Keisen IP

[Problem] To provide a travel control method for a work vehicle, a travel control program, a travel control system, and a work vehicle that can easily alleviate restrictions on a work site where a recovery process can be performed. [Solution] A travel control method for a work vehicle 1 includes causing a work vehicle 1 to automatically travel along a target path R10 in a work site, and performing a recovery process in a case where a deviation including at least one of a position deviation and an azimuth deviation of the work vehicle 1 with respect to the target path R10 exceeds a threshold when the work vehicle 1 enters the target path R10 from an entry position Pa1 of the target path R10. The recovery process is a process of moving the work vehicle 1 to a recovery position Pr1 where entry into the target path R10 can be started by reducing the deviation. In the recovery process, the distance from the entry position Pa1 of the target path R10 to the recovery position Pr1 is designated as a recovery distance L1, and the recovery position Pr1 is determined according to the recovery distance L1.

[Problem] Provided is a control method, a control program, and a control system of a working machine, and a working machine capable of easily reducing time and effort of a user.[Solution] A control method of a working machine (working vehicle 1) is a control method of a working machine including a connection unit 80, the working machine that performs work in a work field. The connection unit 80 can connect a wired device 81 by wire, and can connect a wireless device 82 via an adapter 83 in place of the wired device 81. The control method includes discriminating whether a connected device connected to the connection unit 80 is the wired device 81 or the wireless device 82.

[Problem] To provide an exhaust gas recirculation system in which engine deposits are less likely to be generated, an engine system, a control method of an exhaust gas recirculation system, and a control program.[Solution] An exhaust gas recirculation system 4 recirculates, as EGR gas, at least part of exhaust gas discharged from an engine main body 2 from an exhaust port 202 to an intake port 201 of the engine main body 2. The exhaust gas recirculation system 4 includes an EGR path 41, a cooling unit 43, a bypass path 44, and a control unit. The EGR path 41 connects the exhaust port 202 and the intake port 201 and allows the EGR gas to pass through the EGR path 41. The cooling unit 43 includes a cooling path 431 included in the EGR path 41 and cools the EGR gas passing through the cooling path 431. The bypass path 44 connects an inlet and an outlet of the cooling path 431. The control unit recirculates the EGR gas in a bypass mode in which the EGR gas is caused to flow through the bypass path 44 to bypass the cooling path 431 when a determination condition is satisfied.

[Problem] To provide a control method of an aftertreatment system in which exhaust gas purification performance is less likely to deteriorate, a control program, an aftertreatment system, and an engine system. [Solution] A control method of an aftertreatment system 5 is a control method of the aftertreatment system 5 including a first SCR device 51, a second SCR device 52, a first reducing agent supply device 56, and a second reducing agent supply device 57. The first SCR device 51 is located on the exhaust path 28 through which the exhaust gas discharged from the engine main body 2 passes. The second SCR device 52 is located on the exhaust path 28 and on the downstream side of the first SCR device 51 in a flow direction of the exhaust gas. The first reducing agent supply device 56 supplies the reducing agent to the first SCR device 51. The second reducing agent supply device 57 supplies the reducing agent to the second SCR device 52. The control method of the aftertreatment system 5 includes individually controlling the supply amount of the reducing agent of each of the first reducing agent supply device 56 and the second reducing agent supply device 57.

[Problem] To provide an aftertreatment system and an engine system in which exhaust gas purification performance is less likely to deteriorate. [Solution] An aftertreatment system 5 includes a connection path 71. The connection path 71 connects an exhaust port through which exhaust gas is discharged in an engine main body 2 and an SCR device 51. The connection path 71 includes a first path 711 and a second path 712 that have lengths in directions intersecting each other, and a coupling portion 713 that couples the first path 711 and the second path 712.

[Problem] To provide an automatic travel method, an automatic travel program, and an automatic travel system capable of avoiding a decrease in work efficiency when a work vehicle detects a detection target during automatic travel.[Solution] In an automatic travel system 10, a travel processing part 111 causes a combine harvester 1 to automatically travel along a target route in a farm field. A determination processing part 612 determines, in a case where an obstacle sensor 64 capable of detecting a detection target within a predetermined range detects the detection target, whether the detection target is an obstacle that obstructs travel of the combine harvester 1, on the basis of a planned travel route on which the combine harvester 1 is planned to travel from a time point at which the obstacle sensor 64 detects the detection target.

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

[Problem] There are provided a route generation method, a route generation program, and a route generation system that can easily generate a target route on which a work vehicle is caused to automatically travel in a non-rectangular work area.[Solution] In an automatic traveling system 1, a generation processing unit 213 sets one of a first route generation mode of generating the target route based on a first reference line that serves as a reference at a time of generating the target route, and a second route generation mode of generating the target route based on the first reference line and a second reference line having a different shape or azimuth from a shape or an azimuth of the first reference line.

[Problem] Provided are a power supply control method, a power supply control program, and a power supply control system capable of retaining information regarding automatic traveling even in a case where a key of a work vehicle is temporarily switched to an OFF state. [Solution] A vehicle control device 11 includes a storage processing unit 112 that stores information regarding automatic traveling in a storage unit 115 by using power supplied from a battery 18 in a case where a key switch of a work vehicle 1 is in an ON state, and a retention processing unit 114 that continues supply of power to the storage unit 115 when predetermined conditions for starting automatic traveling are satisfied and stops the supply of power to the storage unit 115 when the predetermined conditions are not satisfied in a case where the key switch is switched to an OFF state.

[Problem] To provide a route display method, a route display program, and a route display system capable of improving work efficiency of an operator by displaying a travel route for automatically traveling a work vehicle in an easily viewable manner for the operator.[Solution] In an automatic traveling system 1, a display processing unit 213 displays, on an operation terminal 20, a travel route for automatically traveling a work vehicle 10. The display processing unit 213 sets a first display mode in which all of a plurality of the travel routes generated on a basis of a plurality of sides forming an outer shape of a travel area are displayed, or a second display mode in which specific travel routes generated on a basis of a specific side among the plurality of sides are displayed, and displays, on the operation terminal 20, the travel routes on a basis of the set first display mode or the set second display mode.