Agricultural work assistance system, agricultural work assistance device, agricultural machine

Abstract

This invention can reduce the burden on the driver of agricultural machinery and improve the efficiency of agricultural operations. The agricultural operation assistance system (100) includes: a display unit (52) capable of displaying a map (MP1, MP2) representing farmland; a region setting unit (51b) that sets a first region (E1) and a second region (C1) located inside the first region (E1) in the map (MP1, MP2) displayed by the display unit (52); and a route generation unit (51c) that generates a travel route (L1, L2) for the agricultural machinery (1) to travel in at least one of the first region (E1) and the second region (C1), wherein the route generation unit (51c) is capable of setting at least a portion (L1a, L2a, L1s, L2s, L2c) of the travel route (L1, L2) as an automatic steering route that automatically steers the agricultural machinery (1) and allows changes in the travel speed of the agricultural machinery (1) to be manually operated.

Description

Technical Field

[0001] This invention relates to a technology that assists agricultural machinery in carrying out agricultural operations while moving through farmland. Background Technology

[0002] Patent Document 1 discloses a technique for assisting agricultural machinery in performing agricultural operations while driving it automatically in a field using a work device connected to the machinery. The agricultural machinery disclosed in Patent Document 1 includes an acquisition unit, an operation setting unit, and a display device. The acquisition unit acquires position data of the outer perimeter of the field. Based on this position data, the operation setting unit sets field ridge edge lines, operation start and end lines, and field end turning lines, and sets operation travel lines in the central part of the field enclosed by the operation start and end lines and the field end turning lines. These lines are displayed on the display device. The agricultural machinery performs agricultural operations in the central part of the field while driving automatically based on the operation travel lines and using the work device. Then, the agricultural machinery performs agricultural operations in the field end turning areas located around the central part while driving automatically based on the field ridge edge lines, operation start and end lines, and field end turning lines and using the work device.

[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 aims to solve

[0007] For example, factors such as the flatness, barrenness, or outline of farmland can sometimes make it difficult for agricultural machinery to operate in automatic mode, leading to reduced efficiency in agricultural operations using attachments connected to the machinery. Furthermore, in such cases, if the operator disengages from automatic mode and manually drives the machinery, the operator's workload increases, further reducing the efficiency of agricultural operations.

[0008] Therefore, in view of the above problems, the object of the present invention is to reduce the burden on the driver of agricultural machinery and improve the efficiency of agricultural operations.

[0009] Technical solutions to the problem

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

[0011] An agricultural operation assistance system according to one aspect of the present invention includes: a display unit capable of displaying a map representing farmland; a region setting unit that sets a first region and a second region located inside the first region in the map displayed on the display unit; and a route generation unit that generates a travel route for agricultural machinery to travel in at least one of the first region and the second region, the route generation unit being capable of setting at least a portion of the travel route as an automatic steering route for automatically steering the agricultural machinery and allowing changes in the travel speed of the agricultural machinery to be manually operated.

[0012] In another aspect of the invention, the route generation unit can set at least a portion of the driving routes generated in the first and second regions as an automatic steering route or an automatic driving route that automatically changes the steering and driving speed of agricultural machinery.

[0013] In another embodiment of the present invention, the agricultural operation assistance system has a route changing unit capable of changing an automatic driving route to an automatic steering route and vice versa.

[0014] In another embodiment of the present invention, the route change unit can change the automatic driving route or automatic steering route to a manual driving route in which the steering and speed changes of the agricultural machinery are manually operated, and can also change the manual driving route to an automatic driving route or automatic steering route.

[0015] In another embodiment of the invention, the display unit displays the automatic steering route and the automatic driving route on the screen in different ways that are visually recognizable.

[0016] In another embodiment of the invention, the display unit shows the portion of the driving route generated in the first and second regions that can be set as an autopilot route on the screen.

[0017] In another aspect of the invention, when the angle difference between one part and another part of the travel route relative to the direction of travel is greater than a predetermined threshold, the route generation unit sets a turning point between the one part and the other part to change the position and direction of travel of the agricultural machinery. When the angle difference is less than the threshold, the route generation unit connects the one part and the other part and sets it as a series of automatic steering routes.

[0018] In another aspect of the present invention, when the angle difference is below a threshold, the route generation unit generates a new driving route consisting of a first intermediate point on one part and a second intermediate point on the other part, which are connected by a predetermined distance between the connection points of one part and the other part, and deletes the portion from the first intermediate point of one part and the second intermediate point of the other part to the connection point.

[0019] In another embodiment of the invention, the route generation unit generates a straight-line section that enables the agricultural machinery to travel straight as a new travel route.

[0020] In another embodiment of the present invention, the agricultural operation assistance system has a threshold changing unit for changing thresholds.

[0021] In another embodiment of the present invention, when the display unit displays the position of the agricultural machinery detected by the position detection unit on a map and the agricultural machinery is traveling based on a route, if the position of the agricultural machinery is close to a change point, a notification is displayed prompting to change the position and direction of travel of the agricultural machinery.

