance (L12) can be changed individually. That is, among the margin value (L11) and the braking distance (L12) included in the allowable limit distance (L1), it is possible to change, for example, only the margin value (L11) and only the braking distance (L12). In addition, it is also possible to make other changes to the margin value (L11) and the braking distance (L12), such as making the margin value (L11) smaller while making the braking distance (L12) larger.

[0119] FIG. 7 shows virtual circles C1 and C2 as examples, when the margin value (L11) is “large” and the braking distance (L12) is “large,” when the margin value (L11) is “small” and the braking distance (L12) is “large,” and when the margin value (L11) is “small” and the braking distance (L12) is “small.” As such, when either the margin value (L11) or the braking distance (L12) becomes smaller, the virtual circle (C1) becomes smaller, making it possible to drive the work vehicle (10) even at a position closer to the outline of the work site (F1).

[0120] In FIG. 7, an example is shown in which the margin value (L11) and the braking distance (L12) are each changed in two steps, “large” and “small,” but this example is not limited to this example, and the margin value (L11) and the braking distance (L12) may each be changed in three or more steps or steplessly.

[0121] In this way, as the margin value (L11) and braking distance (L12) can be changed individually, the allowable limit distance (L1) can be set more precisely. As a result, the work vehicle (10) can be driven even at a position closer to the outline of the work site (F1), thereby enabling the work vehicle (10) to be driven along a more appropriate path.

[0122] In addition, in this embodiment, the margin value (L11) and the braking distance (L12) are determined by assigning individual weights to specific parameters. For example, if the vehicle speed of the work vehicle (10) is used as a specific parameter, it is possible to assign a weight of "2" to the margin value (L11) with respect to the vehicle speed and a weight of "1.5" to the braking distance (L12) with respect to the vehicle speed. In this case, for example, if the vehicle speed increases by "1," the margin value (L11) increases by "2", while the braking distance (L12) increases by "1.5". Thus, the margin value (L11) and the braking distance (L12) are determined based on a common specific parameter, but the margin value (L11) and the braking distance (L12) can be changed individually.

[0123] In addition, in this embodiment, as shown in Table 8, for example, the work vehicle (10) can drive automatically along the target path (R1), so the margin value (L11) changes according to the position of the work vehicle (10) on the target path (R1) at least during the automatic driving of the work vehicle (10). That is, the margin value (L11) is automatically changed depending on where the work vehicle (10) is driving on the target path (R1) while driving automatically.

[0124] Accordingly, the margin value (L11) is automatically changed according to the position of the work vehicle (10) on the target path (R1), making it possible to set an appropriate allowable limit distance (L1). For example, when driving along a path in the inner area (F11) of the work site (F1), such as the work path (r11), even if unexpected behavior such as slip occurs, there is no need to set the allowable limit distance (L1) too large because the possibility of the work vehicle (10) deviating from the outer line of the work site (F1) is low in the first place.

[0125] In the example of FIG. 8, a work vehicle (10) traveling along a work path (r11) and a work vehicle (10) traveling along a connecting path (r12) are shown, and the allowable limit distance (L1) set based on these work vehicles (10) is different from each other. In FIG. 8, as an example, the allowable limit distance (L1) set based on the work vehicle (10) traveling along the work path (r11) is set smaller than the allowable limit distance (L1) set based on the work vehicle (10) traveling along the connecting path (r12). Accordingly, the virtual circle (C1) set around the work vehicle (10) traveling along the work path (r1) is smaller than the virtual circle (C1) set around the work vehicle (10) traveling along the connecting path (r12).

[0126] Here, the connecting path (r12) is an example of a non-working path where the work vehicle (10) does not perform work. That is, in this embodiment, the target path (R1) includes a work path (r11) where the work vehicle (10) performs work, and a non-working path (connecting path (r12), etc.) where the work vehicle (10) does not perform work. When the work vehicle (10) is located on the work path (r11), the margin value (L11) is smaller compared to when the work vehicle (10) is located on the non-working path. When the work vehicle (10) is traveling on a path where there is a low probability that it will deviate from the outline of the work site (F1) even if unexpected behavior such as slip occurs, such as on the work path (r11), the margin value (L11) is made smaller compared to when it is traveling on the non-working path (connecting path (r12), etc.), thereby reducing the allowable limit distance (L1). Therefore, when the work vehicle (10) is traveling on a path where there is a low probability of deviating from the outline of the work site (F1), the decrease in work efficiency can be suppressed by not making the allowable limit distance (L1) larger than necessary.

