Agricultural machine, agricultural work support device, agricultural work support system

Abstract

An agricultural machine (1) is provided with: a traveling vehicle body (3) capable of traveling; a coupling portion (8g, 8h) capable of coupling a work device (2) for performing agricultural work to the traveling vehicle body (3); a line making portion (51c) that makes a traveling line (L1) along which the traveling vehicle body (3) travels by automatic driving; a supply setting portion (51f) that sets a supply position (Pz) at which supply of a material used in agricultural work by the work device (2) is performed at a position deviating from the traveling line (L1); a position detection portion (40) that detects a position of the traveling vehicle body (3); an automatic control portion (61) that causes the traveling vehicle body (3) to travel by automatic driving based on the position of the traveling vehicle body (3) and the traveling line (L1), and causes the traveling vehicle body (3) to move to the supply position (Pz); and a notification portion (51g) that notifies of a case in which the traveling vehicle body (3) is oriented toward the supply position (Pz) when the traveling vehicle body (3) travels by automatic driving by the automatic control portion (61).

Description

Technical Field

[0001] The present invention relates to agricultural machinery that performs agricultural operations while moving through a field, and agricultural operation support devices and systems that support such agricultural operations. Background Technology

[0002] Patent Document 1 discloses a technology that supports simultaneous automatic driving of agricultural machinery in a field and the use of a working device connected to the machinery for agricultural operations. The agricultural machinery disclosed in Patent Document 1 includes an acquisition unit, a work setting unit, a material balance detection unit, and a material reporting unit. The acquisition unit acquires position data of the outer perimeter of the field. The work setting unit sets the working route, turning path, start position, and end position of the agricultural machinery in the field based on the position data of the outer perimeter. The material balance detection unit detects the remaining material on the agricultural machinery. The material reporting unit reports to the driver that material should be replenished at the ridge when the remaining material is low. After this report, the agricultural machinery accepts the driver's on / off operation or automatically terminates its driving and working along the current working route and then moves to a nearby ridge.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Publication No. 2018-39 Summary of the Invention

[0006] The problem that the invention will solve

[0007] In the technology of Patent Document 1, during the operation of agricultural machinery based on automatic driving, when the remaining material becomes low, the material reporting unit reports that material needs to be replenished. However, after this, when the agricultural machinery is shown moving towards a ridge where material can be replenished—a behavior different from its normal operation—there is a risk that the user observing this behavior may mistakenly perceive it as dangerous and cause the agricultural machinery to stop abruptly. If the agricultural machinery is stopped abruptly in this way, the material replenishment efficiency will decrease, and the overall efficiency of agricultural operations will also decrease.

[0008] Therefore, in view of the above-mentioned problems, the present invention aims to efficiently supply materials in agricultural machinery.

[0009] Methods for solving problems

[0010] The technical means of the present invention for solving the above-mentioned technical problems are characterized by the following points.

[0011] An agricultural machine according to one aspect of the present invention comprises: a mobile vehicle body capable of travel; a connection portion capable of connecting a working device for agricultural operations to the mobile vehicle body; a path fabrication portion for fabricating a travel path that enables the mobile vehicle body to travel automatically; a supply setting portion for setting supply positions at locations deviating from the travel path for supplying materials used by the working device during agricultural operations; a position detection portion for detecting the position of the mobile vehicle body; an automatic control portion for enabling the mobile vehicle body to travel automatically based on its position and the travel path, and for moving the mobile vehicle body to the supply position; and a notification portion for notifying the mobile vehicle body of its orientation toward the supply position when the automatic control portion enables the mobile vehicle body to travel automatically.

[0012] In another aspect of the present invention, the notification unit notifies the vehicle body of its direction of resupply location multiple times at predetermined intervals before the vehicle body moves toward the resupply location.

[0013] In another aspect of the present invention, the automatic control unit executes an automatic driving operation mode in which the vehicle body is driven by automatic driving while agricultural operations are performed using a work device, based on the position and driving route of the vehicle body. During the execution of the automatic driving operation mode, if the vehicle body reaches a predetermined position on the driving route before the replenishment position, a material replenishment mode is executed in which the vehicle body is moved to the replenishment position by automatic driving. During the execution of the automatic driving operation mode, the notification unit notifies the vehicle body of its orientation toward the replenishment position based on the position and replenishment position of the vehicle body.

[0014] In another aspect of the present invention, the notification unit notifies information indicating a decrease in the remaining material quantity, the replenishment location, or the behavior of the vehicle body or working device in a material replenishment mode.

[0015] In another aspect of the present invention, the travel route includes multiple work routes for carrying out agricultural work using a work device while the vehicle is traveling, and multiple turning routes for turning the vehicle from one side of the work route to the other. When the vehicle is traveling on either the work route or the turning route prior to the resupply location, the notification unit notifies the vehicle that it is heading toward the resupply location.

[0016] In another aspect of the present invention, a surplus calculation unit is provided. This surplus calculation unit calculates the surplus of materials based on the amount of materials input into the working device and the amount of materials consumed in the agricultural operations performed by the working device. A replenishment setting unit predicts a position where the surplus of materials will fall below a predetermined threshold due to the agricultural operations being performed while the vehicle is moving. A replenishment position is set on a line extending from one of the working lines containing the decline position to the opposite side of the direction of travel. A notification unit sets a notification position on other working lines where the vehicle is traveling before one of the working lines. When the vehicle passes the notification position, the vehicle is notified that it is heading toward the replenishment position.

[0017] In another aspect of the present invention, an input unit is provided to input the amount of material input and the amount of material consumed per unit area. Before or during the driving of the vehicle body based on automatic driving, a reserve calculation unit calculates the remaining amount of material based on the amount of material input, the amount of material consumed per unit area, and the status of the vehicle body and the working device. A replenishment setting unit sets a replenishment position based on the remaining amount of material, and a notification unit sets a notification position based on the replenishment position.

[0018] In another aspect of the present invention, the agricultural machinery includes a threshold changing unit for changing the threshold.

[0019] In another aspect of the present invention, agricultural machinery includes a display unit that displays the notification from the notification unit on a screen.

[0020] In another aspect of the present invention, agricultural machinery includes an alarm unit that emits an alarm based on sound or light from the notification unit.

[0021] One aspect of the agricultural operation support device of the present invention includes: a route-making unit for creating a route that enables the vehicle body of agricultural machinery to travel in automatic driving mode; a supply setting unit for setting supply positions at locations deviating from the route for supplying materials used by operating devices connected to the vehicle body during agricultural operations; and a notification unit for notifying the vehicle body of the situation toward the supply position when the agricultural machinery is traveling in automatic driving mode, based on the position and route of the vehicle body detected by the position detection unit.

[0022] In addition, the agricultural operation support device also includes a calculation and replenishment setting unit for setting the remaining amount of material required for replenishment location, an input unit for inputting parameters required for calculating the remaining amount of material, and a display unit for displaying the travel route, the position of the vehicle body, and the notification from the notification unit.

[0023] An agricultural operation support system according to one aspect of the present invention includes: a route-making unit for creating a route that enables the vehicle body of agricultural machinery to travel automatically; a supply setting unit that sets supply positions at locations deviating from the route for supplying materials used by working devices connected to the vehicle body during agricultural operations; a position detection unit for detecting the position of the vehicle body; an automatic control unit that enables the vehicle body to travel automatically based on the position of the vehicle body and the route, and moves the vehicle body to the supply position; and a notification unit that notifies the vehicle body of its orientation toward the supply position when the automatic control unit enables the vehicle body to travel automatically based on the position of the vehicle body and the route detected by the position detection unit.

[0024] In another embodiment of the present invention, the agricultural operation support system includes agricultural machinery and an agricultural operation support device mounted on the agricultural machinery. The agricultural machinery has a position detection unit and an automatic control unit, and the agricultural operation support device has a wiring unit, a supply setting unit, a notification unit, and a communication unit for communicating with the automatic control unit and the position detection unit.

[0025] Invention Effects

[0026] According to the present invention, material replenishment can be carried out efficiently in agricultural machinery. Attached Figure Description

[0027] Figure 1 This is a diagram of the agricultural operation support system.

[0028] Figure 2 It is a 3D diagram of the lifting device.

[0029] Figure 3 This is an example image showing the homepage of an agricultural operation support device.

[0030] Figure 4 This is an example of a field registration screen showing an agricultural operation support device.

[0031] Figure 5A It is a diagram used to illustrate the method of registering farmland.

[0032] Figure 5B This is a diagram used to illustrate the registration methods for other types of land.

[0033] Figure 5C This is a diagram used to illustrate the registration methods for other types of land.

[0034] Figure 6 This is an example of a screen showing the operation selection for an agricultural operation support device.

[0035] Figure 7 This is an example of a vehicle setting confirmation screen for agricultural operation support devices.

[0036] Figure 8 This is an example of a field selection screen showing agricultural operation support devices.

[0037] Figure 9 This is an example of a diagram showing the wiring of an agricultural operation support device.

[0038] Figure 10A This is an example of a diagram showing the wiring of an agricultural operation support device.

[0039] Figure 10B This is an example of a diagram showing the wiring of an agricultural operation support device.

[0040] Figure 10C This is an example of a diagram showing the wiring of an agricultural operation support device.

[0041] Figure 11A This diagram illustrates how to set up areas and driving routes.

[0042] Figure 11B This diagram illustrates how to set up areas and driving routes.

[0043] Figure 11C This diagram illustrates how to set up areas and driving routes.

[0044] Figure 11D This diagram illustrates how to set up areas and driving routes.

[0045] Figure 12 This is an example of a diagram showing the driving control screen of an agricultural operation support device.

[0046] Figure 13A This diagram illustrates the automatic driving of agricultural machinery.

[0047] Figure 13B This diagram illustrates the automatic driving of agricultural machinery.

[0048] Figure 13C This diagram illustrates the automatic driving of agricultural machinery.

[0049] Figure 13D This diagram illustrates the automatic driving of agricultural machinery.

[0050] Figure 14A This is another example of a diagram showing the wiring of an agricultural operation support device.

[0051] Figure 14B This is another example of a diagram showing the wiring of an agricultural operation support device.

[0052] Figure 15 This is another example of a diagram showing the wiring of an agricultural operation support device.

[0053] Figure 16A These are other examples of diagrams showing the driving control screen of an agricultural operation support device.

[0054] Figure 16B These are other examples of diagrams showing the driving control screen of an agricultural operation support device.

[0055] Figure 16C These are other examples of diagrams showing the driving control screen of an agricultural operation support device.

[0056] Figure 16D These are other examples of diagrams showing the driving control screen of an agricultural operation support device.

[0057] Figure 17 These are other examples of diagrams showing the driving control screen of an agricultural operation support device.

[0058] Figure 18 This is an example of a material information input screen for an agricultural operation support device.

[0059] Figure 19 This is a diagram showing an example of a material replenishment location and a notification location.

[0060] Figure 20A This is a diagram used to illustrate the material supply patterns of agricultural machinery.

[0061] Figure 20B This is a diagram used to illustrate the material supply patterns of agricultural machinery.

[0062] Figure 21 This is an example diagram showing the first notification of agricultural operation support equipment.

[0063] Figure 22 This is a diagram illustrating an example of a second notification for agricultural operation support devices.

[0064] Figure 23 This is a diagram illustrating an example of a third notification from an agricultural operation support device.

[0065] Figure 24 A side view of the work vehicle. Detailed Implementation

[0066] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0067] <The Composition of Agricultural Machinery>

[0068] Figure 24This is a side view of the agricultural machinery 1. The agricultural machinery 1 in this embodiment is a tractor. However, the agricultural machinery 1 is not limited to a tractor; for example, it may be other agricultural machinery such as a rice transplanter or combine harvester, or a work vehicle other than a tractor used for agricultural operations.

[0069] Agricultural machinery 1 comprises a traveling body 3, a prime mover 4, a transmission device 5, and a traveling mechanism 7. The traveling mechanism 7 has front wheels 7F and rear wheels 7R. The front wheels 7F can be either tire-type or track-type. Similarly, the rear wheels 7R can also be either tire-type or track-type. The prime mover 4 is composed of a diesel engine or an electric motor, etc. The transmission device 5 can switch the propulsion power of the traveling mechanism 7 by changing gears, and can switch the forward and reverse movement of the traveling mechanism 7. The driving force of the prime mover 4 is transmitted to the traveling mechanism 7 by the transmission device 5, driving the traveling body 3 to move forward and backward. Furthermore, in... Figure 24 In the middle, the left side is the front of the moving vehicle 3, and the right side is the rear of the moving vehicle 3.

[0070] A driver's cabin 9 is provided on the vehicle body 3. A driver's seat 10 is provided inside the driver's cabin 9. A lifting device 8, consisting of a three-point linkage mechanism, is provided at the rear of the vehicle body 3. The lifting device 8 is provided with connecting parts 8g and 8h that can connect to a working device 2 used for agricultural operations. By connecting the working device 2 to the connecting parts 8g and 8h, the working device 2 is connected to the vehicle body 3, and the vehicle body 3 can tow the working device 2.

[0071] The working device 2 performs field operations. For example, the working device 2 includes a tillage device (rotary tiller) for tilling the field, a coarse tillage device (stubble tiller) for coarse tillage, a harrowing device (drive harrow) for harrowing, a spreading device for spreading fertilizers, pesticides, etc., a sowing device for sowing, a transplanting device for transplanting seedlings, and a harvesting device for harvesting, etc.

[0072] <The Composition of Agricultural Operation Support Systems>

[0073] Figure 1 This is a diagram of the agricultural operation support system 100.

[0074] The agricultural operation support system 100 includes an agricultural operation support device 50. The agricultural operation support system 100 and the agricultural operation support device 50 support agricultural operations performed by using the operation device 2 while driving the vehicle body 3 of the agricultural machinery 1 in the field.

[0075] Agricultural machinery 1 includes a control device 60, an operating unit 62, a transmission device 5, a braking device 6, a steering device 29, a lifting device 8, a positioning device 40, and an alarm unit 63. Furthermore, an on-board network N1, such as LAN or CAN, is installed on agricultural machinery 1. The control device 60, operating unit 62, positioning device 40, and alarm unit 63 are connected to the on-board network N1. All these components 60, 62, 5, 6, 29, 8, 40, 63, and N1 included in agricultural machinery 1 are contained in an agricultural operation support system 100.

[0076] The control device 60 consists of circuitry including a CPU and memory. The control device 60 controls the actions of various parts of the agricultural machinery 1. The control device 60 includes a traveling body 3 for controlling the agricultural machinery 1. Figure 24 The automatic control unit 61 controls the operation of the working device 2. The operation unit 62 consists of switches, levers, pedals, and other keys that can be operated by users such as the driver sitting in the driver's seat 10 or an operator located near the agricultural machinery 1. The operation unit 62 includes a mode switch 65. The mode switch 65 is operated to switch the mode of the agricultural machinery 1.