[0022] In another embodiment of the invention, the agricultural operation assistance system includes a farmland registration unit that registers the outline of the farmland inside the outline of the farmland shown on a map. A region setting unit sets a region enclosed by an outline formed by shifting the outline of the farmland inward as a second region, and sets the area between the second region and the outline of the farmland as a first region. A route generation unit generates a driving route around the second region in the first region based on the working width of the working device connected to the agricultural machinery that is capable of performing ground operations or the outer width of the working device.

[0023] In another embodiment of the present invention, after the area setting unit forms a first outline by shifting the outline of the farmland inward once by a first offset calculated based on the working width of the working device, the outer width of the working device which is larger than the working width, a predetermined overlap amount, or a predetermined movement amount, the first outline is shifted inward once or more by a second offset calculated based on the working width or the overlap amount and which is smaller than the first offset amount to form one or more second outlines, and the area enclosed by the innermost second outline is set as a second region. The route generation unit generates driving routes between the outline of the farmland and the first outline in the first region, between the first outline and the second outline closest to the first outline, and between the second outlines to each other.

[0024] In another embodiment of the invention, the route generation unit generates a travel route that loops around a second region multiple times with different diameters in a first region. The interval between the outermost part of the travel route and the outline of the farmland is set based on the working width of the working device, the outer width of the working device that is larger than the working width, a predetermined overlap, or a predetermined movement. Based on the working width or the overlap, the interval between the outermost part and the innermost part closest to that part, as well as the interval between the inner parts, is set to be narrower than the interval between the outermost part and the outline of the farmland.

[0025] In another embodiment of the present invention, the agricultural operation assistance system includes: a position detection unit for detecting the position of agricultural machinery; and an automatic control unit for automatically steering the agricultural machinery based on its position and an automatic steering route, and for performing agricultural operations on farmland using an operating device connected to the agricultural machinery.

[0026] In another embodiment of the present invention, the route generation unit sets an automatic steering route for a portion of the travel route generated in the first and second regions, and sets an automatic driving route for another portion of the travel route to automatically change the steering and speed of the agricultural machinery. The automatic control unit executes automatic driving based on the position of the agricultural machinery and the automatic driving route to automatically change the steering and speed of the agricultural machinery. When the agricultural machinery travels along the travel route, the automatic control unit automatically switches between automatic steering and automatic driving of the agricultural machinery according to the switching between the interconnected automatic steering route and automatic driving route.

[0027] In another aspect of the invention, when the agricultural machinery is reversed along an autopilot path by changing its position and direction of travel in a manual driving manner, the automatic control unit performs autopilot on the agricultural machinery.

[0028] In another aspect of the present invention, when agricultural machinery and working devices are used to begin agricultural operations on farmland, if an automatic steering route is set based on the initial travel route, the automatic control unit performs automatic steering of the agricultural machinery based on the automatic steering route and begins agricultural operations on the farmland using the working devices.

[0029] In another embodiment of the present invention, the agricultural operation assistance system has a first selection unit for selecting whether to carry out agricultural operations in an automatic steering mode. When the first selection unit selects to carry out agricultural operations in an automatic steering mode, the automatic control unit performs automatic steering of the agricultural machinery based on the position and travel route of the agricultural machinery, and uses the operating device to start agricultural operations on the farmland.

[0030] In another embodiment of the present invention, the agricultural operation assistance system has a second selection unit for selecting whether to perform agricultural operations in an automatic driving mode. When the second selection unit selects to perform agricultural operations in an automatic driving mode, the automatic control unit executes automatic driving of the agricultural machinery based on the location and travel route of the agricultural machinery and uses the operating device to start agricultural operations on the farmland. When the second selection unit selects not to perform agricultural operations in an automatic driving mode, the first selection unit can select automatic steering.

[0031] In another embodiment of the present invention, the agricultural operation assistance system has a third selection unit. When agricultural operations on farmland are resumed after a temporary interruption of the agricultural machinery and operating device, the third selection unit selects whether to resume agricultural operations in an automatic steering mode or in an automatic driving mode that automatically changes the steering and speed of the agricultural machinery. If the third selection unit selects to resume agricultural operations in an automatic steering mode, the automatic control unit executes automatic steering of the agricultural machinery based on the position and travel route of the agricultural machinery and uses the operating device to resume agricultural operations on the farmland. If the third selection unit selects to resume agricultural operations in an automatic driving mode, the automatic control unit executes automatic driving of the agricultural machinery based on the position and travel route of the agricultural machinery and uses the operating device to resume agricultural operations on the farmland.

[0032] In addition, one aspect of the present invention provides an agricultural operation assistance device, which is included in an agricultural operation assistance system. The agricultural operation assistance device includes: a control unit that displays a map representing farmland in a display unit; a region setting unit that sets a first region and a second region located inside the first region in the map displayed on the display unit; and a route generation unit that generates a travel route for agricultural machinery to travel in the first region and the second region. The route generation unit is capable of setting at least a portion of the travel route as an automatic steering route that automatically steers the agricultural machinery and allows changes in the travel speed of the agricultural machinery to be manually operated.