[0127] Here, the work path (r11) is an example of a straight path in which the work vehicle (10) moves straight, and the connecting path (r12) is an example of a turning path in which the work vehicle (10) turns. That is, in this embodiment, the target path (R1) is a straight path (work path (r11), etc.) in which the work vehicle (10) moves straight, a turning path (connecting path (r12), etc.) in which the work vehicle (10) turns, and when the work vehicle (10) is located on the turning path, the margin value (L11) becomes larger compared to when the work vehicle (10) is located on the straight path. When the work vehicle (10) is traveling on a path where there is a high probability of it deviating from the outline of the work site (F1) in the event of unexpected behavior such as slipping, such as a turning path (connecting path (r12) etc.), the margin value (L11) is increased compared to when it is traveling on a straight path (work path (r11) etc.), thereby increasing the allowable limit distance (L1). Therefore, when the work vehicle (10) is traveling on a path where there is a high probability of it deviating from the outline of the work site (F1), the allowable limit distance (L1) is increased, thereby suppressing the work vehicle (10) from the outline.

[0128] Additionally, as illustrated in FIG. 9, when a multiple-stroke width is left in the outer circumference area (F12) of the work area (F1) and a multiple-stroke outer diameter path (r13) is created along the outer diameter (outline) of the work area (F1), the margin value (L11) may be changed by the outer circumference path (r13). In the example of FIG. 9, the target path (R1) includes a two-stroke outer circumference path (r13) of a first outer circumference path (r131) and a second outer circumference path (r132). The first outer circumference path (r131) is located inside the second outer circumference path (r132), and the second outer circumference path (r132) is outside the first outer circumference path (r131), that is, the outermost path.

[0129] In the example of FIG. 9, a work vehicle (10) traveling on a first outer path (r131) and a work vehicle (10) traveling on a second outer path (r132) are shown, and the allowable limit distance (L1) set based on these work vehicles (10) is different from each other. In FIG. 9, as an example, the allowable limit distance (L1) set based on the work vehicle (10) traveling on the second outer path (r132) is set smaller than the allowable limit distance (L1) set based on the work vehicle (10) traveling on the first outer path (r131). Accordingly, the virtual circle (C1) set around the work vehicle (10) traveling on the second outer path (r132) is smaller than the virtual circle (C1) set around the work vehicle (10) traveling on the first outer path (r131).

[0130] Here, the second outer path (r132) is an example of the outermost path along which the work vehicle (10) travels around along the outer line. That is, in this embodiment, the target path (R1) includes the outermost path (second outer path (r132), etc.) along which the work vehicle (10) travels around along the outer line. When the work vehicle (10) is located on the outermost path, the margin value (L11) is smaller compared to when the work vehicle (10) is located outside the outermost path (first outer path (r131), etc.). In this embodiment, specifically, the margin value (L11) is minimized while the work vehicle (10) travels on the outermost path (second outer path (r132), etc.). The minimum value of the margin value (L11) may be 0 or approximately 0. Accordingly, when driving on the outermost path (second outer path (r132), etc.), the margin value (L11) is reduced, thereby reducing the allowable limit distance (L1). Therefore, the work vehicle (10) can be brought very close to the outer line of the work site (F1) to the extent that it almost touches it, and a large work area can be secured for the work site (F1).

[0131] As explained above, the margin value (L11) (allowable limit distance (L1)) is not fixed and changes according to the driving condition of the work vehicle (10), including the position of the work vehicle (10). The "driving condition of the work vehicle (10)" referred to here includes not only the position of the work vehicle (10) on the target path (R1) during automatic driving as described above, but also, for example, the position of the work vehicle (10) during manual driving (manual operation), the elapsed time since the start of automatic driving, and the remote operation of the work vehicle (10) by an operator.

[0132] For example, when the work vehicle (10) automatically drives along the edge of the embankment (the outline of the work site (F1)), it is desirable to reduce the margin value (L11) and reduce the allowable limit distance (L1). Accordingly, it is possible to bring the work vehicle (10) very close to the outline of the work site (F1) so that it almost touches it, thereby increasing the work area for the work site (F1). In addition, it is desirable to reduce the margin value (L11) and reduce the allowable limit distance (L1) until a certain amount of time has elapsed from the start of the automatic driving of the work vehicle (10) (immediately after the start of automatic driving). In addition, for example, when the work vehicle (10) is remotely operated by an operator using a terminal device (20), it is desirable to reduce the margin value (L11) and reduce the allowable limit distance (L1). In addition, regardless of whether the work vehicle (10) is driving in the vicinity of a specific area, it is desirable to reduce the margin value (L11) to reduce the allowable limit distance (L1). The “specific area” referred to here includes, for example, a work completion area or an unwork area at the work site (F1), and an area at the work site (F1) where automatic driving is prohibited.