[0077] The transmission unit 5 is connected to the control valve 37. The control valve 37 is a solenoid valve that operates based on a control signal sent from the control unit 60. The control valve 37 is supplied with working oil discharged from the hydraulic pump 33. The control valve 37... Figure 1 It is represented by a box, but the appropriate number is provided depending on the number of hydraulic machines such as hydraulic clutches and hydraulic cylinders provided in the transmission device 5.

[0078] The automatic control unit 61 controls the drive of the transmission device 5 by adjusting the switching position and opening degree of the control valve 37 via an electronic control system. The transmission device 5 transmits the driving force of the prime mover 4 to the traveling device 7, causing the traveling device 7 to operate and move the traveling vehicle 3 forward and backward. Furthermore, for example, in the case of a ground-based work device 2, the transmission device 5 transmits the driving force of the prime mover 4 to the work device 2. This increases the working force of the work device 2.

[0079] Furthermore, the automatic control unit 61 communicates with the working device 2 via the vehicle network N1. Specifically, the working device 2 includes a control unit and a communication unit (not shown). The automatic control unit 61 sends work commands to the working device 2 via the vehicle network N1. When the control unit of the working device 2 receives the work commands using the communication unit, it controls the operation of each part of the working device 2 based on the work commands to perform agricultural operations (ground operations). In addition, the control unit of the working device 2 uses the communication unit to send information and data indicating the work status to the control unit 60 via the vehicle network N1. The automatic control unit 61 detects the work status of the working device 2 based on the information and data received from the working device 2 via the vehicle network N1.

[0080] The braking device 6 is connected to the control valve 38. The control valve 38 is a solenoid valve that operates based on a control signal sent from the control device 60. The control valve 38 is supplied with working oil discharged from the hydraulic pump 33. The automatic control unit 61 controls the switching position and opening degree of the control valve 38 by electrical control, thereby activating the braking device 6 and applying braking to the vehicle body 3.

[0081] The steering mechanism 29 includes a steering wheel (steering wheel) 30, a rotation shaft (steering shaft) 31, and an auxiliary mechanism (power steering mechanism) 32. The steering wheel 30 is located in the cockpit 9 ( Figure 24 The interior of the steering wheel 30. The rotating shaft 31 rotates along with the rotation of the steering wheel 30. The auxiliary mechanism 32 assists in steering the steering wheel 30.

[0082] The auxiliary mechanism 32 includes a control valve 34 and a steering cylinder 35. The control valve 34 is a solenoid valve that operates based on a control signal sent from the control device 60. Specifically, the control valve 34 is a three-position switching valve that can be switched by the movement of a valve stem, etc. The control valve 34 is supplied with working oil discharged from the hydraulic pump 33. The control device 60 adjusts the hydraulic pressure supplied to the steering cylinder 35 by electrically controlling the switching position and opening degree of the control valve 34, causing the steering cylinder 35 to extend and retract. The steering cylinder 35 is connected to a steering knuckle arm (not shown) that changes the orientation of the front wheels 7F.

[0083] The control valve 34 can also be switched by steering the steering shaft 31. Specifically, by operating the steering wheel 30, the steering shaft 31 rotates according to the operating state, switching the switching position and opening degree of the control valve 34. The steering cylinder 35 extends or retracts to the left or right of the vehicle body 3 according to the switching position and opening degree of the control valve 34. By extending or retracting the steering cylinder 35, the steering direction of the front wheels 7F is changed. In addition, the steering device 29 described above is an example and is not limited to the above configuration.

[0084] The vehicle body 3 of the agricultural machinery 1 can be manually steered using a steering wheel 30 and automatically steered using an automatic control unit 61. Furthermore, the vehicle body 3 can be driven manually by the acceleration and braking components (not shown) provided in the operation unit 62, which drive the transmission 5 and braking device 6, enabling the vehicle body 3 to move and stop. Moreover, the vehicle body 3 can automatically move and stop according to the control of the transmission 5 and braking device 6 by the automatic control unit 61.

[0085] Figure 2 This is a perspective view of the lifting device 8. The lifting device 8 includes a lifting arm 8a, a lower connecting rod 8b, an upper connecting rod 8c, a lifting rod 8d, and a lifting cylinder 8e. The front end of the lifting arm 8a is supported on the housing transmission device 5 in a manner that allows it to swing upwards or downwards. Figure 24The upper rear part of the housing (gearbox). The lifting arm 8a swings (lifts) by being driven by the lifting cylinder 8e. The lifting cylinder 8e is composed of a hydraulic cylinder. The lifting cylinder 8e and Figure 1 The control valve 36 shown is connected. Control valve 36 is a solenoid valve that operates based on a control signal sent from the control device 60. Control valve 36 is supplied with working oil discharged from the hydraulic pump 33.

[0086] Figure 2 The front end of the lower connecting rod 8b shown is supported on the transmission device 5 in a manner that allows it to swing upwards or downwards. Figure 1 , Figure 24 The lower part of the upper link 8c is supported at the rear of the transmission device 5, above the lower link 8b, in a manner that allows it to swing upwards or downwards. The lifting rod 8d connects the lifting arm 8a to the lower link 8b. The lower link 8b and the rear end of the upper link 8c are provided with connecting parts 8g and 8h that can connect to the working device 2.

[0087] Figure 1 The automatic control unit 61 shown adjusts the direction of the switch position and opening degree of the control valve 36 by electrically controlling it. Figure 2 The hydraulic pressure supplied to the lifting cylinder 8e causes it to extend and retract. Through the extension and retraction of the lifting cylinder 8e, the lifting arm 8a rises and falls, and the lower connecting rod 8b, connected to the lifting arm 8a via the lifting rod 8d, also rises and falls. As a result, the working device 2 swings (rises and falls) upwards or downwards with the front part of the lower connecting rod 8b (the side opposite to the connecting parts 8g and 8h) as a fulcrum.

[0088] Figure 1 The positioning device 40 shown includes a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 receives satellite signals (position, transmission time, correction information, etc.) transmitted from satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, BeiDou, Galileo, and Michibiki. Based on the satellite signals received by the receiving device 41, the positioning device 40 detects its current position (e.g., latitude, longitude). In other words, the positioning device 40 is a position detection unit that detects the position of the vehicle body 3 of the agricultural machinery 1. The inertial measurement unit 42 includes an accelerometer and a gyroscope sensor. The inertial measurement unit 42 detects the roll angle, pitch angle, yaw angle, etc., of the vehicle body 3. The alarm unit 63 consists of a buzzer, a speaker, a warning light, etc., installed on the vehicle body 3. The alarm unit 63 issues an alarm to the surrounding area of ​​the vehicle body 3 via sound or light.

[0089] The agricultural operation support device 50 may be composed of, for example, a portable tablet terminal device. The agricultural operation support device 50 may be mounted inside the cab 9 of the agricultural machinery 1 and can be loaded and unloaded from the agricultural machinery 1. That is, the agricultural machinery 1 is equipped with the agricultural operation support device 50.

[0090] The agricultural operation support device 50 includes a control unit 51, a display and operation unit 52, a storage unit 53, and a communication unit 54. The control unit 51, consisting of a CPU and a memory, controls all parts of the agricultural operation support device 50. The control unit 51 includes a field registration unit 51a, a region setting unit 51b, a route creation unit 51c, a trajectory calculation unit 51d, a surplus calculation unit 51e, a supply setting unit 51f, and a notification unit 51g. These units are composed of software programs, but can also be composed of hardware.

[0091] The display operation unit 52 consists of a touchpad and displays various information on the screen. Furthermore, various inputs can be performed by performing prescribed operations on the display screen of the display operation unit 52. The display operation unit 52 is both a display unit and an input unit. Alternatively, a separate display unit and operation unit (input unit) can be provided in the agricultural operation support device 50 instead of the display operation unit 52.

[0092] The storage unit 53 is composed of a non-volatile memory or the like. Information and data supporting the operation and movement of the agricultural machinery 1 are readable and writable in the storage unit 53. The communication unit 54 is composed of an interface for connecting to the vehicle network N1. The control unit 51 communicates with the control device 60, the operation unit 62, the positioning device 40, the alarm unit 63, and the operating device 2 via the vehicle network N1 using the communication unit 54.

[0093] <Display and Settings of Agricultural Operation Support Devices>

[0094] If the agricultural operation support device 50 is activated, the control unit 51 will... Figure 3 The home screen D1 shown is displayed on the display operation unit 52. The data of the home screen D1, along with the data of the screens D2 to D9 described later, are stored in the storage unit 53. The control unit 51 reads data from the storage unit 53 as needed and displays a screen based on that data on the display operation unit 52.

[0095] The main screen D1 displays an agricultural machinery icon X1, a field button B1, an autopilot button B2, a history button B3, and a settings button B0. The settings button B0 is used for various settings. By selecting (tapping) the settings button B0, specified items can be set. These specified items include, for example, the settings (registration) of the agricultural machinery 1 mounted on the agricultural operation support device 50 and the operating device 2 connected to the agricultural machinery 1, and the setting of the display mode of the display operation unit 52.

[0096] Field key B1 is used to register the fields where agricultural machinery 1 performs agricultural operations. Autopilot key B2 is used to set and predict the autopilot operation mode related to agricultural machinery 1. Autopilot operation mode refers to a mode in which the vehicle body 3 of agricultural machinery 1 travels automatically while the working device 2 performs agricultural operations (ground operations). Autopilot operation of agricultural machinery 1 refers to automatically changing the speed of the vehicle body 3 and automatically steering the vehicle body 3.

[0097] In addition, agricultural machinery 1 can also be driven manually, and can perform ground operations via the working device 2 while driving. Manual driving of agricultural machinery 1 refers to the driver of agricultural machinery 1 operating the acceleration and braking components of the control unit 62 to change the speed of the vehicle body 3, and operating the steering wheel 30 (…). Figure 1 ), to steer the vehicle body 3.

[0098] Figure 3 On the home screen D1, the history key B3 is used to display the operational history of agricultural machinery 1. On the home screen D1, if the user selects the field key B1, the control unit 51 will... Figure 4 The land registration screen D2 shown is displayed on the display operation unit 52.

[0099] The field registration screen D2 displays Map MP1, the position Pv of the vehicle body 3 of agricultural machinery 1, a new button B4, a registration button B5, a recall button B6, a cancel button B7, and a return button B8. Map MP1 displays an image of a map showing the surrounding area of ​​agricultural machinery 1 obtained from the positioning device 40. Additionally, Map MP1 displays the fields where agricultural machinery 1 is performing agricultural operations, establishing a correspondence between latitude and longitude and other location information. Users can perform specified operations on Map MP1 to zoom in or out, or to move the map's display position.

[0100] Figure 5A This is a diagram illustrating the method of registering farmland. For example, a user (the driver of agricultural machinery 1) in... Figure 4 On the field registration screen D2 shown, select the "New" key B4, and manually drive the agricultural machinery 1 around the field. At this time, the field registration department 51a ( Figure 1 The communication unit 54 acquires the position Pv of the moving vehicle body 3 detected by the positioning device 40 at predetermined intervals, and records the data of position Pv at any time. Furthermore, the control unit 51 displays the position Pv of the moving vehicle body 3 on the map MP1 at all times. Figure 4 as well as Figure 5A (For simplicity, only a portion of the position Pv of the moving vehicle body 3 is shown.)

[0101] After the agricultural machinery 1 finishes circling the field, the user selects the registration button B5. Then, the field registration unit 51a calculates the driving trajectory K1 of the vehicle body 3 based on the recorded multiple positions Pv of the vehicle body 3. Additionally, the control unit 51... Figure 5A The driving trajectory K1 of vehicle 3 is displayed on map MP1 as shown. Figure 5A In the example, the line K1 that passes through multiple positions Pv of the vehicle body 3 in the detection order (acquisition order) and then returns to the initially detected position Pv is taken as the driving trajectory of the vehicle body 3.

[0102] Then, the land registration unit 51a uses the driving trajectory K1 as the outline (shape) H1 of the land, and registers (stores) the land map MP2 (data representing the outline of the land) represented by the outline H1 in the storage unit 53. Furthermore, at this time, the land registration unit 51a registers land identification information such as the land name and land management number in the storage unit 53, establishing a correspondence between the land map MP2 and the land identification information. Additionally, the land identification information can be assigned by the land registration unit 51a, input by the user operation display unit 52, or pre-stored in the storage unit 53. Multiple land maps MP2 can be registered in the storage unit 53. If the land registration unit 51a registers a land map MP2, the control unit 51 displays the land map MP2 (the outline H1 of the land) on the map MP1.

[0103] The above-described method of land registration is an example and is not limited to it. As another example, land registration department 51a could also be used... Figure 5B As shown, the turning point is calculated based on the driving trajectory K1 of the vehicle body 3, and the line K2 passing through the turning point is used as the outline H1 of the field and the field map MP2. The field map MP2 is then registered in the storage unit 53. Alternatively, when the agricultural machinery 1 is moving around, the user operates a predetermined switch or the like provided on the operation unit 62 of the agricultural machinery 1, thereby... Figure 5C The ends of the field are specified as shown. Furthermore, in this case, the field registration unit 51a may also register the line K3, which passes through each end of the field in a specified order and initially returns to the specified end, as the field outline H1 and the field map MP2, in the storage unit 53. Moreover, the field outline H1 and the field map MP2 may be data represented by location (latitude, longitude), data represented by a coordinate system (X-axis, Y-axis), or data represented in other ways.

[0104] exist Figure 4In the field registration screen D2 shown, if the user selects the recall key B6, the control unit 51 reads the data of any one of the field maps MP2 registered in the storage unit 53, and displays the field map MP2 on the field registration screen D2 based on this data. Alternatively, if the user selects the cancel key B7, the field registration unit 51a deletes the position Pv of the vehicle 3 currently displayed on map MP1 and the field map MP2 (the outline H1 of the field), and this data is also deleted from the storage unit 53. That is, the registration of the field outline H1 and the field map MP2 is canceled.

[0105] If the land registration is complete, and the user selects the return key B8, then control unit 51 will... Figure 3 The home screen D1 is displayed on the display operation unit 52. That is, the return key B8 is used to return the display screen of the display operation unit 52 to the previous screen (the same applies to subsequent screens D3-D9). On the home screen D1, if the user selects the auto-drive key B2, the control unit 51 will... Figure 6 The job selection screen D3 shown is displayed on the display operation unit 52.

[0106] The job selection screen D3 displays a message indicating the input operation sequence. Additionally, the job selection screen D3 displays multiple job keys B31-B35, an up arrow key B41, a down arrow key B42, a forward key B9, and a return key B8. Job keys B31-B35 indicate the agricultural operations that can be performed by the agricultural machinery 1 and the operating device 2 connected to it. Figure 6 The screen displays five operation keys B31, B32, B33, B34, and B35. However, if there are more than six agricultural operations that can be performed by the agricultural machinery 1 and the operation device 2, the user can select the up arrow key B41 and the down arrow key B42, causing the control unit 51 to display operation keys representing other operations on the operation selection screen D3.