[0033] In another embodiment of the invention, the route generation unit is capable of setting at least a portion of the driving route as an autopilot route or an autopilot route that automatically changes the steering and driving speed of agricultural machinery. The agricultural operation assistance device has a route changing unit that can change the autopilot route to an autopilot route and can change the autopilot route to an autopilot route, and can be mounted in agricultural machinery.

[0034] Furthermore, one aspect of the present invention provides an agricultural machine that performs agricultural operations assisted by an agricultural operation assistance system. The agricultural machine includes: a vehicle body capable of movement; a connecting part that allows a working device to be connected to the vehicle body; a position detection unit that detects the position of the vehicle body; a display unit capable of displaying a map representing farmland; a region setting unit that sets a first region and a second region located inside the first region in the map displayed on the display unit; a route generation unit that generates a travel route for the vehicle body to travel in the first and second regions; and an automatic control unit that performs agricultural operations on the farmland using the working device. The route generation unit is capable of setting at least a portion of the travel route as an automatic steering route, and the automatic control unit automatically steers the vehicle body based on the position of the vehicle body and the automatic steering route.

[0035] Invention Effects

[0036] According to the present invention, the burden on the driver of agricultural machinery can be reduced and the efficiency of agricultural operations can be improved. Attached Figure Description

[0037] Figure 1 This is a structural diagram of an agricultural operation support system.

[0038] Figure 2 It is a 3D diagram of the lifting device.

[0039] Figure 3 This is an example of a main screen showing an agricultural operation auxiliary device.

[0040] Figure 4 This is an example of a farmland login screen showing an agricultural operation assistance device.

[0041] Figure 5A This is a diagram used to illustrate the registration method for farmland.

[0042] Figure 5B This diagram illustrates another method for registering farmland.

[0043] Figure 5C This diagram illustrates another method for registering farmland.

[0044] Figure 6 This is an example of a screen showing the operation selection for an agricultural operation assistance device.

[0045] Figure 7 This is an example of a vehicle setting confirmation screen showing an agricultural operation assistance device.

[0046] Figure 8 This is an example of a farmland selection screen shown by an agricultural operation assistance device.

[0047] Figure 9 This is an example of a screen showing the route generation of an agricultural operation assistance device.

[0048] Figure 10A This is an example of a diagram showing the route generation screen of an agricultural operation assistance device.

[0049] Figure 10B This is an example of a diagram showing the route generation screen of an agricultural operation assistance device.

[0050] Figure 10C This is an example of a diagram showing the route generation screen of an agricultural operation assistance device.

[0051] Figure 11AThis is a diagram used to illustrate how to set up areas and driving routes.

[0052] Figure 11B This is a diagram used to illustrate how to set up areas and driving routes.

[0053] Figure 11C This is a diagram used to illustrate how to set up areas and driving routes.

[0054] Figure 11D This is a diagram used to illustrate how to set up areas and driving routes.

[0055] Figure 12 This is an example of a driving control screen for an agricultural operation assistance device.

[0056] Figure 13A This diagram illustrates the automatic driving of agricultural machinery.

[0057] Figure 13B This diagram illustrates the automatic driving of agricultural machinery.

[0058] Figure 13C This diagram illustrates the automatic driving of agricultural machinery.

[0059] Figure 13D This diagram illustrates the automatic driving of agricultural machinery.

[0060] Figure 14A This is an example of a diagram showing the route generation of a three-screen agricultural operation assistance device.

[0061] Figure 14B This is an example of a diagram showing the route generation of a three-screen agricultural operation assistance device.

[0062] Figure 14C This is an example of a diagram showing the route generation of a three-screen agricultural operation assistance device.

[0063] Figure 14D This is another example of a diagram showing the route generation of a three-screen agricultural operation assistance device.

[0064] Figure 14E This is another example of a diagram showing the route generation of a three-screen agricultural operation assistance device.

[0065] Figure 15 This is a diagram illustrating an example of an automatic driving route and an automatic steering route.

[0066] Figure 16 This is another example of a driving control screen for an agricultural operation assistance device.

[0067] Figure 17A This is another example of a driving control screen for an agricultural operation assistance device.

[0068] Figure 17B This is another example of a driving control screen for an agricultural operation assistance device.

[0069] Figure 18 This is another example of a driving control screen for an agricultural operation assistance device.

[0070] Figure 19A This is a diagram illustrating an example of the movement of agricultural machinery.

[0071] Figure 19B This is a diagram illustrating an example of the movement of agricultural machinery.

[0072] Figure 19C This is a diagram illustrating an example of the movement of agricultural machinery.

[0073] Figure 19D This is a diagram illustrating an example of the movement of agricultural machinery.

[0074] Figure 20 This is another example of a driving control screen for an agricultural operation assistance device.

[0075] Figure 21 This is another example of a driving control screen for an agricultural operation assistance device.

[0076] Figure 22 This is another example of a diagram showing the route generation of a three-screen agricultural operation assistance device.