[0133] In addition, the control method according to the present embodiment further includes specifying a change pattern for the margin value (L11). Specifically, the margin value (L11) is changed according to the position of the work vehicle (10) on the target path (R1), the speed of the work vehicle (10), or the distance from the outline of the work site (F1) to the work vehicle (10), or any combination thereof, or a plurality of such change patterns are registered. Then, for example, a setting screen for specifying any change pattern among the plurality of change patterns is displayed on the operation display unit (23) of the terminal device (20), and the change pattern can be specified on the setting screen according to the operation of the operator (user) on the operation display unit (23).

[0134] As a specific example of a change pattern, for each of the margin value (L11) and the braking distance (L12), it may be specified whether they change according to the position of the work vehicle (10) on the target path (R1), the speed of the work vehicle (10), and the distance from the outline of the work site (F1) to the work vehicle (10). As an example, in the first change pattern, the margin value (L11) changes according to the position of the work vehicle (10) on the target path (R1) and the distance from the outline of the work site (F1) to the work vehicle (10), and the braking distance (L12) changes according only to the speed of the work vehicle (10). In the second change pattern, the margin value (L11) changes only according to the position of the work vehicle (10) on the target path (R1), and the braking distance (L12) changes according to the speed of the work vehicle (10) and the distance from the outline of the work site (F1) to the work vehicle (10).

[0135] Here, the change pattern may include, for example, a coefficient that defines a weight for a specific parameter. As an example, in the first change pattern, the value obtained by multiplying the vehicle speed as a specific parameter by the coefficient “2” is set as the margin value (L11) and braking distance (L12), whereas in the second change pattern, the value obtained by multiplying the vehicle speed by the coefficient “1.2” is set as the margin value (L11) and braking distance (L12). In this case, even if the vehicle speed is the same, the margin value (L11) and braking distance (L12) in the first change pattern are larger than those in the second change pattern, so that the deviation of the work vehicle (10) from the outline can be suppressed more reliably.

[0136] In this way, by making it possible to specify how to change the margin value (L11) and the change pattern, it becomes possible to drive the work vehicle (10) along a more appropriate path. The change pattern may be specified by a user (operator, etc.), or it may be done automatically according to, for example, the condition of the work site (F1) (degree of mud, etc.), the condition of the work vehicle (10), or the environment (weather, etc.).

[0137] In addition, the control method according to the present embodiment further includes nullifying the allowable limit distance (L1) when a specific cancellation condition is satisfied. The "cancellation condition" referred to here is a condition that requires moving the work vehicle (10) to the outside of the work site (F1), for example, when the remaining amount of material (seedlings or fuel in the present embodiment) consumed by the work on the work vehicle (10) (transplanting work in the present embodiment) becomes below a judgment threshold value. When the work vehicle (10) is a harvester such as a combine, the cancellation condition includes the amount of harvested material stored becoming above a judgment threshold value.

[0138] In this way, when the cancellation condition is satisfied, the allowable limit distance (L1) is temporarily invalidated, and the work vehicle (10) can move to the outside of the work site (F1) without restraint control being applied, even when the outline is located within the allowable limit distance (L1). The cancellation condition may include the work vehicle (10) reaching the driving end position (P2), that is, the end of the work driving along the target path (R1).

[0139] In addition, the judgment threshold value compared with the remaining amount of material during the round trip and the judgment threshold value compared with the remaining amount of material after the end of the round trip may differ. Specifically, the judgment threshold value after the end of the round trip is set higher than the judgment threshold value during the round trip. By doing so, even if the amount of material has not decreased significantly at the end of the round trip, material can be replenished before starting the subsequent circuit.

[0140] In addition, when the cancellation condition is satisfied, the driving processing unit (132) preferably stops the work vehicle (10) under conditions such as there being a stop instruction by the operator (user), the work vehicle (10) traveling a predetermined distance beyond the outline, or the work vehicle (10) traveling a predetermined distance from the driving end position (P2). The stop instruction is transmitted from the terminal device (20) to the work vehicle (10) by, for example, a specific operation by the user on the terminal device (20).