[0107] If the user selects one of the operation keys B31 to B35, the control unit 51 displays the selected operation key in a different manner on the operation selection screen D3 than the other operation keys. Figure 6 In the example, only the selected cultivation operation key B31 is marked with a black circle. If the user selects the forward key B9 while one of the operation keys B31, B32, B33, B34, or B35 is selected, then the control unit 51 will... Figure 7 The vehicle setting confirmation screen D4 shown is displayed on the display operation unit 52. That is, the forward key B9 is used to switch the display screen of the display operation unit 52 to the next screen (the same applies to subsequent screens D4 to D9).

[0108] The vehicle setting confirmation screen D4 displays messages indicating the input operation sequence, the type of agricultural operation, the type of agricultural machinery 1, and the working width that can be operated with the working device 2. For example, the user selects... Figure 3 By pressing the setting key B0 on ​​the main screen D1 and performing the prescribed input operations, the type of agricultural machinery 1 and the working width of the working device 2, which are displayed on the vehicle setting confirmation screen D4, can be set. Furthermore, by selecting the setting key B0 and performing the prescribed input operations, the user can register the types, working widths, and other specifications of multiple agricultural machines and multiple working devices in the agricultural operation support device 50. The working width of the working device 2 is the length that can be worked in the horizontal plane perpendicular to the direction of travel of the working device 2.

[0109] In addition, Figure 7 The vehicle setting confirmation screen D4 displays a drone setting button B10, a manned machine setting button B11, a forward button B9, and a back button B8. When the user wants to change the type or working width of the agricultural machinery 1 displayed on the vehicle setting confirmation screen D4, they select either the drone setting button B10 or the manned machine setting button B11. Then, the control unit 51 displays another setting screen (not shown) on the display operation unit 52, allowing users to change the type and working width of the agricultural machinery 1. After the user changes the type and working width of the agricultural machinery 1 on this other setting screen and performs the prescribed operation, the control unit 51 again displays the vehicle setting confirmation screen D4 on the display operation unit 52.

[0110] Additionally, without needing to change the type or working width of agricultural machinery 1 displayed on the vehicle setting confirmation screen D4, the user selects the forward key B9. Then, the control unit 51... Figure 8 The field selection screen D5 is displayed on the display operation unit 52. The field selection screen D5 displays a map of one or more registered fields (MP2), the up arrow key (B41), the down arrow key (B42), the forward key (B9), and the back key (B8). Figure 8 The screen displays three field map MP2s. However, if there are more than four registered field map MP2s, the user can select the up arrow key B41 and the down arrow key B42 to make the control unit 51 display the other registered field map MP2s on the field selection screen D5.

[0111] If the user selects any field map MP2, the control unit 51 displays the selected field map MP2 in a different display mode than the other field map MP2s. Figure 8In the field selection screen D5, only the selected field map MP2 is enclosed in a thick border. Furthermore, the control unit 51 displays the last operation date and area of ​​the selected field map MP2 on the field selection screen D5. If the user selects the forward key B9 while any field map MP2 is selected, the control unit 51 will... Figure 9 The circuit creation screen shown in Figure 1 (D6) is displayed on the display operation unit 52.

[0112] On screen D6 of the route creation 1, the selected field map MP2 (field outline H1), agricultural machinery marker X1, a message indicating the input operation sequence, automatic furrow operation key B43, operation type key B44, forward key B9, and return key B8 are displayed. As described later, the automatic furrow operation key B43 is used to select whether the agricultural machinery 1's vehicle body 3 operates using the operation device 2 while driving automatically on the furrow set in field map MP2, or whether it does not operate.

[0113] The job type key B44 is used to select the job status performed by the job device 2. In this embodiment, examples are listed below. Figure 6 Taking the case where the tilling task is selected in the task selection screen D3 as an example, therefore... Figure 9 The job type key B44 becomes the key used to select whether the tillage job is adjacent or indirect. Figure 6 If other assignments are selected on the assignment selection screen D3, Figure 9 The job type key B44 becomes the key used to select the status of this other job. After the user selects the job status using the automatic bed-making job key B43 and the job type key B44 respectively, if the user selects the forward key B9, the control unit 51 will... Figure 10A The circuit creation screen 2 shown is displayed on the display operation unit 52.

[0114] exist Figure 10A The route creation 2 screen D7 displays the selected field map MP2, the agricultural machinery marker X1, a message indicating the input operation sequence, multiple setting items and their value input fields, a recommendation key B12, a route creation key B13, a trajectory prediction key B14, a plus key B45, a minus key B46, a forward key B9, and a return key B8. While the route creation 2 screen D7 is displayed, the control unit 51 can also use the communication unit 54 to obtain the actual position of the vehicle body 3 detected by the positioning device 40, causing the agricultural machinery marker X1 to be displayed at the corresponding location on the field map MP2.

[0115] The Line Creation 2 screen D7 includes several settings such as expected working distance, number of furrows, working direction, furrow overlap, and central overlap. Values ​​can be entered for items other than the expected working distance. The number of furrows refers to the number of furrows (one or more layers) set along the inner edge of the registered field outline H1 (field map MP2). The working direction refers to the direction in which the working device 2 operates while the vehicle 3 travels straight back and forth within the central area inside the furrows. By entering a specified value (e.g., "1", "2", etc.) in the working direction input field, the corresponding longitudinal or lateral direction on the Line Creation 2 screen D7 is set. The furrow overlap refers to the amount by which the working width of the working device 2 extends beyond the furrow. The central overlap refers to the amount of overlap between working widths when the vehicle 3 travels straight back and forth within the central area of ​​the field using the working device 2.

[0116] The user selects the numerical input field for each of the above-mentioned settings and operates the plus key B45 and the minus key B46 to input values ​​into each field. Additionally, the user selects the recommendation key B12, causing the control unit 51 to read the preset values ​​stored in the storage unit 53 and the values ​​displayed on the operation selection screen D3. Figure 6 Select the settings for each agricultural operation item selected above, and input (display) these settings into the corresponding numerical input field.

[0117] After entering values ​​for each setting item, the user selects the line creation key B13. Then, as shown... Figure 10B As shown, the area setting unit 51b ( Figure 1 On the field map MP2, set the central area (second area) C1 and the furrow area (first area) E1. Additionally, the line production department 51c ( Figure 1 Create a driving route (pre-determined driving route) L1 on the field map MP2.

[0118] Figures 11A to 11D This diagram illustrates the method for setting areas C1, E1, and the driving route L1. If the route creation key B13 is selected in the order described above, the area setting unit 51b first sets the central area C1 and the furrow area E1 based on the field outline H1, the working width of the working device 2, the input number of furrows, or the overlap of the furrows. In detail, for example, the area setting unit 51b... Figure 11A As shown, the operation calculates the width W4 obtained by subtracting the overlap W2 of the furrows from the working width W1 of the working device 2 to offset the field outline H1 inward, forming the outline C1. The area (central part) surrounded by this outline C1 is set as the central region C1.

[0119] As another example, the area setting unit 51b can also calculate the outline formed by the working width (or the outer width of the working device 2) of the working device 2, which offsets the outline H1 of the field inward by the number of furrows, and set the area (central part) surrounded by this outline C1 as the central area. Alternatively, the number of furrows, the overlap of furrows, or the overlap of the central part can be set to preset fixed values, and these fixed values ​​can be stored in the storage unit 53 in advance. The area setting unit 51b can then read these values ​​from the storage unit 53 as needed.

[0120] If the area setting unit 51b sets a central area C1 inside the outline H1 of the field as described above, then the frame-shaped area (outer frame portion) located outside the central area C1 is set as the furrow head area E1. Then, the area setting unit 51b stores data such as the position of each area C1, E1 in the storage unit 53.

[0121] The track fabrication unit 51c fabricates the travel track L1 based on the set areas C1 and E1, the working width of the working device 2, the input working direction, the overlap of the ridge heads, and the overlap of the central section. Specifically, firstly, the track fabrication unit 51c... Figure 11B As shown, from the direction of the operation ( Figure 11B The middle is a longitudinal parallel central region C1 at one end ( Figure 11B Starting from the right end, the work unit 51c divides the area into multiple work zones C2 within the central region C1, using the work width W1 of the work device 2. In the first work zone C2, the work width W1 overlaps the bed head area E1 by an overlap amount W2. Furthermore, in subsequent work zones C2, the work width W1 overlaps the center portion of the previously created work zone C2 by an overlap amount W3.

[0122] Next, the circuit production department 51c, as Figure 11C As shown, a straight-line L1a for the vehicle body 3 is constructed according to each unit work zone C2. At this time, the line construction unit 51c is in the width direction of the unit work zone C2 ( Figure 11C Along the center line (in the left-right direction), construct a straight line L1a connecting the two ends of the unit work zone C2 in the length direction. Additionally, in the last constructed unit work zone C2 (… Figure 11B In the unit work zone C2 located at the left end of the central area C1, if the straight line L1a produced in the unit work zone C2 is produced outside the central area C1, the line production unit 51c can also exclude the straight line L1a from the travel line L1.

[0123] Next, the track construction unit 51c constructs track L1b in the field head area E1, connecting adjacent straight tracks L1a to each other. Track L1b is a turning track for the vehicle body 3 to turn from one of the two adjacent straight tracks L1a towards the other. Additionally, in Figure 11C The example shown is a simple semi-circular turning line L1b, but this shape is for the convenience of easy display on the display screen D7 (and the display screen D8 described later) of the display operation unit 52, or easy visual confirmation of the driving line L1 on the display screen. In fact, when the vehicle body 3 turns to travel on another straight line L1a after traveling on one straight line L1a, the vehicle body 3 turns while moving forward or backward, thus drawing a trajectory with a more complex shape than the turning line L1b. The line production unit 51c can also produce turning lines L1b with shapes other than semi-circular. The same applies to other turning lines and the turning parts contained in other lines described later.

[0124] Control device 60 of agricultural machinery 1 Figure 1 When the vehicle body 3 is traveling on the straight-line L1a, the lifting device 8 is used. Figure 2 The control device 60 lowers the working device 2 and uses it to perform ground operations. Alternatively, when the vehicle body 3 is moving based on the turning line L1b, the control device 60 uses the lifting device 8 to raise the working device 2 and stop its ground operations.

[0125] That is, the straight-line L1a is a work route in which the vehicle body 3 of the agricultural machinery 1 moves while the working device 2 performs ground operations. Furthermore, the central area C1, where multiple straight-line L1as are constructed, is a work area in which the vehicle body 3 moves straight and back while the working device 2 performs ground operations. Moreover, the work route is not limited to a straight line like the straight-line L1a; it can also be a curved line. Additionally, at least one of either a straight or curved work route can be constructed within the work area.

[0126] exist Figure 9 In the circuit fabrication screen D6, when the automatic bed-head operation button B43 is selected to not perform operations at the bed head, the circuit fabrication department 51c... Figure 11C As shown, a travel route L1 consisting of a straight road L1a and a turning road L1b is constructed, and data such as the position of the travel route L1 is stored in the storage unit 53. Additionally, the route construction unit 51c constructs a route at the end of the straight road L1a on one side of the straight road L1a located on both sides of the central region C1, on the side not connected to the turning road L1b. Figure 11CThe starting position Ps is set at the upper end of the straight line L1a on the right side, and at the end of the straight line L1a on the other side ( Figure 11C The endpoint position Pg is set at the lower end of the straight line L1a on the left. Then, the line production unit 51c stores the data representing each position Ps, Pg in the storage unit 53.

[0127] Furthermore, the route creation unit 51c calculates the expected working distance for the vehicle body 3 to perform ground operations using the work device 2 while driving along all straight routes L1a, and stores the calculation result in the storage unit 53. Moreover, the route creation unit 51c sets the vehicle speed (moving speed) for the vehicle body 3 to drive automatically for both straight routes L1a and turning routes L1b, and stores these speeds in the storage unit 53 in a corresponding manner with the data for each route L1a and L1b. For example, the route creation unit 51c sets the speeds in a manner where the curvature of each route L1a and L1b is greater, resulting in slower speeds. Alternatively, for example, an input field for inputting the speeds of each route L1a and L1b can be set in the route creation 2 screen D7, and the route creation unit 51c sets the speeds input to each input field for each route L1a and L1b.

[0128] If the settings and production are completed as described above, the control unit 51 displays the area C1, E1, travel route L1, start position Ps, end position Pg, and expected working distance on the route production 2 screen D7. At this time, the area C1, E1, travel route L1, start position Ps, and end position Pg are as shown in the image. Figure 11C As shown, this is displayed on screen D7 of route creation 2. Furthermore, the driving route L1 consists of a straight route L1a and a turning route L1b.

[0129] In contrast, Figure 9 In the route creation screen D6, when the automatic bed-heading operation key B43 is selected to operate at the bed head, the route creation unit 51c, in addition to the straight route L1a and the turning route L1b, also... Figure 11D As shown, a loop line L1c is made in the furrow area E1 that surrounds the outer side of the central area C1. At this time, for example, the loop line L1c is made by the furrow E2a, which is closest to the central area C1, among the furrows E2a, E2b, and E2c that are set one or more layers outside the central area C1 by the area setting unit 51b.

[0130] Additionally, the circuit production section 51c is located at both ends of the central area C1 ( Figure 11D The end of the straight-ahead lane L1a that is not connected to the turning lane L1b (the middle part is the left and right ends). Figure 11DThe starting position Ps is set at the upper end of the straight line L1a on the right side, and at the end of the straight line L1a on the other side ( Figure 11D The lower end of the straight line L1a on the left is connected to the circular line L1c. In addition, the line making unit 51c sets the end position Pg at the end of the circular line L1c that is not connected to the straight line L1a.

[0131] The loop line L1c is a work route in which the vehicle body 3 is driven automatically while the work device 2 performs ground operations. The loop line L1c includes multiple generally straight sections L1s and turning sections L1r that curve at or above a specified radius of curvature. The straight sections L1s are constructed on the centerline in the width direction of the field head E2a. The turning section L1r is a route that connects one of the multiple consecutive straight sections L1s extending in different directions with another straight section L1s, allowing the vehicle body 3 to turn from one straight section L1s towards the other.

[0132] Furthermore, depending on the shape of the field outline H1 (for example, in the case of a deformed field outline H1), in addition to the straight section L1s and the turning section L1r, gentle curves (curved lines, not shown in the diagram) with a radius of curvature smaller than a specified radius are also included in the loop line L1c. When the vehicle body 3 travels based on the straight section L1s and the gentle curves of the loop line L1c using automatic driving, ground work is performed using the work device 2. When the vehicle body 3 travels based on the turning section L1r using automatic driving, ground work is not performed using the work device 2.

[0133] As described above, the work area where the driving vehicle 3 circles the outer edge of the central area C1 is used for ground-level operations by the work device 2. Alternatively, the track-making unit 51c can also create loops at other work areas E2b and E2c located outside work area E2a. Furthermore, a key for inputting the number of work areas for creating loops can be set on the track-making 2 screen D7.

