JP7837899B2 - Control method for work machines, control program for work machines, control system for work machines, and work system - Google Patents

Description

This invention relates to a control method for a work machine that moves within a target area while performing work within that area using a work machine, a control program for a work machine, a control system for a work machine, and a work system.

As a related technology, a working machine (tractor) equipped with a machine body (traveling machine body) capable of autonomously traveling within a target area (field) is known (see, for example, Patent Document 1). In this related technology, various working machines, such as tillers, are detachably attached to the machine body. This working machine is configured to perform work (agricultural work) while traveling within a target area by controlling each part of the working machine (machine body and working machines, etc.) via a control unit. Specifically, the control unit autonomously travels the machine body along a travel path, while the working machines autonomously perform work along the work path included in the travel path.

Japanese Patent Publication No. 2018-121537

In the configuration of the related technologies described above, for example, when the implement is a towed implement attached to the rear of the machine, if the machine is moved in reverse along the travel path, the connection point between the implement and the machine may buckle, potentially leading to an excessive load on the implement.

The object of the present invention is to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work system that can easily avoid excessive load on the work machine.

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

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

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

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

According to the present invention, it is possible to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work system that make it easier to avoid excessive load on the work machine.

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

The embodiments of the present invention will be described below with reference to the attached drawings. The following embodiments are examples that embody the present invention and are not intended to limit the technical scope of the invention.

(Embodiment 1)
[1] Overall Configuration First, the overall configuration of the work system 100 according to this embodiment will be described with reference to Figures 1 and 2. The control system 1 for the work machine according to this embodiment (hereinafter also simply referred to as "control system 1") constitutes the work system 100 together with the body 11 of the work machine 10. The work machine 12 is mounted on the body 11. That is, the work system 100 comprises the control system 1 for the work machine and the body 11 of the work machine 10 to which the work machine 12 is mounted.

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

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

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

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

In this disclosure, "working machinery" refers to machinery that performs various tasks in a target area F1, such as a field. Examples include agricultural machinery such as tractors, seeders, rice transplanters, sprayers, sprayers, transplanters, and harvesters. Working machinery 10 may also be construction machinery, for example. In this embodiment, unless otherwise specified, the description will be based on the example where working machinery 10 is a tractor equipped with a laser leveler as implement 2. That is, working machinery 10 is constructed by connecting a (directly mounted) laser leveler as implement 12 to a tractor as the machine body 11. With this working machinery 10, leveling work is possible by the machine body 11 traveling over the target area F1, such as a field, thereby leveling the ground surface of the target area F1.

Thus, in this embodiment, since the aircraft 11 is a vehicle that moves by traveling within the target area F1, the work machine 10 constitutes a "work vehicle." However, the work machine 10 is not limited to a work vehicle; for example, it may be a drone or multicopter used for pesticide spraying or fertilization, or other flying vehicle.

Furthermore, in this embodiment, as an example, the work machine 10 is an automated machine capable of operating through autonomous driving (autonomous driving and autonomous work) while still being capable of carrying a person (operator). However, it is not limited to this; the work machine 10 may also be an unmanned machine operating through autonomous driving, or it may be operated by a person (operator) (including remote control).

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

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

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

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

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

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

In this embodiment, the implement 12 is a directly mounted laser leveler, allowing leveling work to be performed on the field (target area F1) while the machine body 11 is moving forward. The implement 12's relative position (relative height) in the vertical direction D1 relative to the machine body 11 is variable. This allows the height of the implement 12 to be variable relative to the field surface (ground surface of the target area F1), and by adjusting the height of the implement 12, the height of the target surface for leveling work can be adjusted. The implement 12, consisting of a laser leveler, automatically changes height based on the laser beam from the emitter, scraping soil from higher (raised) areas of the ground surface and moving it to lower areas, thereby leveling the target area F1.

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

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

During autonomous driving, the driving system 14 operates according to the controls 13, including the steering system, transmission, and operating devices described above. For example, in the driving system 14, the angle of the front wheels 141 is changed by a hydraulic power steering mechanism, etc., in response to the steering system operation by the control device 13, thereby changing the direction of travel of the vehicle 11. Also, in response to the transmission system operation by the control device 13, the transmission gears are switched to forward or reverse gear, etc., and the driving mode of the vehicle 11 is switched to forward or reverse, etc. Furthermore, the control device 13 controls the rotational speed of the power source by operating the accelerator or brake of the operating device, and brakes the front wheels 141 and rear wheels 142 using electromagnetic brakes.