[0141] Here, the margin value (L11) includes a negative value. That is, the margin value (L11), which defines the allowable limit distance (L1) as the distance from the work vehicle (10) (reference point (Ps1)), can have a negative (-) value as well as a positive (+) value. If the margin value (L11) is a negative value, the allowable limit distance (L1) can also have a negative value. If the allowable limit distance (L1) is a negative value, the reference point (Ps1) of the work vehicle (10) is allowed to move outside the work site (F1) relative to the outline of the work site (F1) (first to fourth outlines (f11 to f14)) by the absolute value of the allowable limit distance (L1).

[0142] For example, there are cases where at least a part of the machine (11) (including the work machine (12)) can move outside the work area (F1) without issue due to factors such as the height of the embankment around the work area (F1), the type of embankment (soil / concrete, etc.), the presence or absence of obstacles around the work area (F1), the presence or absence of the work machine (12), the work width (W1), the lifting state of the work machine (12), and the presence or absence of turning during the driving of the work vehicle (10). When it is confirmed that there is no problem even if the machine moves outside the work area (F1) during the registration of the work area (F1) (teaching driving), etc., the margin value (L11) is made negative as described above, thereby enabling driving along a more flexible path.

[0143] [4.3] Processing the entire process

[0144] Hereinafter, the overall flow of processing regarding the change of the margin value (L11) in the control method will be explained with reference to FIG. 10.

[0145] As illustrated in FIG. 10, the setting processing unit (135) of the control system (1) sets the margin value (L11) as a default and sets the allowable limit distance (L1) based on the reference point (Ps1) of the work vehicle (10) (S1). Then, the control system (1) obtains information such as the position of the work vehicle (10) on the target path (R1), the speed of the work vehicle (10), and the distance from the outline of the work site (F1) to the work vehicle (10) (S2).

[0146] For example, if conditions for changing the margin value, such as a change in the speed of the work vehicle (10), are satisfied (S3: Yes), the change processing unit (136) of the control system (1) changes the margin value (L11) to change the allowable limit distance (L1) (S4). On the other hand, if conditions for changing the margin value, such as a change in the speed of the work vehicle (10), are not satisfied (S3: No), the control system (1) skips step S4 and terminates the series of processing.

[0147] However, the flowchart shown in Fig. 10 is merely an example, and processing may be appropriately added or omitted, and the order of processing may be appropriately changed.

[0148] [5] Variant example

[0149] Variations of Embodiment 1 are listed below. The variations described below can be applied by appropriately combining them.

[0150] The control system (1) in the present disclosure includes a computer system. The computer system mainly comprises one or more processors and one or more memories as hardware. By executing a program (a control program for a work vehicle) recorded in the memory of the computer system, the function of the control system (1) in the present disclosure is realized. The program may be recorded in advance in the memory of the computer system, provided via an electrical communication line, or recorded and provided on a non-transient recording medium such as a memory card, an optical disc, or a hard disk drive that is readable by the computer system. In addition, some or all of the functional parts included in the control system (1) may be composed of electronic circuits.

[0151] In addition, it is not an essential configuration for the control system (1) to have at least some of its functions integrated within a single housing, and the components of the control system (1) may be distributed and installed in multiple housings. Conversely, in embodiment 1, functions distributed across multiple devices (e.g., control device (13) and terminal device (20)) may be integrated within a single housing. In addition, at least some of the functions of the control system (1) may be realized by the cloud (cloud computing), etc.

[0152] Additionally, the allowable limit distance (L1) may be set based on the work vehicle (10), and it is not mandatory to form a virtual circle (C1) centered on a reference point (Ps1) set near the center of the body (11) of the work vehicle (10) when viewed from a plane, as in Embodiment 1. For example, as shown as a “virtual circle” in FIG. 11, reference points (Ps1) may be set at multiple locations (e.g., four corners) of the body (11) of the work vehicle (10) when viewed from a plane, and virtual circles (C1) with a radius equal to the allowable limit distance (L1) may be set from each of these multiple reference points (Ps1). Additionally, as shown as a “vector” in FIG. 11, the allowable limit distance (L1) may be set by a vector (B1) extending in one direction from the reference point (Ps1). The vector (B1) has a specific directionality, for example, to extend toward the nearest outline or toward the direction of travel of the gas (11).

[0153] In addition, the function of changing the margin value (L11) as described above is not limited to automatic driving of the work vehicle (10), but also functions in the same way during manual driving (manual operation) by manual operation by an operator.