[0134] Furthermore, the circuit fabrication unit 51c can fabricate multiple looping circuits in at least one of the multiple furrows E2a, E2b, and E2c, or it can fabricate looping circuits by means of adjacent furrows. That is, the circuit fabrication unit 51c can also fabricate looping circuits in the furrow area E1 that loop around the central area C1 more than a certain number of furrows.

[0135] As described above, if the route creation unit 51c creates a travel route L1 consisting of a straight route L1a, a turning route L1b, and a circular route L1c, it stores data such as the position of the travel route L1 in the storage unit 53. Furthermore, the route creation unit 51c sets the start position Ps and end position Pg of the travel route L1, storing data representing these positions Ps and Pg in the storage unit 53. Additionally, the route creation unit 51c calculates the expected working distance for the vehicle body 3 to perform ground-level operations using the work device 2 while driving, based on all the straight routes L1a and the circular route L1c, and stores the calculation result in the storage unit 53. Moreover, the route creation unit 51c sets the vehicle speed for the straight routes L1a, turning routes L1b, and circular routes L1c to enable the vehicle body 3 to drive automatically, and stores each speed in the storage unit 53 in a corresponding manner with the data for each route L1a, L1b, and L1c.

[0136] If the setup and production are completed as described above, then the control unit 51 will... Figure 10B As shown, the areas C1, E1, driving route L1, starting position Ps, ending position Pg, and expected working distance are displayed on the route creation 2 screen D7. The driving route L1 displayed at this time consists of a straight route L1a, a turning route L1b, and a loop route L1c.

[0137] After displaying the driving route L1 on screen D7 of route creation 2, the user selects the trajectory prediction key B14. Then, the trajectory calculation unit 51d ( Figure 1 The predicted operation trajectory J1 of the operation device 2 is the operation part where the vehicle body 3 drives through automatic driving while the operation device 2 performs ground operations.

[0138] In detail, the trajectory calculation unit 51d calculates and predicts the work trajectory J1 based on the working width of the travel path L1 and the work device 2. For example, the trajectory calculation unit 51d calculates the work path along the travel path L1 in which the traveling vehicle 3 and the work device 2 perform ground-level work. Figure 10C The predicted work trajectory J1 is the passing portion (passing area) of the working device 2 when the straight section L1s of the straight line L1a and the circular line L1c moves (forward or backward). At this time, the center of the traveling vehicle 3 in the width direction and the center of the working width of the working device 2 are set on the work line.

[0139] Then, the trajectory calculation unit 51d stores the predicted operation trajectory J1 in the storage unit 53. Additionally, the control unit 51... Figure 10C As shown, the predicted operation trajectory J1 (the part shown by the shaded line) is displayed overlapping the driving route L1 of the field map MP2 in the route creation 2 screen D7.

[0140] Alternatively, if the route creation unit 51c creates the travel route L1, the trajectory calculation unit 51d immediately calculates the predicted work trajectory J1 and stores the data of the predicted work trajectory J1 in the storage unit 53. Furthermore, when the user selects the trajectory prediction key B14, the control unit 51 reads the data of the predicted work trajectory J1 from the storage unit 53 and displays the predicted work trajectory J1 on the route creation 2 screen D7 based on this data. Additionally, the trajectory calculation unit 51d can calculate not only the straight work path in the travel route L1, but also the portion of the work width that the work device 2 passes through when moving along a curved work path, as the predicted work trajectory J1.

[0141] exist Figure 10C In the central area C1 and the field head E2a, operation lines L1a and L1c (straight line L1a and circular line L1c) are created, which allow the vehicle body 3 to drive automatically while the operation device 2 performs ground operations. Therefore, the predicted operation trajectory J1 is displayed along the operation lines L1a and L1c.

[0142] In contrast, Figure 9 In the circuit creation screen D6, you can select "Do not perform operation on the ridge" by pressing the "Automatic Ridge Work" button (B43). Figure 11C As shown, if a work line L1a is created only in the central area C1, the predicted work trajectory J1 is displayed along the work line L1a.

[0143] For example, after a user sees the driving route L1 and predicted work trajectory J1 displayed on the route creation 2 screen D7, and then re-enters values ​​for a certain setting item, they select the route creation button B13. In this case, following the aforementioned sequence, the area setting unit 51b re-sets areas C1 and E1, the route creation unit 51c creates the driving route L1, and updates the display of areas C1, E1, driving route L1, etc., on the route creation 2 screen D7.

[0144] Additionally, after the user selects a start position Ps or an end position Pg to move that position Ps or Pg to the desired location on the field map MP2, they select the route creation button B13. Then, following the aforementioned sequence, the area setting unit 51b sets areas C1 and E1 again, the route creation unit 51c creates the driving route L1 again, and updates the display of areas C1, E1, driving route L1, etc., in the route creation 2 screen D7.

[0145] Additionally, after updating areas C1, E1, and the driving route L1 as described above, the user selects the trajectory prediction key B14. Then, following the aforementioned sequence, the trajectory calculation unit 51d recalculates the predicted operation trajectory J1 and updates the display of the predicted operation trajectory J1 in the route creation 2 screen D7.

[0146] After the driving route L1 is displayed on the route creation screen D7, if the user selects the forward key B9, the control unit 51 will communicate with the control device 60 via the vehicle network N1 through the communication unit 54. Figure 1 The control unit 51 sends the field map MP2, area C1, E1, and data indicating the driving route L1 displayed on screen D7. Additionally, the control unit 51... Figure 12 The driving control screen D8 shown is displayed on the display operation unit 52.

[0147] <Automatic Driving Operation Mode>

[0148] The driving control screen D8 displays the driving and operating status of agricultural machinery 1 in automatic driving operation mode. Additionally, in... Figure 12 The driving control screen D8 shows the driving and operating status of agricultural machinery 1 shortly after the start of automatic driving operation mode. Driving control screen D8 displays the field map MP2, driving route L1, start position Ps, end position Pg, agricultural machinery marker X2, driving status of agricultural machinery 1, operation trajectory key B15, and trajectory clearing key B16.

[0149] The control unit 51 obtains the actual position of the vehicle body 3 detected by the positioning device 40 at predetermined intervals via the communication unit 54, and displays the agricultural machinery marker X2 at the corresponding location on the field map MP2 corresponding to the position of the vehicle body 3. That is, the agricultural machinery marker X2 in the driving control screen D8 indicates the actual position of the vehicle body 3 of the agricultural machinery 1.

[0150] While observing the driving control screen D8, the user manually drives the agricultural machinery 1 to the starting position Ps, and then switches to mode 65. Figure 1 The automatic control unit 61 performs the prescribed operation to switch to the automatic driving operation mode. Therefore, the automatic control unit 61 ( Figure 1 The system switches to automatic driving operation mode. Based on the driving route L1 received (obtained) from the agricultural operation support device 50 and the position of the driving vehicle 3 detected by the positioning device 40, the system drives the driving vehicle 3 through automatic driving while using the operation device 2 to perform ground operations.

[0151] In detail, the automatic control unit 61 first starts from the starting position Ps, based on the straight path La1 and the turning path L1b, and simultaneously performs ground-level work using the working device 2 while driving the vehicle body 3 automatically. At this time, when the automatic control unit 61 drives the vehicle body 3 automatically based on the straight path L1a, it performs ground-level work using the working device 2. When driving the vehicle body 3 automatically (turning) based on the turning path L1b, the ground-level work of the working device 2 stops. Then, when the vehicle body 3 starts driving automatically based on the adjacent straight path L1a, the ground-level work of the working device 2 resumes. Thus, the vehicle body 3 travels back and forth in the central area C1 automatically, and the working device 2 performs ground-level work on the central area C1.

[0152] Subsequently, the automatic control unit 61, based on the position of the driving vehicle 3 along the surrounding line L1c, drives the driving vehicle 3 automatically while simultaneously performing ground operations using the working device 2. Thus, the driving vehicle 3, through automatic driving, circles the outer edge of the central area C1, and the working device 2 operates on the furrow head E2a (refer to...) surrounding the central area C1. Figure 11D (etc.) to carry out ground operations.

[0153] Figures 13A to 13D This diagram illustrates the automatic steering of agricultural machinery 1. In automatic driving mode, the automatic control unit 61 automatically drives the vehicle body 3 while calculating the deviation between the position of the vehicle body 3 detected by the positioning device 40 and the driving path L1. If this deviation is less than a threshold (e.g., ...), ... Figure 13A Automatic control unit 61 maintains steering shaft 31 ( Figure 1 The rotation angle of the vehicle body 3. When the deviation between the position of the vehicle body 3 and the driving line L1 is above a threshold, and the vehicle body 3 is on the left side relative to the driving line L1 (e.g.) Figure 13B The automatic control unit 61 rotates the steering shaft 31 to make the steering direction of the vehicle body 3 to the right. This is in the case where the deviation between the position of the vehicle body 3 and the travel line L1 is above a threshold and the vehicle body 3 is on the right side relative to the travel line L1 (e.g., Figure 13C The automatic control unit 61 rotates the steering shaft 31 so that the steering direction of the vehicle body 3 is to the left.

[0154] In the example above, the steering angle of the steering device 29 was changed based on the deviation between the position of the vehicle body 3 and the driving line L1. However, in other examples, it could also be based on... Figure 13DThe angle θg between the travel direction F1 of the vehicle body 3 and the travel path L1 is changed, and the steering angle of the steering device 29 is adjusted. In this case, for example, the automatic control unit 61 calculates the travel direction F1 of the vehicle body 3 based on the change in the position of the vehicle body 3, and then calculates the angle θg between the travel direction F1 and the travel path L1. Then, if the angle θg is above a threshold, the automatic control unit 61 rotates the steering shaft 31 so that the travel direction F1 of the vehicle body 3 is aligned with the orientation of the travel path L1 (i.e., θg = "0°").

[0155] Alternatively, as another example, the automatic control unit 61 can calculate a first steering angle based on the deviation between the position of the vehicle body 3 and the travel path L1, and calculate a second steering angle based on the travel path L1 and the travel direction F1 of the vehicle body 3. Furthermore, the automatic control unit 61 can also calculate a third steering angle based on the first and second steering angles, and rotate the steering shaft 31 based on the third steering angle.

[0156] Furthermore, when the automatic control unit 61 automatically drives the vehicle body 3 based on the driving route L1, it calculates the actual speed of the vehicle body 3 based on the change in the position of the vehicle body 3. Then, it controls the drive of the transmission device 5, the braking device 6, and the prime mover 4 to establish a speed that corresponds to the speed of the vehicle body 3 on the straight route L1a, the turning route L1b, or the loop route L1c.

[0157] As described above, in the automatic driving operation mode, the automatic control unit 61 of the agricultural machinery 1 automatically changes the speed of the vehicle body 3 and automatically steers the vehicle body 3 based on the position of the driving line L1 and the vehicle body 3. In addition, the automatic control unit 61 automatically executes or stops the agricultural operations (ground operations) of the operating device 2.

[0158] exist Figure 12 In the driving control screen D8 shown, the user selects the work trajectory key B15. Then, the trajectory calculation unit 51d calculates the actual work trajectory J2 of the work device 2 based on the position of the driving vehicle 3 detected by the positioning device 40 and the working width of the work device 2. Furthermore, the trajectory calculation unit 51d stores the actual work trajectory J2 data in the storage unit 53. Then, the control unit 51... Figure 12 As shown, the actual work trajectory J2 (the part shown by the shaded line) is displayed overlaid on the straight line L1a of the field map MP2. If the user selects the trajectory clear key B16, the control unit 51 deletes the display of the actual work trajectory J2.

[0159] Furthermore, when the work trajectory key B15 is selected during the execution of the automatic driving operation mode, the trajectory calculation unit 51d calculates the actual work trajectory J2 from the start of the automatic driving operation mode to the present, and stores the work trajectory J2 data in the storage unit 53. Then, the control unit 51 displays the actual work trajectory J2 on the field map MP2. Additionally, if the work trajectory key B15 is selected again, the calculation, display, and data storage of the actual work trajectory J2 are performed at predetermined intervals. As a result, the display position of the agricultural machinery marker X2, indicating the position of the vehicle body 3, is updated continuously in the driving control screen D8, and the actual work trajectory J2 is extended.

[0160] Alternatively, after switching to automatic driving operation mode, the trajectory calculation unit 51d can calculate the actual operation trajectory J2 at a predetermined period and store the data of the operation trajectory J2 in the storage unit 53. Then, when the user selects the operation trajectory key B15, the control unit 51 can read the data of the actual operation trajectory J2 from the storage unit 53 and display the actual operation trajectory J2 on the driving control screen D8 based on the data.

[0161] In the above-described embodiments, such as Figure 10C As shown, the example presented is the case where ground-leveling operations are performed on approximately the entire surface of the central area C1 in the automatic driving mode of agricultural machinery 1. However, it is also possible, for example, to perform ground-leveling operations on a portion of the central area C1 in the automatic driving mode of agricultural machinery 1, and then use the same or different agricultural machinery to perform ground-leveling operations on the remaining portion of the central area C1. An example assuming this situation is shown in... Figure 14A as well as Figure 14B middle.

[0162] Figure 14A as well as Figure 14B This is a diagram showing other examples of circuit creation screen D7.

[0163] For example, Figure 14A As shown, the user enters a negative value into the overlap input field in the center of the route creation screen D7, enters appropriate values ​​into other input fields, and selects the route creation key B13. Then, the areas C1 and E1 set using the area setting unit 51b and the driving route L1 created using the route creation unit 51c are displayed on the field map MP2.

[0164] In addition, Figure 14A as well as Figure 14B For convenience, the diagram shows a driving route L1 consisting of a straight route L1a and a turning route L1b, but it can also be shown as follows: Figure 10B As shown, the loop line L1c is included in the travel line L1. (To be continued...) Figures 15-17The implementation method shown is the same.

[0165] Figure 14A The number of straight lanes L1a in the shown travel route L1 is higher than that of the straight lanes L1a. Figure 10B The number of straight-through lines L1a shown is small. Additionally, Figure 14A The spacing ratio of the multiple straight lines L1a shown Figure 10B The spacing between the multiple straight lines L1a shown is wide. Therefore, if the user selects the trajectory prediction key B14, then as... Figure 14B As shown, the predicted operation trajectory J1 (shown by the shaded line) calculated by the trajectory calculation unit 51d is displayed in the central area C1 with intervals.

[0166] The portion of the predicted job trajectory J1 that is located between each other in the central area C1 ( Figure 14B (The part within the central area C1 that is not shaded) V1 is the predicted non-operational part that is not expected to perform ground operations in the autonomous driving mode of agricultural machinery 1. That is, in Figure 14B In the field map MP2, the driving route L1, the predicted work trajectory (the section to be worked on) J1, and the predicted unworked section V1 are simultaneously displayed in different ways. Furthermore, the predicted work trajectory J1 is highlighted compared to the predicted unworked section V1. In this example, the predicted work trajectory J1 and the predicted unworked section V1 are displayed with different shades, but if the display operation unit 52 is capable of color display, different colors can be used to fill in the predicted work trajectory J1 and the predicted unworked section V1, or the shades of the color can be different. (The actual work trajectory J2 and the actual unworked section V2, described later, are also the same.)