[0077] Figure 23A This diagram illustrates how to set up a driving route in irregular farmland.

[0078] Figure 23B This diagram illustrates how to set up a driving route in irregular farmland.

[0079] Figure 24 yes Figure 23A , Figure 23B Enlarged view of the main parts.

[0080] Figure 25A This is a diagram showing the first threshold change key.

[0081] Figure 25B This is a diagram showing the first threshold change key.

[0082] Figure 25C This is a diagram showing the first threshold change key.

[0083] Figure 26A This diagram illustrates a method for generating driving routes in irregular farmland.

[0084] Figure 26B This diagram illustrates a method for generating driving routes in irregular farmland.

[0085] Figure 27A This is a diagram used to illustrate the smoothing process of a driving route.

[0086] Figure 27B It is a diagram used to illustrate the smoothing process of the driving route.

[0087] Figure 27C It is a diagram used to illustrate the smoothing process of the driving route.

[0088] Figure 28A This is another diagram used to illustrate the smoothing process of the driving route.

[0089] Figure 28B This is another diagram used to illustrate the smoothing process of the driving route.

[0090] Figure 28C This is another diagram used to illustrate the smoothing process of the driving route.

[0091] Figure 29 This is another example of a driving control screen for an agricultural operation assistance device.

[0092] Figure 30 This is a diagram showing the key for changing farmland movement.

[0093] Figure 31 This is a diagram used to illustrate another method for generating regions and driving routes.

[0094] Figure 32 This is a diagram used to illustrate another method for generating regions and driving routes.

[0095] Figure 33 This is a diagram used to illustrate another method for generating regions and driving routes.

[0096] Figure 34 This is a diagram used to illustrate another method for generating regions and driving routes.

[0097] Figure 35 This is a diagram used to illustrate another method for generating regions and driving routes.

[0098] Figure 36 This is a diagram used to illustrate another method for generating regions and driving routes.

[0099] Figure 37A This is another example of a diagram showing the route generation screen of an agricultural operation assistance device.

[0100] Figure 37B This is another example of a diagram showing the route generation screen of an agricultural operation assistance device.

[0101] Figure 37C This is a diagram showing the selection section S1 depicted in the route generation 2 screen.

[0102] Figure 38 This is another example of a driving control screen for an agricultural operation assistance device.

[0103] Figure 39 This is a diagram showing the selection section S2 depicted in the driving control screen.

[0104] Figure 40A This is another example of a main screen showing agricultural operation assistance devices.

[0105] Figure 40B This is an example of a screen showing the operation selection for an agricultural operation assistance device.

[0106] Figure 40C This is an example of a diagram showing detailed operation of an agricultural work assistance device.

[0107] Figure 40D This is a diagram showing the selection section S3 depicted in the operation details screen.

[0108] Figure 41 This is another example of a driving control screen for an agricultural operation assistance device.

[0109] Figure 42 This is an illustration of the relationship between the distance from agricultural machinery to the structures that form the outline of farmland and the warning.

[0110] Figure 43 This is an illustration of the relationship between the distance from agricultural machinery to the structures that form the outline of irregular farmland and the warning.

[0111] Figure 44 This is an example of a warning setting displayed on the driving control screen.

[0112] Figure 45 This is an overall side view of the agricultural machinery. Detailed Implementation

[0113] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0114] <Structure of Agricultural Machinery>

[0115] Figure 45 This is an overall side view of agricultural machinery 1. In this embodiment, agricultural machinery 1 is composed of a tractor. However, agricultural machinery 1 is not limited to a tractor; for example, it may be composed of other agricultural machinery such as a rice transplanter or a combine harvester, or other work vehicles other than tractors used for agricultural operations.

[0116] Agricultural machinery 1 comprises a vehicle body 3, a prime mover 4, a transmission device 5, and a traveling mechanism 7. The traveling mechanism 7 has a front wheel 7F and a rear wheel 7R. The front wheel 7F can be either tire-type or track-type. Similarly, the rear wheel 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 the gear ratio, 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 through the transmission device 5, and the traveling mechanism 7 drives the vehicle body 3 to move forward and backward. Furthermore, in... Figure 45 In the middle, the left side is the front of the traveling vehicle 3, and the right side is the rear of the traveling vehicle 3.

[0117] A driver's cab 9 is installed on the vehicle body 3. A driver's seat 10 is installed inside the driver's cab 9. A lifting device 8, consisting of a three-point suspension mechanism, is installed at the rear of the vehicle body 3. The lifting device 8 is equipped with connecting parts 8g and 8h for connecting 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, thereby enabling the vehicle body 3 to tow the working device 2.

[0118] The operating device 2 performs on-site operations on the farmland. For example, the operating device 2 includes a tilling device (rotary tiller) for tilling the farmland, a stubble cultivator for stubble removal, a drive harrow for harrowing, a spreading device for spreading fertilizer or pesticides, a sowing device for sowing, a transplanting device for transplanting seedlings, and a harvesting device for harvesting.