[0154] Additionally, the terminal device (20) is not limited to general-purpose terminals such as tablet terminals, smartphones, or laptop computers, and may be configured as a dedicated terminal. Additionally, multiple terminal devices (20) may be provided for one work vehicle (10), in which case, one work vehicle (10) can be controlled by multiple terminal devices (20). Conversely, one terminal device (20) may be provided for multiple work vehicles (10), in which case, multiple work vehicles (10) can be controlled by one terminal device (20).

[0155] In addition, the aforementioned target path (R1) is merely an example and can be appropriately modified. For example, the working direction of the work vehicle (10) (the direction of the work path (r11)), and / or the driving sequence of the work path (r11), etc., can also be appropriately modified.

[0156] (Embodiment 2)

[0157] The work system (100) according to the present embodiment differs from embodiment 1 in that the position of the reference point (Ps1) when viewed in a plane can be changed. Hereinafter, common reference numerals are assigned to components identical to embodiment 1 and their descriptions are omitted.

[0158] For example, as shown at the top (normal) of FIG. 12, it is assumed that reference points (Ps1) are set at multiple locations (e.g., four corners) on the body (11) of the work vehicle (10) when viewed in a plane. Here, it is assumed that the allowable limit distance (L1) is set by a vector (B1) extending in one direction from the reference point (Ps1). The vector (B1) has a specific directionality, for example, to extend toward the nearest outline or toward the forward direction of travel of the body (11).

[0159] In this case, as shown in the bottom (offset) of FIG. 12, the positions of multiple (here, four) reference points (Ps1) when viewed in a plane are each changed to the center side (inside of the body (11)) of the body (11) of the work vehicle (10). For example, if a reference point (Ps1) is set at the right front corner of the body (11), it is offset to the left rear. In the bottom (offset) of FIG. 12, the reference point (Ps1) and vector (B1) before the change are shown as an imaginary line (two-dot dashed line).

[0160] In this way, in the present embodiment, since the position of the reference point (Ps1) is not fixed and can be changed, even if the allowable limit distance (L1) from the reference point (Ps1) is constant, the allowable limit distance viewed from the center of the body (11) of the work vehicle (10) when viewed in a plane can be changed. For example, as shown in FIG. 12, when the positions of a plurality of reference points (Ps1) are each offset toward the center of the body (11) of the work vehicle (10) when viewed in a plane, the allowable limit distance viewed from the center of the body (11) of the work vehicle (10) when viewed in a plane becomes smaller.

[0161] The position of the reference point (Ps1) when viewed from a planar view is changed according to the driving state of the work vehicle (10), including the position of the work vehicle (10). In particular, when in the following driving state, it is desirable to substantially reduce the allowable limit distance from the center of the body (11) of the work vehicle (10) when viewed from a planar view by offsetting the multiple reference points (Ps1) when viewed from a planar view toward the center side of the body (11) (inside the body (11)). That is, when the work vehicle (10) automatically drives along the edge of the embankment (outer line of the work site (F1)), when a certain amount of time has elapsed from the start of the automatic driving of the work vehicle (10) (immediately after the start of automatic driving), when the work vehicle (10) is remotely operated by an operator, and / or when the work vehicle (10) drives near a specific area regardless of automatic or manual driving, the multiple reference points (Ps1) when viewed from a planar view are offset toward the center side of the body (11) (inside the body (11)).

[0162] In this way, for example, when a work vehicle (10) automatically drives along a ridge, by offsetting a plurality of reference points (Ps1) when viewed from a planar perspective toward the center side of the body (11) (inside the body (11)), the work vehicle (10) can be brought close to the outer line of the work site (F1) to the limit, and a large work area for the work site (F1) can be secured.

[0163] In addition, when viewed in a plane, the position of the reference point (Ps1) is offset toward the center axis of the body (11) of each work vehicle (10), thereby allowing the allowable limit distance (L1) to be set to a negative (-) value in a range equivalent to the original (i.e., normal) allowable limit distance (L1) viewed from multiple reference points (Ps1). By doing so, even when the allowable limit distance (L1) is set by a vector (B1) extending in one direction from the reference point (Ps1), the margin value (L11) is set to a negative value, thereby realizing an operation equivalent to setting the allowable limit distance to a negative value.