[0167] exist Figure 14B In the central region C1, the portion enclosed by a portion of the outline of one of the two adjacent predicted work trajectories J1, a portion of the outline of the other predicted work trajectory J1, and a portion of the outline of the central region C1 is defined as the predicted unworked portion V1. However, depending on the construction status of the work lines included in the travel route L1, a portion of the central region C1 enclosed by a portion of the outline of the predicted work trajectory J1 and a portion of the outline of the central region C1 is also included in the predicted unworked portion V1. Alternatively, all or part of the furrow head area E1, where ground work is not performed using the work device 2, may also be included in the predicted unworked portion V1.

[0168] That is, the predicted unworked portion V1 is a portion of the field map MP2 that is different from the portion that becomes the predicted work trajectory J1, and is the portion surrounded by at least two or more contours of the predicted work trajectory J1, the central area C1, the furrow area E1, and the furrows E2a, E2b, and E2c that contain a portion of the predicted work trajectory J1. Not only the predicted work trajectory J1, but also the predicted unworked portion V1 can be calculated by the trajectory calculation unit 51d.

[0169] like Figure 14A as well as Figure 14B As shown, when creating the driving route L1 and calculating the predicted unworked portion V1, for example, Figure 15 As shown, the unworked portion key B17 can also be set on screen D7 of the line production 2. If the user selects the unworked portion key B17, the control unit 51, based on the predicted work trajectory J1 calculated by the trajectory calculation unit 51d, emphasizes the predicted unworked portion V1 (the part shown in the shaded line) compared to the predicted work trajectory J1. On the other hand, when the user selects the trajectory prediction key B14, as... Figure 14B As shown, the predicted work trajectory J1 is highlighted compared to the predicted unworked portion V1. That is, by selecting either the trajectory prediction key B14 or the unworked portion key B17, the display mode of the predicted work trajectory J1 and the predicted unworked portion V1 can be switched.

[0170] Through the above, for example, when a user executes the automatic driving operation mode of agricultural machinery 1 in the field corresponding to the field map MP2, they can know that the portion of the predicted operation trajectory J1 displayed on the route creation screen D7 is being operated on by agricultural machinery 1. Moreover, after executing the automatic driving operation mode of agricultural machinery 1, the user can also know that the same or different agricultural machinery is needed to perform on-the-ground operations on the predicted unoperated portion V1.

[0171] In addition, such as Figures 16A to 16D As shown, an unworked portion key B17 can also be set on the driving control screen D8. In this case, if the user selects the work trajectory key B15 or the unworked portion key B17, the trajectory calculation unit 51d calculates the actual work trajectory J2 of the agricultural machinery 1 in the automatic driving operation mode. Specifically, for example, the trajectory calculation unit 51d calculates the work trajectory J2 based on the driving line L1 from the starting position Ps to the current position of the vehicle body 3. Figures 16A to 16D If there is one or more straight lines L1a, the working width (passage area) of the working device 2 when it performs ground operations is calculated as the actual working trajectory J2. At this time, the center of the width direction of the traveling vehicle 3 and the center of the working width of the working device 2 are also set on this working line.

[0172] Furthermore, not only the actual work trajectory J2, but also the actual unworked portion V2 that is not operated by the work device 2 in the automatic driving operation mode of agricultural machinery 1 can be calculated by the trajectory calculation unit 51d. The actual unworked portion V2 is the part of the field map MP2 that is different from the part that becomes the actual work trajectory J2, and is the part surrounded by at least two or more contours of the actual work trajectory J2, the central area C1, the furrow area E1, and the furrows E2a, E2b, and Ec.

[0173] When the operation trajectory key B15 is selected after calculating the actual operation trajectory J2, the control unit 51, as follows: Figure 16A The actual work trajectory J2 is highlighted on the field map MP2 compared to the actual unworked area V2. Additionally, when the unworked area key B17 is selected, the control unit 51... Figure 16B As shown, the actual unworked portion V2 is highlighted compared to the actual work trajectory J2. That is, the actual work trajectory J2 and the actual unworked portion V2 are displayed simultaneously on the driving control screen D8 in different display modes.

[0174] Additionally, for example, if a user temporarily executes the automatic driving mode of agricultural machinery 1 in the field corresponding to field map MP2, and then selects the unworked area key B17 on the driving control screen D8, the control unit 51 will highlight the actual unworked area V2. In this state, the user can perform field operations using the same or different agricultural machinery based on the actual unworked area V2. In this case, the control unit 51 will... Figure 16C The driving control screen D8 will continue to be displayed as shown, and the previously displayed unworked part V2 will be deleted, showing the part that has been worked on by the agricultural machinery (agricultural machinery mark X2).

[0175] Additionally, for example, after the user executes the automatic driving operation mode of agricultural machinery 1 in the field corresponding to the field map MP2, if the user selects the operation trajectory key B15 in the driving control screen D8, the control unit 51 will highlight the actual operation trajectory J2 of agricultural machinery 1. In this state, the user uses the same or different agricultural machinery to perform ground operations based on the actual unoperated portion V2. Then, the control unit 51... Figure 16D The driving control screen D8 continues to be displayed as shown, and the actual working trajectory J2-2 of the agricultural machinery (agricultural machinery mark X2) is displayed in a different manner than the actual working trajectory J2-1 or the actual unworked portion V2 previously performed by agricultural machinery 1. In this case, it is preferable to display the illustration Y1 on the driving control screen D8, which represents the display methods of the actual working trajectories J2-1, J2-2 and the actual unworked portion V2.

[0176] Alternatively, as described above, multiple data sets of the predicted work trajectory J1 calculated by the trajectory calculation unit 51d and the actual work trajectory J2 can be stored in the storage unit 53. In this case, the control unit 51 can also read two or more of the multiple data sets stored in the storage unit 53, and then store the predicted work trajectory J1 and the actual work trajectory J2 based on these data sets as follows: Figure 17 As shown, they are displayed simultaneously on the display operation unit 52 in different display modes.

[0177] exist Figure 17 In the driving control screen D8 shown, besides Figure 12 In addition to the configuration of the driving control screen D8 shown, a prediction recall key B18 and a legend Y2 are also displayed. If the user selects the prediction recall key B18, the control unit 51 displays a list of identification information for multiple predicted work trajectories J1 stored in the storage unit 53 on the display operation unit 52 (illustration omitted). If the user selects more than one identification information, the control unit 51 reads the data of the predicted work trajectory J1 corresponding to that identification information from the storage unit 53, and displays the predicted work trajectory J1 on the field map MP2 based on that data. Figure 17 In the example, a predicted work trajectory J1-1 (predicted work trajectory 1) based on one party's travel route L1-1 is shown, and a predicted work trajectory J1-2 (predicted work trajectory 2) based on the other party's travel route L1-2 is shown.

[0178] As described above, with the predicted work trajectories J1-1 and J1-2 displayed, the user selects the work trajectory key B15. Then, the control unit 51... Figure 17 As shown, the actual work trajectory J2-1, where agricultural machinery 1 performed the ground operation, and the work trajectory J2-2, where the same or different agricultural machinery (agricultural machinery marker X2) performed the ground operation, are also displayed on the field map MP2. Figure 17 In the example, the actual work trajectory J2-1 (actual work trajectory 1) where the ground work was performed first is displayed, and the actual work trajectory J2-2 (actual work trajectory 2) where the ground work was performed later is displayed. Additionally, the control unit 51 displays a legend Y2 on the driving control screen D8, showing the display modes of the predicted work trajectories J1-1 and J1-2, and the actual work trajectories J2-1 and J2-2. Therefore, when the user operates agricultural machinery 1 in the field corresponding to the field map MP2, they can visually confirm multiple predicted work trajectories J1 and multiple actual work trajectories J2.

[0179] <Setting the location for material replenishment>

[0180] The agricultural machinery 1 performs field operations using the working device 2, including operations involving the use of materials. Specifically, this includes operations such as fertilization, pesticide application, sowing, and seedling transplantation using materials such as fertilizers, pesticides, seeds, or seedlings. In these cases, the working device 2 consists of a spreading device, a sowing device, or a transplanting device, and is connected to the vehicle body 3 of the agricultural machinery 1. Furthermore, the control unit of the working device 2 controls the operation of the supply mechanism located on the working device 2, adjusting the amount and timing of material supply to the field. Additionally, the control unit of the working device 2 transmits signals indicating the start and end of material supply to the field via the vehicle network N1 to the control device 60 of the agricultural machinery 1. Figure 1 )send.

[0181] By using agricultural machinery 1 to perform the aforementioned field operations, materials are supplied to the field, thereby consuming the materials mounted on the operating device 2 (or agricultural machinery 1). Furthermore, in cases where the field is wide, materials may become insufficient midway through the field operations. Therefore, as described later, when agricultural machinery 1 performs field operations in automatic driving mode, the remaining material quantity is calculated, and a material replenishment location is set. Additionally, in agricultural machinery 1, the automatic driving mode is temporarily suspended, and a material replenishment mode is implemented where the vehicle body 3 moves to the replenishment location via automatic driving.

[0182] For example in Figure 6 In the job selection screen D3 shown, if the user selects a job using materials such as fertilizer or pesticide application, and then further selects the forward key B9, the control unit 51 will... Figure 18 The material information input screen D9 shown is displayed on the display operation unit 52. The material information input screen D9 displays a message indicating the input operation sequence of information related to the replenishment (feeding) of materials to the working device 2, multiple setting items and their value input fields, a balance reset key B19, a plus key B45, a minus key B46, a forward key B9, and a return key B8.

[0183] Multiple settings include theoretical margin, material input quantity, material unit consumption, and margin for entering material replenishment mode. Values ​​(parameters) can be entered for items other than the theoretical margin. The theoretical margin refers to the margin calculation unit 51e (… Figure 1 The calculated material balance (unit: kg) is stored in storage unit 53 and can be updated. If the user selects the balance reset key B19, the value displayed in the theoretical balance display column is reset (deleted), and the theoretical balance data stored in storage unit 53 is reset to the initial value (e.g., "0 kg").

[0184] Material input refers to the amount of material (unit: kg) fed into the material holding section, such as the hopper, of the working device 2 (or agricultural machinery 1). Material unit consumption refers to the amount of material consumed per unit area through ground operations using the working device 2 (unit: kg / 10a (10 areals = 1,000 m²)). 2 The remaining amount for entering the material replenishment mode refers to the remaining amount (unit: %) of material that the agricultural machinery 1 moves to the material replenishment mode during ground operations based on the automatic driving operation mode. As the remaining amount for entering the material replenishment mode, a value greater than 0% can be entered, but it is preferred to enter a value greater than 0%.

[0185] Users can input values ​​into the numerical input fields of each setting item on the material information input screen D9 by operating the plus key B45 and the minus key B46. Alternatively, recommended values ​​for material unit consumption can be preset for each working device 2 and stored in the storage unit 53, with a recommendation key set on the material information input screen D9. In this case, if the user selects the recommendation key, the control unit 51 reads the recommended value corresponding to the working device 2 from the storage unit 53 and displays it in the corresponding numerical input field of the material information input screen D9.

[0186] After the user inputs values ​​for each setting item on the material information input screen D9, if the user selects the forward key B9, the control unit 51 stores the input values ​​for each setting item in the storage unit 53. Additionally, the control unit 51... Figure 7 The vehicle setting confirmation screen D4 shown is displayed on the display operation unit 52.

[0187] Then, as mentioned above, the user in Figure 7 Vehicle settings confirmation screen D4 Figure 8 Field selection screen D5 and Figure 9 After making various settings in the circuit creation screen 1D6, Figure 10A In the circuit creation 2 screen D7, input values ​​for each setting item and select the circuit creation key B13. Then, the area setting section 51b and the circuit creation section 51c, for example... Figure 19 As shown, the regions C1 and E1, the travel route L1, the starting position Ps, and the ending position Pg are set. Simultaneously, the surplus material calculated by the surplus calculation unit 51e is supplied to the setting unit 51f (…). Figure 1 Set the material replenishment location and notify the department 51g ( Figure 1 Set the notification location.

[0188] Figure 19 This is a diagram illustrating an example of material replenishment and notification locations. In Figure 19For simplicity, the diagram of the loop line L1c is omitted. As mentioned above, before the agricultural machinery 1 is put into automatic driving mode (before the vehicle body 3 is driven by automatic driving and the working device 2 is performing ground operations), the user selects the route creation key B13. The reserve calculation unit 51e adds the material input amount to the theoretical reserve stored in the storage unit 53, and subtracts the material consumption amount from the added value to obtain the theoretical reserve. Before the automatic driving mode is executed, it is considered that no material is consumed, and the material consumption amount is "0 kg". Therefore, the value obtained by adding the material input amount to the theoretical reserve stored in the storage unit 53 becomes the new theoretical reserve. If the reserve calculation unit 51e obtains a new theoretical reserve, it overwrites the theoretical reserve stored in the storage unit 53 with the new theoretical reserve. Thus, the theoretical reserve is updated.

[0189] Next, imagine an scenario where the automatic control unit 61 of the agricultural machinery 1 executes an automatic driving operation mode, and based on the position of the driving line L1 and the vehicle body 3, the vehicle body 3 drives automatically from the starting position Ps while performing ground operations using the working device 2. In this case, for example, the margin calculation unit 51e multiplies the aforementioned expected working distance (the expected distance for the agricultural machinery 1's vehicle body 3 to perform ground operations using the working device 2 while driving automatically based on all working lines L1a and L1c) by the working width of the working device 2 to calculate the overall working area.

[0190] Next, the margin calculation unit 51e multiplies the total working area by the material unit consumption to calculate the total material consumption. Since the working width of the working device 2 and the material unit consumption are constant, the working distance, working area, and material consumption of the working device 2 are proportional. If the working distance of the working device 2 increases, the working area and material consumption increase at a certain ratio. Based on this relationship, the margin calculation unit 51e calculates the material consumption at multiple specified positions (working distances from the starting position Ps) on the working lines L1a and L1c (the material consumption after the working device 2 starts working on the ground from the starting position Ps). At this time, for example, the margin calculation unit 51e takes the end point of each working line L1a and L1c as the specified position and calculates the material consumption at each specified position.