[0119] <Structure of Agricultural Operation Support Systems>

[0120] Figure 1 This is a structural diagram of the agricultural operation assistance system 100.

[0121] The agricultural operation assistance system 100 includes an agricultural operation assistance device 50. The agricultural operation assistance system 100 and the agricultural operation assistance device 50 assist the agricultural machinery 1 in driving its vehicle body 3 in the farmland while using the operation device 2 to carry out agricultural operations.

[0122] 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 constructed within 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. These components 60, 62, 5, 6, 29, 8, 40, 63, and N1 of agricultural machinery 1 are included in an agricultural operation assistance system 100.

[0123] 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 vehicle body 3 for controlling the movement of the agricultural machinery 1. Figure 45 The automatic control unit 61 controls the operation of the agricultural machinery 1 and the working device 2. The operating unit 62 consists of switches, levers, pedals, and other keys that can be operated by a user such as a driver seated in the driver's seat 10 or an operator located near the agricultural machinery 1. The operating unit 62 includes a mode switch 65. Operating the mode switch 65 allows switching the mode of the agricultural machinery 1.

[0124] The transmission unit 5 is connected to the control valve 37. The control valve 37 is a solenoid valve that operates based on control signals sent by the control unit 60. Working oil injected from the hydraulic pump 33 is supplied to the control valve 37. Figure 1 In the diagram, control valve 37 is represented by a box, but the appropriate number can be set according to the number of hydraulic devices such as hydraulic clutches or hydraulic cylinders installed in the transmission device 5.

[0125] The automatic control unit 61 controls the drive of the transmission device 5 by electrically controlling the switching position and opening degree of the control valve 37. The transmission device 5 transmits the driving force of the prime mover 4 to the travel device 7, causing the travel device 7 to operate and thus moving the vehicle body 3 forward and backward. In addition, for example, when the working device 2 is a ground-working device, the transmission device 5 transmits the driving force of the prime mover 4 to the working device 2. As a result, the operating force of the working device 2 increases.

[0126] Furthermore, the automatic control unit 61 communicates with the working device 2 via the vehicle network N1. Specifically, the working device 2 has a control unit and a communication unit. The automatic control unit 61 sends work instructions to the working device 2 via the vehicle network N1. When the communication unit receives the work instructions, the control unit of the working device 2 controls the operation of each part of the working device 2 based on the work instructions, thereby performing agricultural operations (ground operations). In addition, the control unit of the working device 2 sends information or data indicating the work status, etc., to the control unit 60 via the vehicle network N1 through the communication unit. The automatic control unit 61 detects the work status, etc., of the working device 2 based on the information or data received from the working device 2 via the vehicle network N1.

[0127] 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. Working oil injected from the hydraulic pump 33 is supplied to the control valve 38. The automatic control unit 61 electrically controls the switching position and opening degree of the control valve 38 to activate the braking device 6 and apply brakes to the vehicle body 3.

[0128] The steering system 29 includes a 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 driver's cab 9. Figure 45 The interior of the steering wheel 30. The rotating shaft 31 rotates as the steering wheel 30 rotates. The auxiliary mechanism 32 assists in steering the steering wheel 30.

[0129] 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. Working oil injected from the hydraulic pump 33 is supplied to the control valve 34. 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, thereby causing the steering cylinder 35 to extend and retract. The steering cylinder 35 is connected to a steering knuckle (not shown) that changes the orientation of the front wheels 7F.

[0130] 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, thereby 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. Through the extension and retraction of the steering cylinder 35, the steering direction of the front wheels 7F is changed. Furthermore, the steering device 29 described above is only one example and is not limited to the structure described above.

[0131] 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 moved and stopped by manually operating the transmission 5 or the braking device 6 via the throttle or brake components (neither shown in the figure) on the operating unit 62. Moreover, the vehicle body 3 can be moved and stopped automatically by controlling the transmission 5 and the braking device 6 using the automatic control unit 61.

[0132] 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 a device housing a transmission device 5, allowing it to swing upwards or downwards. Figure 45 The upper rear part of the gearbox housing. The lifting arm 8a swings (lifts) by being driven by the lifting cylinder 8e. The lifting cylinder 8e is a hydraulic cylinder. The lifting cylinder 8e and Figure 1 The control valve 36 shown is connected. The control valve 36 is a solenoid valve that operates based on a control signal sent from the control device 60. Working oil injected from the hydraulic pump 33 is supplied to the control valve 36.

[0133] 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 45 The lower part of the upper link 8c is located above the lower link 8b and is supported at the rear of the transmission device 5 in a manner that allows it to swing upwards or downwards. The lifting rod 8d connects the lifting arm 8a and the lower link 8b. Connecting parts 8g and 8h, which can be connected to the working device 2, are provided at the rear ends of the lower link 8b and the upper link 8c.

[0134] Figure 1 The automatic control unit 61 shown adjusts the direction of the control valve 36 by electrically controlling the switching position and opening degree. 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 is raised and lowered, and the lower connecting rod 8b, connected to the lifting arm 8a via the lifting rod 8d, is also raised and lowered. Thus, the working device 2 uses the front part of the lower connecting rod 8b (the side opposite to the connecting parts 8g and 8h) as a fulcrum to swing (raise and lower) upwards or downwards.