[0164] In addition, the change in the position of the reference point (Ps1) when viewed in a plane is not limited to cases where the reference point (Ps1) is set at the four corners of the body (11) of the work vehicle (10) when viewed in a plane, but is applicable when any reference point (Ps1) is set. Furthermore, the change in the position of the reference point (Ps1) when viewed in a plane is not limited to cases where the allowable limit distance (L1) is set by a vector (B1) extending in one direction from the reference point (Ps1), but is applicable even when a virtual circle (C1) with a radius equal to the allowable limit distance (L1) is set from the reference point (Ps1).

[0165] In addition, for example, the positions of reference points (Ps1) may be pre-registered, and among the positions of the multiple reference points (Ps1), the position of the reference point (Ps1) when viewed from a plane may be changed by switching the position of the reference point (Ps1). In the example of FIG. 12, the positions of multiple reference points (Ps1) in the “normal time” shown at the top and the positions of multiple reference points (Ps1) in the “offset time” shown at the bottom are pre-registered, and the positions of multiple reference points (Ps1) when viewed from a plane are changed by switching between the “normal time” and the “offset time.”

[0166] The configuration of Embodiment 2 (including variations) can be adopted in appropriate combination with various configurations (including variations) described in Embodiment 1.

[0167] (Embodiment 3)

[0168] The work system (100) according to the present embodiment differs from Embodiment 1 in that, as shown in FIG. 13, the allowable limit distance (L1) can be changed according to the target height. Hereinafter, for components identical to Embodiment 1, common reference numerals are assigned and descriptions are omitted accordingly.

[0169] In FIG. 13, it is assumed that reference points (Ps1) are set at multiple locations (e.g., four corners) of the body (11) of the work vehicle (10) when viewed in a plane. Here, it is assumed that the allowable limit distance (L1) is set by a vector (B1) extending in one direction from the reference point (Ps1). The vector (B1) has a specific directionality, such that it extends, for example, toward the nearest outline or toward the forward direction of travel of the body (11).

[0170] In this embodiment, multiple types of reference points (Ps1) are pre-registered in the height direction (up / down direction D1), and the allowable limit distance (L1) is changed by switching the reference point (Ps1) among the multiple types of reference points (Ps1). In the example of FIG. 13, two types of reference points (Ps11, Ps12) are registered in the height direction, and for each reference point (Ps11) and Ps12, vectors (B11, B12) with different lengths (allowable limit distance (L1)) are set. Here, the length of the vector (B11) extending from the reference point (Ps11) at the lower position is shorter than the length of the vector (B12) extending from the reference point (Ps12) at the higher position.

[0171] In this embodiment, the allowable limit distance (L1) is not fixed and changes according to the target height. The "target height" mentioned here refers to the height of an object to be avoided from the work vehicle (10), and as an example, is the height of the side embankment (f10) located outside the work area (F1) of the outline. For example, as shown at the top (low embankment) of FIG. 13, if the height of the embankment (f10) is lower than the reference height, the lower reference point (Ps11) among the two types of reference points (Ps11, Ps12) is selected. Accordingly, the allowable limit distance (L1) is set to be smaller by the shorter vector (B11) extending from the reference point (Ps11).

[0172] Meanwhile, for example, as shown at the bottom (high embankment) of FIG. 13, if the height of the embankment (f10) is higher than the reference height, the higher reference point (Ps12) among the two types of reference points (Ps11, Ps12) is selected. Accordingly, the allowable limit distance (L1) is set large by the longer vector (B12) extending from the reference point (Ps12).

[0173] In this embodiment, as an example, a reference height is set based on the lower height of a structure located at a certain height from the ground (the contact surface of the front wheel (141) and the rear wheel (142)), such as the spare grave storage rack (112) of the work vehicle (10).

[0174] Accordingly, as shown at the top of FIG. 13, when the height of the embankment (f10) is lower than the reference height (low embankment), there is no risk of the reserve seedling stacking rack (112) coming into contact with the embankment (f10), so by setting the allowable limit distance (L1) small, it is possible to bring the work vehicle (10) close to the outline of the work site (F1) and to increase the work area for the work site (F1). On the other hand, as shown at the bottom of FIG. 13, when the height of the embankment (f10) is higher than the reference height (high embankment), it is possible to avoid contact of the reserve seedling stacking rack (112) with the embankment (F10) by setting the allowable limit distance (L1) large.

[0175] As for the target height, that is, the height of the embankment (f10) (“low embankment” or “high embankment”), it may be determined based on embankment information indicating whether it is a “low embankment” or a “high embankment” included in, for example, packaging information, etc., or it may be automatically determined based on the output of a distance sensor that detects the height of the embankment (f10).