[0191] Then, the surplus calculation unit 51e subtracts the material consumption at each specified position from the theoretical surplus (material surplus at the starting position Ps) stored in the storage unit 53 to calculate the theoretical surplus at each specified position. Furthermore, the surplus calculation unit 51e converts the theoretical surplus at each specified position into a percentage, and uses this converted value as the material surplus at each specified position (unit: %). The above-described method for calculating the theoretical surplus and material surplus is just one example and is not limited to it. As another example, the surplus calculation unit 51e could multiply the amount of material supplied to the field per unit time by the time the agricultural machinery 1 travels straight on the straight path L1a, thereby calculating the material consumption, and subtract the material consumption from the material input to calculate the theoretical surplus and material surplus at the specified positions of the operating paths L1a and L1c. Alternatively, other methods can also be used to calculate the theoretical surplus and material surplus.

[0192] The theoretical margin and material margin decrease as the operating distance of the aforementioned working device 2 and the amount of material consumed increase. Based on this relationship and the material margin prediction (calculation) at the aforementioned predetermined position, the supply setting unit 51f determines the reduction position Pe where the material margin falls below a predetermined threshold. Figure 19 At this time, the supply setting unit 51f sets the remaining amount for entering the material supply mode stored in the storage unit 53 to a predetermined threshold, and then predicts the drop position Pe. The display operation unit 52, which can input the remaining amount for entering the material supply mode, is a threshold changing unit that can change the aforementioned threshold used to predict the drop position Pe.

[0193] Then, the supply setting unit 51f, as follows Figure 19 As shown, a material replenishment position Pz is set on a ridge between the ridges of the straight track (work track) L1a, which includes the lowering position Pe, extending to the side opposite to the direction of travel. That is, the replenishment position Pz is set at a location between the ridges of the field that is off-track from the travel track L1. In addition, the replenishment setting unit 51f stores the data representing the lowering position Pe and the replenishment position Pz in the storage unit 53, and transmits the data to the control device 60 via the vehicle network N1 using the communication unit 54.

[0194] Furthermore, the above-described method for setting the replenishment position is just one example and is not limited to it. As another example, if the input value of the remaining amount entering the material replenishment mode is greater than a predetermined value, the replenishment setting unit 51f sets the material replenishment position on the ridge between the straight lines L1a, which includes the lowering position Pe, extending in the travel direction. Alternatively, if the input value of the remaining amount entering the material replenishment mode is less than a predetermined value, the replenishment setting unit 51f sets the material replenishment position between the ridges of the straight lines L1a preceding the lowering position Pe (adjacent to the starting position Ps side). Figure 19The material supply location is set on the embankment of the straight line L1a (which is adjacent to the left) that extends to the side opposite to the direction of travel. Alternatively, the supply location can also be set by other methods.

[0195] Based on the lowering position Pe and the resupply position Pz, the notification unit 51g sets multiple notification positions Pa, Pb, and Pc on the travel route L1. Specifically, for example, the notification unit 51g will specify the first three straight-line L1a points (including the straight-line L1a with the lowering position Pe) closest to the resupply position Pz, pointing towards the starting position Ps (…). Figure 19 The starting point Pa of the third straight line L1a (right side) is set as the first notification position. The straight line L1a with the first notification position Pa set is the line located between the lowering position Pe and the resupply position Pz, on the side closer to the starting position Ps and facing the ridge where the resupply position Pz is set.

[0196] Additionally, the notification unit 51g will start from the straight line L1a closest to the resupply position Pz and move forward one position from the straight line L1a (adjacent to the starting position Ps side) along the straight line L1a. Figure 19 The starting point Pb of the straight line L1a (which is the right neighbor) is set as the second notification position. Furthermore, the notification unit 51g sets the position Pc on the straight line L1a that is one position ahead of the nearest straight line L1a from the supply position Pz, and which is located closer to the starting point than the end point of that straight line L1a, as the third notification position. The starting and ending points of the straight line L1a are also the connection points with the turning line L1b. The notification unit 51g stores the data representing each of the above notification positions Pa, Pb, and Pc in the storage unit 53.

[0197] Furthermore, the method for setting the notification location described above is just one example and is not limited to it. As another example, the notification unit 51g could set the notification location at a point between the start and end points of the straight road L1a preceding the straight road L1a containing the lowering position Pe, or at a point on the turning road L1b preceding the straight road L1a containing the lowering position Pe. Alternatively, the notification location can be set using other methods. Moreover, the notification location is not limited to three locations; it could be one, two, or four or more. That is, the notification unit 51g only needs to set the notification location on other straight roads L1a or turning roads L1b that the vehicle 3 is traveling on in automatic driving mode before the straight road L1a containing the lowering position Pe.

[0198] <Supply and notification actions during operation>

[0199] If the agricultural machinery 1 starts in automatic driving mode, the automatic control unit 61, based on the driving route L1 and the position of the vehicle body 3 detected by the positioning device 40, drives the vehicle body 3 automatically while performing ground operations using the working device 2. Then, if the position of the vehicle body 3 passes through the turning route L1b located before the replenishment position Pz and reaches the connection point Pd between the turning route L1b and the straight route L1a including the lowering position Pe, the automatic control unit 61 temporarily stops the automatic driving mode and moves to the material replenishment mode. The connection point Pd is a predetermined position for moving from one mode (automatic driving mode) to the other (material replenishment mode).

[0200] In the material replenishment mode, the automatic control unit 61, based on the position of the replenishment position Pz and the position of the vehicle body 3, moves the vehicle body 3 from a predetermined position Pd (located before the replenishment position Pz) to a position Pd (located before the replenishment position Pz). Figure 20A ) Move (backwards) along the extended line L4 via autonomous driving to the resupply location Pz. Figure 20B Furthermore, at this time, the automatic control unit 61 uses the lifting device 8 to raise the working device 2 and stop the working device 2 from working on the ground.

[0201] In the automatic driving operation mode before moving to the material replenishment mode, the notification unit 51g of the agricultural operation support device 50 sends material replenishment notifications U1, U2, and U3 when the driving vehicle 3 passes through notification positions Pa, Pb, and Pc. Specifically, when the driving vehicle 3 passes through the first notification position Pa (detected by the positioning device 40), the notification unit 51g sends material replenishment notifications U1, U2, and U3. Figure 19 When ), notify Department 51g if Figure 21 As shown, a first notification U1 containing the message "Material reserves are decreasing" is displayed periodically in the central portion of the driving control screen D8 displayed on the display operation unit 52. That is, the notification unit 51g and the display operation unit 52 notify the user of a decrease in the remaining material reserves (theoretical reserves). This first notification U1 is prominently displayed before other displays on the driving control screen D8, such as the driving route L1 and the work trajectory J2. Furthermore, data representing the content of the first notification U1 issued by the notification unit 51g and other notifications described later are pre-stored in the storage unit 53.

[0202] Next, the vehicle body 3 passes through the second notification position Pb ( Figure 19 When ), notify Department 51g if Figure 22As shown, the central portion of the driving control screen D8 displays a second notification U2 at regular intervals, containing the messages: "Replenish materials after turning ahead on this straight route," "Reverse after turning and stop near the field ridge," and "The working device will automatically lower after stopping." That is, the notification unit 51g and the display operation unit 52 notify the material replenishment timing, replenishment location, and the behavior of the driving vehicle 3 and the working device 2 used for replenishment. This second notification U2 is also prominently displayed before other displays in the driving control screen D8.

[0203] Next, the vehicle body 3 passes through the third notification location Pc ( Figure 19 When ), notify Department 51g if Figure 23 As shown, the central portion of the driving control screen D8 displays a third notification U3 at regular intervals, containing the messages "To resupply materials, reverse after turning and stop near the field ridge." and "The working device will automatically descend after stopping." That is, the notification unit 51g and the display operation unit 52 notify the material resupply timing, resupply location, the driving vehicle 3 used for resupply, and the behavior of the working device 2. This third notification U3 is also prominently displayed before other displays in the driving control screen D8.

[0204] As described above, before the vehicle body 3 moves towards the replenishment position Pz in automatic driving operation mode, the notification unit 51g, based on the position of the vehicle body 3 and the replenishment position Pz detected by the positioning device 40, repeatedly issues notifications U1 indicating a decrease in material and U2 and U3 indicating that the vehicle body 3 is moving towards the replenishment position Pz at intervals. Furthermore, the closer a location is to the replenishment position Pz among the multiple notification locations Pa, Pb, and Pc (the closest is the third location Pc, and the farthest is the first location Pa), the more frequently the notification unit 51g issues notifications U2 and U3 indicating that it is approaching the replenishment position Pz and when replenishment is imminent. Moreover, the notification unit 51g issues a first notification U1 indicating a decrease in the remaining material at the first notification location Pa, and a second notification U2 and a third notification U3 indicating the replenishment position Pz and the behavior of the vehicle body 3 or the operating device 2 in material replenishment mode at the second notification locations Pb and the third notification locations Pc. In addition, at the first notification position Pa, the notification unit 51g can also replace the aforementioned first notification U1 to notify the material replenishment time, replenishment location, or the behavior of the vehicle body 3 and the working device 2 used for replenishment.

[0205] Additionally, the notification unit 51g can also, in the automatic driving operation mode before moving to the material replenishment mode, use the alarm unit 63 ( ) when the driving vehicle 3 passes the notification positions Pa, Pb, Pc. Figure 1The alarm unit 63 can also notify the surrounding area of ​​the vehicle body 3 about material replenishment. Specifically, this can be achieved by outputting voice messages or tones containing information such as the decrease in material reserves, replenishment location, or the behavior of the vehicle body 3 and the work device 2 in material replenishment mode via the speaker or buzzer included in the alarm unit 63, or by illuminating, extinguishing, or flashing the warning lights included in the alarm unit 63. Other notifications displayed on the display operation unit 52, as described later, can also be executed by the alarm unit 63.

[0206] In the material supply mode of agricultural machinery 1, the automatic control unit 61, as follows: Figure 20B If the vehicle body 3 is stopped at the resupply position Pz as shown, the control unit 51 of the agricultural operation support device 50 displays the information via the display operation unit 52. Figure 18 The material information input screen D9 is shown. After the user replenishes materials to the work device 2 at the replenishment position Pz, they input the amount of material input, the amount of material consumed per unit, and the remaining amount to enter the material replenishment mode on the material information input screen D9, and then select the forward key B9. The control unit 51 then displays the driving control screen D8 on the display operation unit 52 again. In addition, in the above steps, the remaining amount calculation unit 51e calculates the remaining material amount (theoretical remaining amount and material remaining amount), the replenishment setting unit 51f sets the lowering position Pe, the replenishment position Pz, etc., and the notification unit 51g sets the notification positions Pa, Pb, and Pc.

[0207] Additionally, for example, the user can use mode switch 65 ( Figure 1 The automatic control unit 61 performs the prescribed operation to restart the automatic driving operation mode. Therefore, based on... Figure 19 , Figure 20A Based on the positions of the driving route L1 and the vehicle body 3 shown, the automatic control unit 61 moves the vehicle body 3 to the starting point Pd of the next straight route L1a using automatic driving, and resumes the automatic driving operation mode. That is, based on the positions of the driving route L1 and the vehicle body 3, the automatic control unit 61 moves the vehicle body 3 using automatic driving while using the work device 2 to perform ground operations (operation resumes).

[0208] In the above embodiment, an example is shown where parameters for calculating the remaining material quantity (material input amount, material unit consumption, and remaining quantity for entering material replenishment mode) are input into the material information input screen D9 displayed on the display operation unit 52 of the agricultural operation support device 50, but this is not a limitation. For example, an input unit for inputting the above parameters may be provided on the operation device 2, and the control unit 51 of the agricultural operation support device 50 may obtain the parameters input by the input unit from the operation device 2 via the vehicle network N1 using the communication unit 54. Alternatively, for example, the remaining quantity for entering material replenishment mode (a threshold for setting the position related to material replenishment) may be set to a preset fixed value, and this fixed value may be stored in the storage unit 53 in advance. The control unit 51 and the replenishment setting unit 51f may read it from the storage unit 53 as needed.

[0209] Furthermore, in the above-described embodiment, an example is shown where, before executing the automatic driving operation mode or during a temporary stop (material replenishment), the display operation unit 52 inputs the material input amount, material unit consumption amount, and remaining amount for entering the material replenishment mode. In this case, the remaining amount calculation unit 51e calculates the remaining material amount (theoretical remaining amount and material remaining amount), the replenishment setting unit 51f sets the replenishment position Pz, and the notification unit 51g sets the notification positions Pa, Pb, and Pc. Alternatively, for example, during the execution of the automatic driving operation mode, the remaining amount calculation unit 51e may calculate the remaining material amount at a predetermined cycle based on the material input amount, material unit consumption amount, and the status of the driving vehicle 3 and the working device 2. Alternatively, each time the remaining amount calculation unit 51e calculates the remaining material amount, the replenishment setting unit 51f resets the replenishment position Pz, etc., and the notification unit 51g resets the notification positions Pa, Pb, and Pc.

[0210] Furthermore, in the above-described embodiments, examples of materials used when the working device 2 performs ground operations and replenished at the replenishment location Pz include fertilizers, pesticides, seedlings, and seeds supplied to the field. However, in addition to these, materials such as fuel and electricity used to drive the prime mover 4 of the agricultural machinery 1 can also be replenished at the replenishment location Pz. In other words, the materials replenished to the agricultural machinery 1 are only the amount of vehicle load required and reduced when performing ground operations using the working device 2 while the vehicle body 3 is moving.

[0211] <Effects of this implementation method>

[0212] The agricultural operation support system 100, agricultural operation support device 50, and agricultural machinery 1 described above have the following effects.

[0213] <Effects related to the display of the work trajectory>

[0214] The agricultural operation support device 50 of this embodiment includes: a route creation unit 51c, which creates a travel route L1 for the agricultural machinery 1 to travel on a registered field (field map) MP2; and a display unit (display operation unit) 52, which displays either the predicted work portion (predicted work trajectory) J1 during which the agricultural machinery 1 travels along the travel route L1 and uses the work device 2 connected to the agricultural machinery 1 for agricultural operations, or the predicted unworked portion V1 during which the work device 2 is not used for agricultural operations. With this configuration, before agricultural operations are performed in the field using the agricultural machinery 1, the predicted work portion J1 or unworked portion V1 is displayed by the display unit 52 and becomes visually confirmable, thus improving the convenience and efficiency of the agricultural operations.

[0215] Furthermore, in this embodiment, the display unit 52 displays either the operational portion J1, which is predicted to be the part of the agricultural machinery 1 that is operating under automatic driving while traveling along the travel route L1 and utilizing the working device 2, or the non-operational portion V1, which is predicted not to be the part of the agricultural machinery 1 that is operating under automatic driving and utilizing the working device 2. Thus, before operating the agricultural machinery 1 under automatic driving and utilizing the working device 2 in the field, the predicted operational portion J1 or non-operational portion V1 under automatic driving is displayed by the display unit 52 and can be visually confirmed, thereby improving the convenience and efficiency of the agricultural work.

[0216] Furthermore, in this embodiment, the display unit 52 displays the predicted work area J1 and the predicted unworked area V1 in different display modes. Therefore, before using agricultural machinery 1 to perform agricultural operations in the field, the predicted work area J1 and unworked area V1 can be visually confirmed and easily distinguished, thus further improving the convenience and efficiency of the agricultural operation.