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

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

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

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

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

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

The control device 13 is configured to communicate with devices installed in various parts of the machine body 11. In other words, the control device 13 is electrically connected to the work machine 12, the travel device 14, the detection device 15, the positioning device 16, and the communication device 17, etc. This allows the control device 13 to control the work machine 12 and the travel device 14, etc., and to acquire the detection results of the detection device 15 and the positioning device 16. Here, the control device 13 may exchange various types of information (data) directly with each device, or indirectly via a relay device or the like.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

The communication unit 24 is a communication interface for connecting the terminal device 20 to the work machine 10 via wired or wireless connection and for performing data communication with the work machine 10 according to a predetermined communication protocol. In this embodiment, the communication unit 24 can communicate with at least the work machine 10 (its communication device 17) via the communication network N1. Furthermore, since the communication unit 24 can connect to the communication network N1 at least wirelessly, it is possible to communicate with the work machine 10 at any time, even when the communication unit 24 is sufficiently far away from the work machine 10.

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

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

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

In this embodiment, as an example, the number of operations is set according to the work accuracy. "Work accuracy" as used in this disclosure refers to the required finishing accuracy of the work performed by the work machine 10. For example, in leveling work, the flatness of the target area F1 corresponds to the work accuracy. For instance, the higher the work accuracy, the higher the required finishing accuracy, and therefore the number of operations is set accordingly. Consequently, if the required flatness for leveling work is high, the number of operations tends to increase, and if the required flatness is low, the number of operations tends to decrease. As a result, it is possible to set an appropriate number of operations for the work accuracy. As another example, the number of operations may also be set according to field information, etc. In this case, for example, if it is a "consolidated field" where multiple fields have been merged into one, the number of operations tends to increase.

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

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

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

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

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

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

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

In this embodiment, the mode setting processing unit 212 is configured to automatically set the movement mode according to predetermined rules. That is, the mode setting processing unit 212 can automatically set the movement mode according to predetermined rules, even without the user (operator) directly specifying the movement mode. Therefore, for example, when the movement mode (allowing or disallowing the first reverse movement) is set according to the work implement 12 as described above, the mode setting processing unit 212 automatically sets the movement mode according to the work implement 12, according to predetermined rules defining the correspondence between the work implement 12 and the movement mode, such as prohibiting the first reverse movement if the work implement 12 is a towable type. In particular, the user may specify which work implement 12 is attached to the machine body 11 by operating the operation display unit 23, but for example, the result automatically determined by the work machine 10 may be transmitted to the terminal device 20. Therefore, for the user, simply specifying the work implement 12, or even not specifying the work implement 12 at all, will automatically set a movement mode suitable for that work implement 12, saving the user the trouble of setting the movement mode.

Furthermore, in this embodiment, the mode setting processing unit 212 is configured to set the movement mode according to user operation. That is, the mode setting processing unit 212 can directly set the movement mode based on input such as the permission or denial of the first reverse movement by the user (operator) operating the operation display unit 23. Therefore, for example, when the user is an experienced operator, it becomes possible to set an appropriate movement mode by utilizing the user's experience.

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

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

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

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

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

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

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

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

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

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

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

Furthermore, the output processing unit 215 can also output the generated target path R1 to the operation display unit 23, thereby displaying it on the operation display unit 23. The output of the output processing unit 215 is not limited to transmission to or display to the work machine 10 as described above; it may also include, for example, transmission to other devices (such as user terminals), printing (printout), writing to a non-temporary recording medium, or audio output.

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

[3] Control Method for the Work Machine Hereinafter, an example of a control method for the work machine 10 (hereinafter simply referred to as the "control method"), which is mainly performed by the control system 1 (control device 13 and terminal device 20), will be described with reference to Figures 3 to 19.

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

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

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

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

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

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

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

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

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

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

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

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

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

The turning path r13 of the second target path R1 includes a first path r131 in which the machine 11 moves backward while turning, and a second path r132 in which the machine 11 moves forward while turning, as shown in Figure 5. This turning path r13, which involves a change in the direction of travel of the machine 11, allows the work machine 10 to move between adjacent work paths r11 even in a relatively narrow space in the headland area along the third side f13 and the fourth side f14.