[0135] 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 by satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, BeiDou, Galileo, and Quasi-Zenith Satellite System. The positioning device 40 detects its current position (e.g., latitude, longitude) based on the satellite signals received by the receiving device 41. 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.

[0136] The alarm unit 63 consists of a buzzer, speaker, or warning light installed on the vehicle body 3. The alarm unit 63 provides an alarm to the surrounding area of ​​the vehicle body 3 by means of sound or light.

[0137] The agricultural operation assistance device 50 is, for example, a portable tablet terminal device. The agricultural operation assistance device 50 is, for example, mounted inside the cab 9 of the agricultural machinery 1 and can be loaded and unloaded relative to the agricultural machinery 1. That is, the agricultural machinery 1 includes the agricultural operation assistance device 50.

[0138] The agricultural operation assistance 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 assistance device 50. The control unit 51 includes a farmland registration unit 51a, a region setting unit 51b, a route generation unit 51c, a trajectory calculation unit 51d, and a notification unit 51g. These units are composed of software programs, but can also be composed of hardware.

[0139] The display operation unit 52 consists of a touchpad and displays various information on the screen. Furthermore, various inputs can be performed by controlling the display screen of the display operation unit 52 according to specified operations. 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 assistance device 50 to replace the display operation unit 52.

[0140] The storage unit 53 is composed of a non-volatile memory or the like. The storage unit 53 stores information or data that assists in the driving and operation of the agricultural machinery 1 in a read-write manner. 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 through the communication unit 54.

[0141] <Display and Setting of Agricultural Operation Auxiliary Devices>

[0142] When the agricultural operation assistance device 50 is activated, the control unit 51 will... Figure 3 The main screen D1 shown is displayed in the display operation unit 52. The data of the main screen D1 and the data of each screen D2 to D9, which will be 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 in the display operation unit 52.

[0143] The main screen D1 displays the agricultural machinery icon X1, the farmland button B1, the autopilot button B2a, the auto steering button B2b, the history button B3, and the setting button B0. The setting button B0 is used for various settings. By selecting (clicking) the setting button B0, specified items can be set. These specified items include, for example, settings (registration) for the agricultural machinery 1 equipped with the agricultural operation assistance device 50, the operation device 2 connected to the agricultural machinery 1, or the display mode settings for the display control unit 52.

[0144] The farmland key B1 is used to register farmland for agricultural operations using agricultural machinery 1. The autopilot key B2a is used to set or predict the autopilot operation mode of agricultural machinery 1. The auto steering key B2b is used to set or predict the auto steering operation mode of agricultural machinery 1.

[0145] The aforementioned automatic driving operation mode refers to a mode in which the vehicle body 3 of the agricultural machinery 1 travels in an automatic driving mode while the working device 2 is used to perform agricultural operations (ground operations). Automatic driving of the agricultural machinery 1 refers to automatically changing the speed of the vehicle body 3 and automatically steering the vehicle body 3. Automatic steering operation mode refers to a mode in which the steering of the vehicle body 3 is performed automatically while the working device 2 is used to perform agricultural operations (ground operations). When the agricultural machinery 1 is in automatic steering operation mode, the driver of the agricultural machinery 1 operates the control unit 62 (… Figure 1 The throttle or brake components included in the vehicle body 3 change the speed of the vehicle body 3 according to the operation. That is, in the automatic steering mode, the speed of the vehicle body 3 is changed based on manual operation.

[0146] In addition, the agricultural machinery 1 can also be driven manually, and during this driving, it can perform ground operations using the working device 2. Manual driving of the agricultural machinery 1 refers to the driver changing the speed of the vehicle body 3 by operating the throttle or brake mechanism of the control unit 62, and by operating the steering wheel 30 (…). Figure 1 ( ) to steer the vehicle body 3.

[0147] Figure 3 The history key B3 on the main screen D1 is used to display the operation history of agricultural machinery 1. On the main screen D1, when the user selects the farmland key B1, the control unit 51 will... Figure 4 The farmland registration screen D2 shown is displayed in the display operation unit 52.

[0148] The farmland login screen D2 displays map MP1, the position Pv of the agricultural machinery 1's vehicle body 3, a new button B4, a login 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 ​​the agricultural machinery 1's location. This map data is acquired by the control unit 51 via the positioning device 40, or pre-stored in the storage unit 53. Additionally, map MP1 displays the farmland where agricultural machinery 1 is performing agricultural operations, and associates it with location information such as latitude and longitude. Users can zoom in and out of the map displayed on map MP1 or move the displayed portion of the map by performing specified operations on map MP1.