[0217] Furthermore, in this embodiment, the display unit 52 displays the actual working portion (actual working trajectory) J2 where agricultural machinery 1 is performing agricultural work using the working device 2 while traveling along the travel path L1, or the actual unworked portion V2 where agricultural work is not performed using the working device 2. Therefore, when agricultural machinery 1 is performing agricultural work in the field, and after the work is performed, the actual working portion J2 or the actual unworked portion V2 can be visually confirmed by displaying it on the display unit 52, thus further improving convenience and efficiency of agricultural work.

[0218] Furthermore, in this embodiment, the display unit 52 displays the actual working portion J2 of the agricultural machinery 1 operating under automatic driving based on the travel route L1, or the actual unoperated portion V2 of the agricultural machinery 1 not operating under the operating device 2. Thus, when the agricultural machinery 1 is operating under automatic driving while operating the operating device 2 in the field, the actual working portion J2 or the actual unoperated portion V2 under automatic driving is displayed by the display unit 52 after the operation is completed, making it visually identifiable and further improving convenience and operational efficiency.

[0219] Furthermore, in this embodiment, the display unit 52 displays the actual working portion J2 and the actual unworking portion V2 in different display modes. Therefore, when agricultural machinery 1 is used for agricultural operations in the field, and after agricultural machinery 1 has been used for agricultural operations, the actual working portion J2 and the actual unworking portion V2 can be visually confirmed and easily distinguished, thus further improving convenience and operational efficiency.

[0220] Furthermore, in this embodiment, the agricultural operation support device 50 includes a trajectory calculation unit 51d that calculates the predicted operation trajectory of the operating device 2 based on the working width of the operating device 2 and the travel route L1, resulting in the predicted operation portion J1. The display unit 52 displays the predicted operation trajectory J1 together with the field MP2 and the travel route L1. Therefore, the predicted operation trajectory J1 for agricultural operations using the operating device 2 can be visually confirmed together with the field MP2 and the travel route L1, further improving the convenience and efficiency of agricultural operations using the agricultural machinery 1.

[0221] In addition, in this embodiment, the agricultural operation support device 50 includes: an input unit (display operation unit) 52, which inputs the overlap amount of the operation width of the operation device 2 or the number of furrows E2a, E2b, and E2c set along the outline H1 of the field MP2 inside the field MP2; and a region setting unit 51b, which sets a first region (furrow region) E1 including furrows E2a, E2b, and E2c and a second region (central region) C1 located inside the first region E1 based on the operation width, overlap amount, or number of furrows; a route making unit 51c makes a driving route L1 in the first region E1 and the second region C1; and a trajectory calculation unit 51d calculates and predicts the operation trajectory J1 based at least on the driving route (straight route) L1a made in the second region C1.

[0222] Based on the above configuration, the predicted work trajectory J1 calculated based on the travel route (straight route) L1a created in the second region C1 can be visually confirmed, thus further improving the convenience and efficiency of agricultural machinery 1 in carrying out agricultural operations in the second region C1. Furthermore, the predicted work trajectory J1 calculated based on the travel route (circular route) L1c created in the first region E1 is displayed on the display unit 52 and can be visually confirmed, further improving the convenience and efficiency of agricultural machinery 1 in carrying out agricultural operations in the first region E1.

[0223] Furthermore, in this embodiment, the driving route L1, the predicted work trajectory J1, and the display on the display unit 52 are updated according to changes in the input content of the input unit 52. As a result, the changes in the driving route L1 and the predicted work trajectory J1 can be visually confirmed by re-inputting the working width, overlap, or number of furrows of the working device 2 using the input unit 52, which further improves the convenience and efficiency of agricultural machinery 1 in agricultural operations.

[0224] Furthermore, in this embodiment, the trajectory calculation unit 51d calculates the actual working trajectory J2 based on the position and working width of the agricultural machinery 1 while it is traveling along the travel path L1 and performing agricultural operations using the working device 2. The display unit 52 displays the position of the agricultural machinery 1 and the actual working trajectory J2 together with the field MP2 and the travel path L1. Therefore, when and after agricultural operations are performed using the agricultural machinery 1 in the field, the actual working trajectory J2 is displayed by the display unit 52 and can be visually confirmed, improving convenience and efficiency of agricultural operations.

[0225] Furthermore, in this embodiment, a storage unit 53 is provided that stores multiple predicted operation trajectories J1 and actual operation trajectories J2, and a display unit 52 displays two or more of the predicted operation trajectories J1 and actual operation trajectories J2 stored in the storage unit 53 in different ways. Therefore, when agricultural machinery 1 is used for agricultural operations in the field, the multiple predicted operation trajectories J1 and multiple actual operation trajectories J2 are displayed on the display unit 52 and can be easily visually confirmed, thus further improving convenience and operational efficiency.

[0226] Furthermore, the agricultural operation support system 100 of this embodiment includes an agricultural operation support device 50 and an agricultural machine 1 capable of movement and connection to an operation device 2 for performing agricultural operations. According to this configuration, before agricultural operations are performed in the field using the agricultural machine 1, the predicted work area J1 or unworked area V1 is displayed on the display unit 52 of the agricultural operation support device 50 and can be visually confirmed. Additionally, during and after agricultural operations are performed using the agricultural machine 1 in the field, the actual work trajectory J2 or the actual unworked area V2 is displayed on the display unit 52 and can be visually confirmed. Therefore, the convenience and efficiency of agricultural operations using the agricultural machine 1 in the field can be improved.

[0227] In addition, in this embodiment, the agricultural operation support system 100 includes a position detection unit (positioning device) 40 that detects the position of the agricultural machinery 1, and an automatic control unit 61 that executes an automatic driving operation mode in which the agricultural machinery 1 drives automatically and performs agricultural operations using the operation device 2 connected to the agricultural machinery 1. The agricultural operation support device 50, the position detection unit 40 and the automatic control unit 61 are equipped on the agricultural machinery 1. The automatic control unit 61 executes the automatic driving operation mode based on the driving line L1 made by the line making unit 51c provided by the agricultural operation support device 50 and the position of the agricultural machinery 1 detected by the position detection unit 40.

[0228] Based on the above configuration, before agricultural machinery 1 performs agricultural operations in the field using the automatic driving mode, the working portion J1 and the unworked portion V1, which are predicted to be performed by the agricultural machinery 1 using the working device 2 while driving in automatic mode, are displayed on the display unit 52 of the agricultural operation support device 50 and can be visually confirmed. Furthermore, during and after agricultural machinery 1 performs agricultural operations in the field using the automatic driving mode, the field (field map) MP2, the driving route L1, the position of agricultural machinery 1, the actual working trajectory J2 under automatic driving mode, or the actual unworked portion V2 are displayed on the display unit 52 and can be visually confirmed. Therefore, the convenience and efficiency of agricultural machinery 1 in the field can be further improved.

[0229] Furthermore, the agricultural machinery 1 of this embodiment includes an agricultural operation support device 50, a traveling body 3, connecting parts 8g and 8h for connecting the operation device 2 used for agricultural operations to the traveling body 3, and a position detection unit 40 for detecting the position of the traveling body 3. Thus, before agricultural operations are performed in the field using the agricultural machinery 1, the predicted work area J1 and unworked area V1 are displayed on the display unit 52 of the agricultural operation support device 50 and can be visually confirmed. Additionally, during and after agricultural operations are performed using the agricultural machinery 1 in the field, the actual work trajectory J2 and the actual unworked area V2 are displayed on the display unit 52 and can be visually confirmed. Therefore, the convenience and efficiency of agricultural operations using the agricultural machinery 1 in the field can be improved.

[0230] Furthermore, in this embodiment, the agricultural machinery 1 has an automatic control unit 61 that performs agricultural operations using the working device 2 while driving the vehicle body 3 via automatic driving. Therefore, before the agricultural machinery 1 executes the automatic driving operation mode in the field, the predicted working portion J1 or the unworked portion V1 is displayed on the display unit 52 of the agricultural operation support device 50 and can be visually confirmed. Additionally, during and after agricultural operations performed by the agricultural machinery 1 in the field using the automatic driving operation mode, the field MP2, the driving route L1, the position of the agricultural machinery 1, the actual working trajectory J2 under automatic driving, or the actual unworked portion V2 are displayed on the display unit 52 and can be visually confirmed. Therefore, the convenience and efficiency of agricultural operations performed in the field using the automatic driving operation mode of the agricultural machinery 1 can be improved.

[0231] <Effects related to resource replenishment notifications>

[0232] The agricultural machinery 1 of this embodiment includes: a mobile vehicle body 3 capable of movement; connection parts 8g and 8h for connecting a work device 2 used for agricultural operations to the mobile vehicle body 3; a line-making unit 51c for creating a travel path L1 that enables the mobile vehicle body 3 to move via automatic driving; a supply setting unit 51f for setting a supply position Pz at a location deviating from the travel path L1 for supplying materials used by the work device 2 during agricultural operations; a position detection unit (positioning device) 40 for detecting the position of the mobile vehicle body 3; an automatic control unit 61 for enabling the mobile vehicle body 3 to move via automatic driving based on the position of the mobile vehicle body 3 and the travel path L1, and for moving the mobile vehicle body 3 to the supply position Pz; and a notification unit 51g for notifying the mobile vehicle body 3 of its orientation toward the supply position Pz when the automatic control unit 61 enables the mobile vehicle body 3 to move via automatic driving.

[0233] Based on the above configuration, when the vehicle body 3 of the agricultural machinery 1 is driven by automatic driving, the vehicle body 3 is notified in advance of its orientation toward the replenishment position Pz. Therefore, when the vehicle body 3 is toward the replenishment position Pz, the user observing the behavior of the vehicle body 3 can be prevented from mistakenly perceiving a danger. Thus, it is also possible to prevent the user from causing the agricultural machinery 1 to stop abruptly due to such a misperception, enabling efficient material replenishment within the agricultural machinery 1. Furthermore, as a result, the operational efficiency of agricultural operations performed using the agricultural machinery 1 can be improved.

[0234] Furthermore, in this embodiment, the notification unit 51g notifies the vehicle body 3 of its orientation toward the replenishment position Pz multiple times at predetermined intervals before the vehicle body 3 is oriented toward the replenishment position Pz. According to this configuration, when the vehicle body 3 of the agricultural machinery 1, which is operating under automatic driving, is oriented toward the replenishment position Pz, it is possible to further suppress situations where the user mistakenly perceives danger and causes the agricultural machinery 1 to stop abruptly due to such a mistake.

[0235] In addition, in this embodiment, the automatic control unit 61 executes an automatic driving operation mode in which the vehicle body 3 is driven by automatic driving while the working device 2 is used to carry out agricultural operations. In the execution of the automatic driving operation mode, if the vehicle body 3 reaches a predetermined position Pd on the driving line L1 before the replenishment position Pz, a material replenishment mode is executed to move the vehicle body 3 to the replenishment position Pz by automatic driving. In the execution of the automatic driving operation mode, the notification unit 51g notifies the vehicle body 3 of its direction toward the replenishment position Pz multiple times at predetermined intervals based on the position of the vehicle body 3 and the replenishment position Pz.

[0236] Based on the above configuration, in the execution of the automatic driving operation mode of agricultural machinery 1, a material replenishment mode is executed, which moves the vehicle body 3 to the replenishment position Pz via automatic driving. Therefore, material replenishment can be performed more efficiently in agricultural machinery 1. In addition, in the execution of the automatic driving operation mode, the vehicle body 3 is notified in advance when it is heading towards the replenishment position Pz. Therefore, when the vehicle body 3 is heading towards the replenishment position Pz, the possibility of the user mistakenly believing it to be dangerous and causing the agricultural machinery 1 to stop abruptly due to such a mistake can be further reduced.

[0237] Furthermore, in this embodiment, the notification unit 51g notifies the user of information regarding the reduction of remaining material, the replenishment location Pz, or the behavior of the vehicle body 3 or the working device 2 during material replenishment mode. According to this configuration, when the vehicle body 3 of the agricultural machinery 1 is driven automatically while the working device 2 is used for agricultural operations, and before the vehicle body 3 approaches the replenishment location Pz, the user can identify the need for material replenishment, the replenishment location Pz, the replenishment timing, or the behavior of the vehicle body 3 and the working device 2 used for replenishment. Therefore, when the vehicle body 3 approaches the replenishment location Pz, the user's misperception of danger and the resulting emergency stop of the agricultural machinery 1 can be further suppressed. Additionally, materials can be prepared in advance at the replenishment location Pz, enabling more efficient material replenishment within the agricultural machinery 1.

[0238] In addition, in this embodiment, the travel route L1 includes multiple work routes L1a and L1c (straight route L1a and loop route L1c) that allow the travel vehicle 3 to travel while performing agricultural operations using the work device 2, and multiple turning routes L1b that allow the travel vehicle to turn from one of the work routes L1a and L1c to the other. The notification unit 51g notifies the travel vehicle 3 to head toward the supply position Pz when the travel vehicle 3 is traveling on the work routes L1a and L1c or the turning route L1b before it is heading toward the supply position Pz.

[0239] Based on the above configuration, compared to an agricultural machine 1 operating via automatic driving, when its vehicle body 3 is approaching the supply position Pz, the notification unit 51g is given a certain amount of time beforehand. Therefore, when the vehicle body 3 is approaching the supply position Pz, the possibility of the user mistakenly perceiving a danger and causing the agricultural machine 1 to stop abruptly due to this misperception can be further reduced. Furthermore, by issuing multiple notifications from the notification unit 51g at intervals along the work route L1a, L1c, and turning route L1b prior to the vehicle body 3 approaching the supply position Pz, the aforementioned user misperception and emergency stop of the agricultural machine 1 can be further reduced.

[0240] In addition, in this embodiment, the agricultural machinery 1 has a surplus calculation unit 51e that calculates the surplus of materials based on the amount of materials input into the working device 2 and the amount of materials consumed in the agricultural operations performed by the working device 2. The replenishment setting unit 51f predicts a lowering position Pe when the surplus of materials is lower than a predetermined threshold (surplus for entering the material replenishment mode) because the working device 2 is used to perform agricultural operations while the vehicle body 3 is moving. The replenishment position Pz is set on a line L4 that extends the working line (straight line) L1a containing the lowering position Pe to the side opposite to the direction of travel. The notification unit 51g sets notification positions Pa, Pb, and Pc on other working lines (straight lines) L1a before the working line L1a of one side. When the vehicle body 3 passes the notification positions Pa, Pb, and Pc, the vehicle body 3 is notified that it is heading toward the replenishment position Pz.