Furthermore, as shown in Figure 5, it is preferable that the turning direction in the turning path r13 is opposite to the outer edge of the target area F1 (first side f11 and second side f12) near the starting position P1 and near the ending position P2. That is, in the turning path r13 leading to the non-working path r12 of the first row (leftmost in the figure) adjacent to the first side f11, it is preferable to turn the machine 11 toward the opposite side of the first side f11 (to the right in the figure). In the turning path r13 leading to the working path r11 of the last row (rightmost in the figure) adjacent to the second side f12, it is preferable to turn the machine 11 toward the opposite side of the second side f12 (to the left in the figure). Such a turning path r13 allows the machine 11 to turn even in a relatively narrow space in the headland area along the first side f11 and second side f12.

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

Specifically, the turning path r14 connects the end (upper end in the figure) of one of the pair of adjacent work paths r11, which is on the first side f11, to the beginning (upper end in the figure) of the non-working path r12, and is the path that causes the work machine 10 to turn. The non-working path r12 is the path that extends from the end of the turning path r14 along the work path r11 towards the beginning (lower end in the figure) of the work path r11. The turning path r15 connects the end (lower end in the figure) of the non-working path r12 to the beginning (lower end in the figure) of the other work path r11, which is on the second side f12, and is the path that causes the work machine 10 to turn.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Therefore, instead of attempting to complete the work by the work machine 10 in a single autonomous run, it is possible to repeat the autonomous run of the work machine 10 multiple times as needed. For example, if the work machine 12 is a laser leveler, especially in areas with large elevation differences, repeating the work by the work machine 10 multiple times can suppress the work machine 12 from digging too deep, thus keeping the load on the work machine 12 low. As a result, a control method for the work machine 10 that makes it easier to avoid excessive load on the work machine 12 can be provided.

In this embodiment, the work implement 12 is a leveler for leveling the target area F1. In this type of work implement 12, if the work implement 10 attempts to complete the work in a single autonomous run, especially in areas with significant elevation differences, the work implement 12 will dig too deeply, easily leading to excessive load on the implement 12. The control method for the work implement 10 according to this embodiment is particularly useful for this type of work implement 12.

Furthermore, in this embodiment, the target path R1 includes multiple work paths r11 for the work machine 10 to move while performing its work. The number of work cycles is set for each of the multiple work paths r11. That is, since the number of work cycles can be set individually for each work path r11 in each row, it is possible to set different numbers of work cycles for each location within the target area F1. For example, in areas with large elevation differences, setting a higher number of work cycles allows for efficient leveling work across the entire target area F1 while reducing the load on the work machine 12. Furthermore, even within a single work path r11, different numbers of work cycles may be set for different parts of that path. This makes it possible, for example, to set a higher number of work cycles for only a part of a certain work path r11.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Furthermore, as shown in Figure 13, the route display section G13 of the count setting screen G1 may visualize altitude information at each position (point) in the target area F1, corresponding to the work route r11. In the example in Figure 13, an altitude map with different colors (shades) according to altitude information (here, darker colors indicate higher positions) is displayed behind the work route r11 (background). By displaying the altitude information in correspondence with the work route r11 in this way, the user can set the number of work attempts while confirming the elevation differences of the target area F1. The altitude map is not limited to representing the altitude information for each sub-section when the target area F1 is divided into multiple sub-sections, as in Figure 13; it may also be a configuration where the color (shade) changes continuously according to the altitude within the target area F1. Furthermore, the work route r11 only needs to be associated with the altitude information; it is not limited to being superimposed on the altitude information (altitude map, etc.), but may, for example, be displayed alongside the altitude information. The method for acquiring the altitude information of the target area F1 will be described later.

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

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

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

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

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

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

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

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

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

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

Therefore, for example, in cases where the implement 12 is a towed implement connected to the rear of the main body 11, it is possible to avoid reversing the main body 11 along the travel path, thus preventing the connection point between the implement 12 and the main body 11 from buckling and causing excessive load on the implement 12. As a result, a control method for the work machine 10 that makes it easier to avoid excessive load on the implement 12 can be provided.

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

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

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

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

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

In this embodiment, as described above, the permission or non-permission of the first reverse movement can be automatically set based on the work implement 12 or the type of work. In other words, the movement mode, including the permission or non-permission of the first reverse movement, can be automatically set without user intervention on the mode setting screen G2. Here, the means for determining the work implement 12 or the type of work can, for example, be specified by the user operating the operation display unit 23, or the result automatically determined by the work machine 10 may be transmitted to the terminal device 20. That is, when the work implement 12 is attached to the machine body 11, the work implement 12 and the machine body 11 communicate with each other, allowing the type of work implement 12 to be automatically determined, and the determination result may be transmitted to the terminal device 20.