[0149] Figure 5AThis is a diagram illustrating the registration method for farmland. For example, the user (the driver of agricultural machinery 1) in... Figure 4 In the farmland login screen D2 shown, select the "New" key B4 and manually drive the agricultural machinery 1 around the farmland. At this time, the lifting device 8 can be used to raise the working device 2, allowing agricultural operations to be performed without using the working device 2; alternatively, the lifting device 8 can be used to lower the working device 2, allowing agricultural operations to be performed using the working device 2. Agricultural operation auxiliary device 50 ( Figure 1 The control unit 51 acquires the position Pv detected by the positioning device 40 at predetermined intervals via the communication unit 54, and records the detected position Pv in the internal memory at all times, and displays the detected position Pv on the map MP1 at all times. Figure 4 and Figure 5A (For convenience, only a portion of the location Pv is shown in the text.)

[0150] After the agricultural machinery 1 completes its circling of the farmland, the user selects the login button B5. Next, the farmland login unit 51a calculates the driving trajectory K1 of the vehicle 3 based on multiple recorded detection positions Pv. Additionally, as... Figure 5A As shown, the control unit 51 displays the driving trajectory K1 on the map MP1. Figure 5A In the example, the line K1 that passes through multiple detection positions Pv in the detection order (acquisition order) and returns to the initially detected position Pv is taken as the driving trajectory of the vehicle body 3.

[0151] The detection position Pv is the GPS position of the positioning device 40, and the travel trajectory K1 is the trajectory of the GPS position movement. Therefore, the farmland registration unit 51a shifts the travel trajectory K1 outward from the GPS position on the agricultural machinery 1 to the outermost end of the working device 2 (in... Figure 5A In this embodiment, since the agricultural machinery 1 is right-hand steered around the farmland, it is at the left end of the working device 2. The offset is equal to the horizontal distance between the driving track K1 and the outline of the map MP1, forming line H1. In this embodiment, the GPS position of the positioning device 40 is located at the center of the driving vehicle 3, and the center of the driving vehicle 3 in the horizontal direction coincides with the center of the working device 2 in the horizontal direction. Therefore, the aforementioned offset is taken as half the value of the overall width (horizontal length) of the working device 2 or half the working width (horizontal length) W1 that the working device 2 can operate on the ground. Alternatively, a value smaller or larger than the horizontal distance between the GPS position of the agricultural machinery 1 and the outer end of the working device 2 in the horizontal direction can be used as the aforementioned offset to form line H1 between the driving track K1 and the outline of the map MP1.

[0152] The farmland registration unit 51a uses the line H1 formed as described above as the outline (shape) of the farmland, and registers (stores) the farmland map MP2 (data representing the outline of the farmland) represented by the outline H1 in the storage unit 53. Additionally, at this time, the farmland registration unit 51a registers farmland identification information, such as the farmland name and farmland management number, in association with the farmland map MP2 in the storage unit 53. Furthermore, the farmland identification information can be assigned by the farmland registration unit 51a, input by the user through the operation display unit 52, or pre-stored in the storage unit 53. Multiple farmland maps MP2, etc., can be registered in the storage unit 53. When the farmland registration unit 51a registers the farmland map MP2, the control unit 51 displays the farmland map MP2 (the outline H1 of the farmland) on the map MP1.

[0153] The above-mentioned method for registering farmland is just one example and is not limited to this. As another example, such as... Figure 5B As shown, the farmland registration unit 51a calculates the inflection point based on the driving trajectory K1 of the vehicle body 3 and forms a line K2 passing through the inflection point. Then, the line K2 can be offset outward by the aforementioned offset amount to form a line H1 between the driving trajectory K1 and the outline of the map MP1. This line H1 is used as the outline H1 of the farmland and the farmland map MP2, and the farmland map MP2 is registered in the storage unit 53.

[0154] In addition, such as Figure 5C As shown, when the agricultural machinery 1 is circling, the user can specify the end of the farmland by operating a pre-defined switch or similar device located on the operation unit 62. In this case, the farmland registration unit 51a forms a line K3 that passes through each end of the farmland in a specified order and returns to the initially specified end. Then, the line K3 can be offset outward by the aforementioned offset amount, forming a line H1 between the travel trajectory K1 and the outline of the map MP1. This line H1 serves as the farmland outline H1 and the farmland map MP2, and the farmland map MP2 is registered in the storage unit 53. Furthermore, the farmland outline H1 and the farmland map MP2 can be, for example, data represented by location (latitude, longitude), data represented by a coordinate system (X-axis, Y-axis), or data represented by other methods.

[0155] exist Figure 4 In the farmland registration screen D2 shown, when the user selects the recall key B6, the control unit 51 reads the data of a farmland map MP2 registered in the storage unit 53, and displays the farmland map MP2 in the farmland registration screen D2 based on this data. Furthermore, when the user selects the cancel key B7, the farmland registration unit 51a removes the position Pv of the driving vehicle 3 currently displayed on the map MP1 and the farmland map MP2 (the outline H1 of the farmland), and this data is also removed from the storage unit 53. In other words, the registration of the farmland outline H1 and the farmland map MP2 is canceled.

[0156] After logging into the farmland, when the user selects the back button B8, control unit 51 will... Figure 3 The main 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 main screen D1, when the user selects the auto-drive key B2a, the control unit 51 will... Figure 6 The job selection screen D3 shown is displayed in the display operation unit 52.