[0241] Based on the above configuration, before the agricultural machinery 1's vehicle body 3 is driven by automatic driving on one of the work routes L1a where the remaining material content is below a threshold and before agricultural operations are performed using the work device 2, the vehicle body 3 can be driven by automatic driving to the replenishment position Pz for efficient material replenishment. Furthermore, when the vehicle body 3 is driven by automatic driving on other work routes L1a preceding this work route L1a, it is notified to move towards the replenishment position Pz. Therefore, when the vehicle body 3 is moving towards the replenishment position Pz, the possibility of the user mistakenly perceiving danger and causing the agricultural machinery 1 to stop abruptly due to such misperception can be further reduced.

[0242] In this embodiment, the agricultural machinery 1 includes an input unit (display and operation unit) 52 for inputting the amount of material input and the amount of material consumed per unit area. Before or during automatic driving of the vehicle body 3, the remaining material calculation unit 51e calculates the remaining material based on the amount of material input, the amount of material consumed per unit area, and the state of the vehicle body 3 and the working device 2. The replenishment setting unit 51f sets the replenishment position Pz based on the remaining material, and the notification unit 51g sets the notification positions Pa, Pb, and Pc based on the replenishment position Pz. With this configuration, the remaining material can be accurately calculated, and the replenishment position Pz and the notification positions Pa, Pb, and Pc can be appropriately set.

[0243] Furthermore, in this embodiment, the agricultural machinery 1 includes a threshold changing unit (display operation unit) 52 that changes the threshold (the remaining amount before entering the material replenishment mode). Thus, in the agricultural machinery 1, the notification positions Pa, Pb, and Pc that indicate the timing of entering the material replenishment mode, the material replenishment position Pz, and the direction of the vehicle body 3 toward the replenishment position Pz can be changed.

[0244] Furthermore, in this embodiment, the agricultural machinery 1 includes a display unit 5 (display operation unit) 52 that displays the notification from the notification unit 51g on a screen. Thus, the user can easily and in advance identify the direction of the vehicle body 3 toward the resupply location Pz by observing the notification displayed by the display unit 52.

[0245] Furthermore, in this embodiment, the agricultural machinery 1 includes an alarm unit 63 that emits an audible or visual alarm based on the notification from the notification unit 51g. This allows users located around the vehicle body 3 to easily and in advance identify when the vehicle body 3 is approaching the resupply location Pz.

[0246] Furthermore, the agricultural operation support device 50 of this embodiment is an agricultural operation support device mounted on agricultural machinery 1, and includes: a line making unit 51c that makes a travel path L1 for the vehicle body 3 of agricultural machinery 1 to travel in automatic driving mode; a supply setting unit 51f that sets a supply position Pz at a position deviating from the travel path L1 for supplying materials used by the operation device 2 connected to the vehicle body 3 during agricultural operations; and a notification unit 51g that, based on the position of the vehicle body 3 and the travel path L1 detected by the position detection unit 40, notifies the vehicle body 3 of the situation that it is heading toward the supply position Pz when the agricultural machinery 1 makes the vehicle body 3 travel in automatic driving mode.

[0247] According to the above configuration, when the vehicle body 3 of the agricultural machinery 1 is traveling via automatic driving, the notification unit 51g of the agricultural operation support device 50 notifies the user in advance when the vehicle body 3 is approaching the replenishment position Pz. Therefore, when the vehicle body 3 is approaching the replenishment position Pz, it is possible to prevent the user from mistakenly perceiving danger and causing the agricultural machinery 1 to stop abruptly due to such a mistake, thus enabling efficient material replenishment within the agricultural machinery 1. Furthermore, as a result, the operational efficiency of agricultural operations performed using the agricultural machinery 1 can be improved.

[0248] In addition, in this embodiment, the agricultural operation support device 50 has a balance calculation unit 51e for calculating the remaining amount of material required for setting the supply position Pz by the supply setting unit 51f, an input unit (display operation unit) 52 for inputting the parameters required for calculating the remaining amount of material by the balance calculation unit 51e, and a display unit (display operation unit) 52 for displaying the driving route L1, the position of the driving vehicle 3, and the notification from the notification unit 51g.

[0249] Based on the above configuration, the user can input the parameters required for calculating the remaining material quantity through the input unit 52 of the agricultural operation support device 50, and visually confirm the advance notification of the vehicle body 3 heading towards the replenishment position Pz using the display unit 52, thereby improving convenience. Furthermore, this further reduces the likelihood of the user mistakenly perceiving danger and causing the agricultural machinery 1 to stop abruptly due to such misperception when the vehicle body 3 is heading towards the replenishment position Pz, enabling more efficient material replenishment within the agricultural machinery 1.

[0250] Furthermore, the agricultural operation support system 100 of this embodiment includes an agricultural machine 1 and an agricultural operation support device 50 mounted on the agricultural machine 1. The agricultural operation support device 50 includes: a line-making unit 51c for creating a travel path L1 that enables the vehicle body 3 of the agricultural machine 1 to travel in automatic mode; a supply setting unit 51f for setting a supply position Pz at a location deviating from the travel path L1 for supplying materials used by the operation device 2 connected to the vehicle body 3 during agricultural operations; a communication unit 54 for communicating with the automatic control unit 61 and the position detection unit 40 of the agricultural machine 1; and a notification unit 51g for notifying the vehicle body 3 to move toward the supply position Pz when the automatic control unit 61 enables the vehicle body 3 to travel in automatic mode based on the position of the vehicle body 3 detected by the position detection unit 40 and the travel path L1.

[0251] According to the above configuration, when the automatic control unit 61 of the agricultural machinery 1 drives the vehicle body 3 in automatic mode, the notification unit 51g of the agricultural operation support device 50 notifies the vehicle body 3 in advance of its orientation toward the replenishment position Pz. Therefore, when the vehicle body 3 is toward the replenishment position Pz, the possibility of the user mistakenly perceiving danger and causing the agricultural machinery 1 to stop abruptly due to such a mistake can be further reduced, and material replenishment can be carried out more efficiently in the agricultural machinery 1. In addition, the notification unit 51g of the agricultural operation support device 50 can notify the vehicle body 3 in advance of its orientation toward the replenishment position Pz based on the position of the vehicle body 3 detected by the position detection unit 40. Moreover, the automatic control unit 61 of the agricultural machinery 1 can obtain the driving route L1 and the replenishment position Pz set by the agricultural operation support device 50, and based on these, drive the vehicle body 3 in automatic mode while performing agricultural operations using the operation device 2, or drive the vehicle body 3 in automatic mode to the replenishment position Pz, thereby further improving the efficiency of agricultural operations and material replenishment.

[0252] While the present invention has been described above, it should be considered that the embodiments disclosed herein are illustrative rather than restrictive in all respects. The scope of the invention is defined by the claims and not by the foregoing description, and is intended to include all modifications equivalent to and within the scope of the claims.

[0253] Explanation of reference numerals in the attached figures

[0254] 1: Agricultural machinery

[0255] 2: Working device

[0256] 3: Driving vehicle body

[0257] 8g, 8h: Connecting parts

[0258] 40: Positioning device (position detection unit)

[0259] 50: Agricultural Operation Support Device

[0260] 51c: Circuit Production Department

[0261] 51e: Balance Calculation Department

[0262] 51f: Supply Setting Department

[0263] 51g: Notification Department

[0264] 52: Display Operation Unit (Display Unit, Input Unit, Threshold Change Unit)

[0265] 54: Ministry of Communications

[0266] 61: Automatic Control Department

[0267] 63: Alarm Department

[0268] 100: Agricultural Operation Support System

[0269] L1: Driving route

[0270] L1a: Straight-through route (operational route)

[0271] L1b: Turning Line

[0272] L1c: Circular route (operational route)

[0273] L4: Extension line

[0274] Pa, Pb, Pc: Notification location

[0275] Pd: Connection point (specified location)

[0276] Pe: Lower position

[0277] Pv: Position of the vehicle body

[0278] Pz: Supply location

[0279] U1, U2, U3: Notification

[0280] X2: Agricultural machinery markings (location of the vehicle body)

Claims

1. An agricultural machine characterized by, Possessing: a travel vehicle body that is capable of traveling; a connection portion that is capable of connecting a work device for performing agricultural work to the travel vehicle body; a route creation portion that creates a travel route for causing the travel vehicle body to travel by automatic driving; a supply setting portion that sets a supply position for supplying a material used by the work device during agricultural work at a position deviating from the travel route; a position detection portion that detects the position of the travel vehicle body; an automatic control portion that causes the travel vehicle body to travel by automatic driving based on the position of the travel vehicle body and the travel route, and moves the travel vehicle body to the supply position; and a notification portion that notifies the travel vehicle body of the situation of heading toward the supply position when the automatic control portion causes the travel vehicle body to travel by automatic driving; the travel route includes a plurality of work routes for causing the travel vehicle body to travel while performing agricultural work using the work device, and a plurality of turn routes for causing the travel vehicle body to turn from one of the work routes toward another, the notification portion notifies the travel vehicle body of the situation of heading toward the supply position when the travel vehicle body travels based on the work route or the turn route before heading toward the supply position, possessing a margin calculation portion that calculates the margin of the material based on the amount of the material supplied to the work device and the amount of the material consumed in the agricultural work performed by the work device, the supply setting portion predicts a decrease position at which the margin of the material decreases below a prescribed threshold value due to the travel vehicle body traveling while performing agricultural work using the work device, sets the supply position on a route in which the work route including one of the decrease position is extended to the opposite side of the travel direction, the notification portion sets a notification position on another of the work routes on which the travel vehicle body travels before the one of the work routes, and notifies the travel vehicle body of the situation of heading toward the supply position when the travel vehicle body passes the notification position, the work route on which the notification positions Pa, Pb, and Pc are set does not include the decrease position Pe.

2. The agricultural machine according to claim 1, wherein the notification portion notifies the travel vehicle body of the situation of heading toward the supply position a plurality of times at prescribed intervals before the travel vehicle body heads toward the supply position.

3. The agricultural machine according to claim 1 or 2, wherein the automatic control portion executes an automatic travel work mode for causing the travel vehicle body to travel by automatic driving while performing agricultural work using the work device based on the position of the travel vehicle body and the travel route, in the execution of the automatic travel work mode, if the travel vehicle body reaches a prescribed position on the travel route located immediately before the supply position, a material supply mode for causing the travel vehicle body to move to the supply position by automatic driving is executed, the notification portion notifies the travel vehicle body of the situation of heading toward the supply position based on the position of the travel vehicle body and the supply position in the execution of the automatic travel work mode. ​ 4. The agricultural machine according to claim 1 or 2, wherein the notification unit notifies information indicating a decrease in the amount of the material, the replenishment position, or behavior of the traveling body or the work device in the material replenishment mode.

5. The agricultural machine according to claim 1 or 2, wherein an input unit that inputs an amount of the material to be input and a consumption amount of the material per unit area, before or while the traveling body travels based on automatic driving, the amount-of-material calculation unit calculates the amount of the material based on the amount of the material to be input, the consumption amount of the material per unit area, and states of the traveling body and the work device, the replenishment position setting unit sets the replenishment position based on the amount of the material, the notification unit sets the notification position based on the replenishment position.

6. The agricultural machine according to claim 1 or 2, wherein a threshold value changing unit that changes the threshold value.

7. The agricultural machine according to claim 1 or 2, wherein a display unit that displays the notification of the notification unit on a screen.

8. The agricultural machine according to claim 1 or 2, wherein an alarm unit that issues an alarm based on sound or light indicating the notification of the notification unit.

9. An agricultural work support device characterized by comprising: having: a travel line creating unit that creates a travel line in which a traveling body of an agricultural machine travels based on automatic driving; a replenishment position setting unit that sets a replenishment position at which a material used by a work device connected to the traveling body during agricultural work is replenished, at a position deviating from the travel line; and a notification unit that, based on a position of the traveling body detected by a position detecting unit and the travel line, notifies that the traveling body is heading toward the replenishment position when the agricultural machine causes the traveling body to travel based on automatic driving; the travel line including a plurality of work lines in which the traveling body travels while the work device performs agricultural work and a plurality of turn lines in which the traveling body turns from one of the work lines toward another, the notification unit notifying that the traveling body is heading toward the replenishment position when the traveling body travels based on the work line or the turn line before heading toward the replenishment position, a remaining amount calculation unit that calculates an amount of the material based on an amount of the material input to the work device and a consumption amount of the material consumed in agricultural work performed by the work device, the replenishment position setting unit predicting a decrease position at which the amount of the material decreases below a prescribed threshold value due to the work device performing agricultural work while the traveling body travels, setting the replenishment position on a line in which one of the work lines including the decrease position is extended to the side opposite to the traveling direction, the notification unit setting a notification position on another of the work lines on which the traveling body travels before the one of the work lines, notifying that the traveling body is heading toward the replenishment position when the traveling body passes the notification position, The lowering position is not included in the work line in which the notification position is set.

10. The work support apparatus according to claim 9, characterized by, has: a surplus amount calculation section that calculates a surplus amount of the material required for the replenishment setting section to set the replenishment position; an input section that inputs a parameter required for the surplus amount calculation section to calculate the surplus amount of the material; and a display section that displays the travel line, the position of the travel vehicle body, and a notification by the notification section.

11. An agricultural work support system characterized by comprising: includes: a line creation section that creates a travel line in which a travel vehicle body of an agricultural machine travels by automatic driving; a replenishment setting section that sets a replenishment position at which a material used by a work device coupled to the travel vehicle body during agricultural work is replenished, at a position deviating from the travel line; a position detection section that detects a position of the travel vehicle body; an automatic control section that causes the travel vehicle body to travel by automatic driving based on the position of the travel vehicle body and the travel line, and moves the travel vehicle body to the replenishment position; and a notification section that notifies that the travel vehicle body is heading toward the replenishment position when the automatic control section causes the travel vehicle body to travel by automatic driving based on the position of the travel vehicle body and the travel line detected by the position detection section, the travel line includes a plurality of work lines in which the travel vehicle body travels while performing agricultural work using the work device, and a plurality of turn lines in which the travel vehicle body turns from one of the work lines toward another of the work lines, the notification section notifies that the travel vehicle body is heading toward the replenishment position when the travel vehicle body travels based on the work line or the turn line before heading toward the replenishment position, has a surplus amount calculation section that calculates a surplus amount of the material based on an amount of the material fed to the work device and an amount of the material consumed in the agricultural work performed by the work device, the replenishment setting section predicts a lowering position at which the surplus amount of the material becomes lower than a predetermined threshold value due to the agricultural work performed by the travel vehicle body while traveling, sets the replenishment position on a line in which one of the work lines is extended to the side opposite to the traveling direction, and the notification section sets a notification position on another of the work lines on which the travel vehicle body travels before the one of the work lines, and notifies that the travel vehicle body is heading toward the replenishment position when the travel vehicle body passes the notification position. The lowering position is not included in the work line in which the notification position is set. includes:

12. The work support system according to claim 11, characterized by, the agricultural machine; and an agricultural work support device mounted on the agricultural machine, the agricultural machine has the position detection section and the automatic control section, the agricultural work support device has the line creation section, the replenishment setting section, the notification section, and a communication section that communicates with the automatic control section and the position detection section. ​

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