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

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

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

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

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

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

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

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

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

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

Furthermore, when users choose to add elevation differences, they may choose to add localized elevation differences at arbitrary locations within the field, such as making the center of the field higher or lower than the outer perimeter, or making the corners of the field higher or lower than the center. In such cases, it is preferable for the control system 1 to generate a target path R1 for leveling work, allowing for the collection of soil in areas that should be relatively higher or the removal of soil from areas that should be relatively lower. Additionally, after leveling the entire field, if, during the series of operations from planting to harvesting, a portion of the field tends to become lower due to factors such as water flow when flooding the field, the elevation difference may be added according to the field's tendencies, such as pre-raising that portion.

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

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

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

In this way, by determining the working direction of the work machine 10 (the direction of the working path r11) according to the elevation difference of the target area F1, leveling work on the target area F1 with elevation differences becomes more efficient. In particular, it is more preferable that the direction of the working path r11 is set along the slope direction of the target area F1. In other words, the closer the working direction of the work machine 10 is to the slope direction of the target area F1, the easier it becomes to improve the efficiency of the leveling work.

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

Furthermore, the greater the elevation difference in the target area F1, the more preferable it is to set a higher number of operation cycles. This makes it possible to minimize the load on the work machine 12 during each operation. Even in this case, the number of operation cycles may be set for each work path r11.

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

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

[4] Modifications The following are modifications of Embodiment 1. The modifications described below can be combined and applied as appropriate.

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

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

Furthermore, the terminal device 20 is not limited to a general-purpose terminal such as a tablet, smartphone, or laptop computer; it may also consist of a dedicated terminal. Moreover, multiple terminal devices 20 may be associated with a single work machine 10; in this case, multiple terminal devices 20 can control the single work machine 10. Conversely, one terminal device 20 may be associated with multiple work machines 10; in this case, one terminal device 20 can control multiple work machines 10.

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

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

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

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

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

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

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

The configuration of Embodiment 2 can be appropriately combined with the various configurations (including modified versions) described in Embodiment 1.

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

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

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

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

<Note 4>
Depending on the setting state of the first reverse movement, the options for the second reverse movement change.
Control method for the work machine described in Appendix 3.

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

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

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

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

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

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

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

1 Control system for work machinery 10 Work machinery 11 Machine body 12 Work machine 100 Work system 131 Control processing unit 212 Mode setting processing unit F1 Target area R1 Target path r13, r14, r15 Turning path

Claims (12)

A method for controlling a work machine that moves within a target area and performs work within that area using the work machine,
Setting whether or not to allow the first reverse movement that moves the aforementioned work machine backward,
The process involves moving the work machine within the target area based on the setting state of whether or not the first reverse movement is permitted,
The aforementioned work machine is capable of performing a second reverse movement included in the turning path, separate from the first reverse movement.
A method for controlling industrial machinery. The first reverse movement and the second reverse movement can each be set to allow or deny the following:
A method for controlling a work machine according to claim 1 . Depending on the setting state of the first reverse movement, the options for the second reverse movement change.
A method for controlling a work machine according to claim 2 . If the first reverse movement is prohibited, the second reverse movement can be set to be permitted or not.
A method for controlling a work machine according to claim 3 . If the first reverse operation is permitted, the second reverse operation cannot be set to permit or disperform.
A method for controlling a work machine according to claim 3 or 4 . When the first reverse operation is permitted, whether or not the second reverse operation can be permitted is determined based on other conditions.
A method for controlling a work machine according to claim 3 or 4 . Depending on the setting state for whether the first reverse movement is permitted or not, the target path of the work machine in the target area is presented.
A method for controlling a work machine according to any one of claims 1 to 4 . Whether or not the first reverse movement is permitted is set based on the type of work implement or work.
A method for controlling a work machine according to any one of claims 1 to 4 . If the aforementioned work machine is a towable type, the first reverse movement is prohibited.
A method for controlling a work machine according to claim 8 . A method for controlling a work machine according to any one of claims 1 to 4 ,
A control program for a work machine to be executed by one or more processors. Used in a work machine that moves within a target area and performs work within that target area using a work machine,
A mode setting processing unit that sets whether or not to allow a first reverse movement that moves the aforementioned work machine backward,
The system includes a control processing unit that moves the work machine within the target area based on the setting state of whether or not the first reverse movement is permitted,
The aforementioned work machine is capable of performing a second reverse movement included in the turning path, separate from the first reverse movement.
Control system for industrial machinery. A control system for a work machine according to claim 11 ,
The machine comprises a body on which the aforementioned work implement is attached,
Work system.