[0176] In addition, the change in the allowable limit distance (L1) according to the target height (height of the dike (f10)) is not limited to cases where reference points (Ps1) are set at the four corners of the body (11) of the work vehicle (10) when viewed in a plane, but is applicable when any reference point (Ps1) is set. Furthermore, except for cases where the allowable limit distance (L1) is set by a vector (B1) extending in one direction from the reference point (Ps1), the change in the allowable limit distance (L1) according to the target height (height of the dike (f10)) can be applied even when a virtual circle (C1) with a radius equal to the allowable limit distance (L1) is set from the reference point (Ps1).

[0177] In addition, multiple types of reference points (Ps1) are pre-registered in the height direction (up / down direction D1), and it is not mandatory to switch the allowable limit distance (L1) by switching the reference point (Ps1) among the multiple types of reference points (Ps1). For example, even with the same reference point (Ps1), the allowable limit distance (L1) according to the target height (height of the dike (f10)) can be changed by changing the margin value (L11).

[0178] The configuration of Embodiment 3 (including variations) can be adopted in appropriate combination with various configurations (including variations) described in Embodiment 1 or Embodiment 2.

[0179] [Notes on the Invention]

[0180] Hereinafter, an overview of the invention derived from the above-described embodiments is provided. Furthermore, each component and each processing function described in the following notes may be selected and arbitrarily combined.

[0181] <Bookmark 1>

[0182] In a method for controlling a work vehicle capable of working while driving through a work site,

[0183] Setting an allowable limit distance defined using a margin value based on the above work vehicle, which is a limit that allows the work vehicle to approach the outline of the above work site.

[0184] including changing the above margin value,

[0185] Control method for work vehicles.

[0186] <Bookmark 2>

[0187] In paragraph 1,

[0188] The above allowable limit distance is at least the distance obtained by adding the margin value to the braking distance according to the vehicle speed of the above work vehicle,

[0189] Control method of the work vehicle described in Appendix 1.

[0190] <Bookmark 3>

[0191] The above margin value and the above braking distance are individually changeable,

[0192] Control method of the work vehicle described in Appendix 2.

[0193] <Book 4>

[0194] The above margin value and the above braking distance are determined by assigning individual weights to specific parameters,

[0195] Control method of the work vehicle described in Appendix 3.

[0196] <Bookmark 5>

[0197] The method further includes performing a suppression control to suppress deviation of the work vehicle from the outline when the distance from the reference point of the work vehicle to the outline becomes less than or equal to the allowable limit distance.

[0198] A method for controlling a work vehicle as described in any one of Appendix 1 to 4.

[0199] <Bookmark 6>

[0200] Further including changing the position of the reference point when viewed in a plane according to the driving state of the work vehicle,

[0201] Control method of the work vehicle described in Appendix 5.

[0202] Book 7

[0203] The above work vehicle is capable of driving automatically along a target path, and

[0204] The above margin value changes according to the position of the work vehicle on the target path during the automatic driving of the work vehicle,

[0205] A method for controlling a work vehicle as described in any one of Appendix 1 to 6.

[0206] <Bookmark 8>

[0207] The above target path includes a work path where the work vehicle performs work and a non-work path where the work vehicle does not perform work, and

[0208] When the above work vehicle is located on the above work path, the margin value becomes smaller compared to when the above work vehicle is located on the above non-work path.

[0209] Control method of the work vehicle described in Appendix 7.

[0210] Bookmark 9

[0211] The above target path includes a straight path in which the work vehicle moves straight and a turning path in which the work vehicle turns, and

[0212] When the above work vehicle is located on the above turning path, the margin value increases compared to when the above work vehicle is located on the above straight path.

[0213] Method of controlling a work vehicle as described in Appendix 7 or 8.

[0214] <Bookmark 10>

[0215] The above target path includes the outermost path along which the work vehicle travels around along the outline, and

[0216] When the above work vehicle is located on the above outermost path, the margin value becomes smaller compared to when the above work vehicle is located outside the above outermost path.

[0217] A method for controlling a work vehicle as described in any one of Appendix 7 to 9.

[0218] Bookmark 11

[0219] In the event that certain cancellation conditions are satisfied, further including nullifying the above allowable limit distance,

[0220] A method for controlling a work vehicle as described in any one of Appendix 1 to 10.

[0221] <Bookmark 12>

[0222] Further including specifying a change pattern for the above margin value,

[0223] A method for controlling a work vehicle as described in any one of Appendix 1 to 11.

[0224] Bookmark 13

[0225] The above margin value changes according to user operation,

[0226] A method for controlling a work vehicle as described in any one of Appendix 1 to 12.

[0227] <Bookmark 14>

[0228] The above margin value includes a negative value,

[0229] A method for controlling a work vehicle as described in any one of Appendix 1 to 13.

[0230] <Bookkeeping 15>

[0231] Further including changing the above allowable limit distance according to the target height,

[0232] A method for controlling a work vehicle as described in any one of Appendix 1 to 14.

[0233] <Bookmark 16>

[0234] A method for controlling a work vehicle described in any one of Appendices 1 to 15,

[0235] A control program for a working vehicle to be executed on one or more processors. Explanation of the symbols

[0236] 1. Control system for work vehicles 10 work vehicles 11 gas 100 work systems 135 Configuration processing unit 136 Change Processing Unit F1 work site f11~f14 1st~4th outlines (outlines) L1 allowable limit distance L11 margin value L12 braking distance Ps1 reference point R1 Target path (path) r11 work path (straight path) r12 connection path (non-working path, turning path) r132 2nd outermost path (outermost path)

Claims

Claim 1 A method for controlling a work vehicle capable of working while driving on a work site, comprising: setting an allowable limit distance defined using a margin value based on the work vehicle and which is a limit allowing the work vehicle to approach the outline of the work site; and changing the margin value. Claim 2 A method for controlling a work vehicle according to claim 1, wherein the allowable limit distance is at least the distance obtained by adding the margin value to the braking distance according to the vehicle speed of the work vehicle. Claim 3 A method for controlling a work vehicle according to paragraph 2, wherein the margin value and the braking distance are individually changeable. Claim 4 A method for controlling a work vehicle according to paragraph 3, wherein the margin value and the braking distance are determined by assigning individual weights to specific parameters. Claim 5 A method for controlling a work vehicle, wherein, in any one of claims 1 to 4, when the distance from a reference point of the work vehicle to the outline is less than or equal to the allowable limit distance, the method further comprises performing a suppression control to suppress the work vehicle from the outline. Claim 6 A method for controlling a work vehicle according to claim 5, further comprising changing the position of the reference point when viewed in a plane according to the driving state of the work vehicle. Claim 7 A method for controlling a work vehicle according to any one of claims 1 to 4, wherein the work vehicle is capable of driving automatically along a target path, and the margin value changes according to the position of the work vehicle on the target path during the automatic driving of the work vehicle. Claim 8 A method for controlling a work vehicle according to claim 7, wherein the target path includes a work path where the work vehicle performs work and a non-work path where the work vehicle does not perform work, and when the work vehicle is located on the work path, the margin value is smaller compared to when the work vehicle is located on the non-work path. Claim 9 A method for controlling a work vehicle according to claim 7, wherein the target path includes a straight path in which the work vehicle moves straight and a turning path in which the work vehicle turns, and when the work vehicle is located on the turning path, the margin value is larger compared to when the work vehicle is located on the straight path. Claim 10 A method for controlling a work vehicle according to claim 7, wherein the target path includes an outermost path along which the work vehicle travels around the outline, and when the work vehicle is located on the outermost path, the margin value is smaller compared to when the work vehicle is located outside the outermost path. Claim 11 A method for controlling a work vehicle, further comprising, in any one of claims 1 to 4, nullifying the allowable limit distance when a specific cancellation condition is satisfied. Claim 12 A method for controlling a work vehicle, comprising, in any one of claims 1 to 4, further specifying a change pattern of the margin value. Claim 13 A method for controlling a work vehicle, wherein, in any one of claims 1 to 4, the margin value is changed according to user operation. Claim 14 A method for controlling a work vehicle, wherein, in any one of claims 1 to 4, the margin value includes a negative value. Claim 15 A method for controlling a work vehicle, wherein, in any one of claims 1 to 4, the allowable limit distance is further changed according to the target height. Claim 16 A control program for a work vehicle for executing a control method for a work vehicle described in any one of paragraphs 1 to 4 by one or more processors. Claim 17 A control system for a work vehicle, used for a work vehicle capable of working while driving on a work site, comprising a setting processing unit for setting an allowable limit distance that is defined using a margin value based on the work vehicle and is a limit that allows the work vehicle to approach the outline of the work site, and a changing processing unit for changing the margin value. Claim 18 A work system comprising a control system for a work vehicle described in paragraph 17, and a body of said work vehicle.

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