[0157] The job selection screen D3 displays information showing the input operation steps. Additionally, the job selection screen D3 displays multiple job keys B31-B35, an up arrow key B41, a down arrow key B42, a next key B9, and a return key B8. Job keys B31-B35 indicate agricultural operations that can be performed using 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 using agricultural machinery 1 and operating device 2, the user can select the up arrow key B41 or the down arrow key B42, and the control unit 51 will display operation keys representing other operations in the operation selection screen D3.

[0158] When the user selects one of the operation keys B31 to B35, the control unit 51 displays the selected operation key in a different manner than the other operation keys on the operation selection screen D3. Figure 6 In the example, only the selected tillage operation key B31 is marked with a black circle. When one of the operation keys B31, B32, B33, or B34 is selected, and the user selects the next step key B9, the control unit 51 will... Figure 7 The vehicle setting confirmation screen D4 is displayed on the display operation unit 52. That is, the next 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).

[0159] The vehicle setup confirmation screen D4 displays information showing the input operation steps, the type of agricultural operation, the type of agricultural machinery 1, and the working width that can be achieved using the working device 2. The type of agricultural machinery 1 and the working width of the working device 2 displayed on the vehicle setup confirmation screen D4 can be selected by the user, for example, by... Figure 3The user selects the setting key B0 on ​​the main screen D1 and performs the prescribed input operations to make settings. Additionally, by selecting the setting key B0 and performing the prescribed input operations, the user can register the types of multiple agricultural machines and operating devices, as well as their operating widths, into the agricultural operation assistance device 50. The operating width of the operating device 2 is the length it can operate in a horizontal plane perpendicular to the direction of travel of the operating device 2.

[0160] In addition, Figure 7 The vehicle setting confirmation screen D4 displays a drone setting button B10, a manned machine setting button B11, a next button B9, and a return 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. This causes the control unit 51 to display another setting screen (not shown) on the display operation unit 52, allowing the user to change the type or working width of the agricultural machinery 1. When the user performs a pre-defined operation after changing the type or working width of the agricultural machinery 1 on this other setting screen, the control unit 51 again displays the vehicle setting confirmation screen D4 on the display operation unit 52.

[0161] Additionally, without needing to change the type and working width of agricultural machinery 1 displayed on the vehicle setting confirmation screen D4, the user selects the next button B8. In this way, the control unit 51 will... Figure 8 The farmland selection screen D5 shown is displayed in the display operation unit 52.

[0162] The farmland selection screen D5 displays one or more logged-in farmland maps (MP2), the up arrow key (B41), the down arrow key (B42), the next button (B9), and the back button (B8). Figure 8 The system displays three farmland map MP2s. However, if there are four or more farmland map MP2s logged in, the user can select the up arrow key B41 or the down arrow key B42, and the control unit 51 will display the other logged-in farmland map MP2s in the farmland selection screen D5.

[0163] When a user selects a farmland map MP2, the control unit 51 displays the selected farmland map MP2 in a different display mode than other farmland map MP2s. Figure 8 In the selection screen D5, only the selected farmland map MP2 is enclosed by a thick border. Additionally, the control unit 51 displays the date and time of the last agricultural operation performed on the selected farmland map MP2, as well as the area of ​​that farmland map MP2. When a farmland map MP2 is selected, and the user selects the next button B9, the control unit 51 will... Figure 9 The route generated is displayed on screen D6 in the display operation unit 52.

[0164] The route generation screen D6 displays the selected farmland map MP2 (farmland outline H1), agricultural machinery marker X1, information indicating the input operation steps, automatic field turn-around operation key B43, operation type key B44, next step key B9, and return key B8. As described later, the automatic field turn-around operation key B43 is used to select whether to perform agricultural operations using the operation device 2 while the vehicle body 3 of agricultural machinery 1 is driving in automatic mode at the field turn-around point set in farmland map MP2, or not to perform agricultural operations.

[0165] The job type key B44 is used to select the job status performed using the job device 2. In this embodiment, an example is given where... Figure 6 In the job selection screen D3, if the tilling job is selected, then... Figure 9 The job type key B44 is used to select whether the tillage operation is adjacent or indirect. Figure 6 If other assignments are selected in the assignment selection screen D3, Figure 9 The job type key B44 is used to select the status of this other job. When the user selects the job status using the automatic field turn-around job key B43 and the job type key B44 respectively, and then selects the next step key B9, the control unit 51 will... Figure 10A The route shown is generated on screen D7 and displayed in the display operation unit 52.

[0166] exist Figure 10A The route generation screen D7 displays the selected farmland map MP2, the agricultural machinery marker X1, information showing the input operation steps, multiple setting items and their value input fields, a recommendation key B12, a route generation key B13, a trajectory prediction key B14, a plus key B45, a minus key B46, a next key B9, and a return key B8. During the display of route generation screen D7, the control unit 51 can use the communication unit 54 to obtain the actual position of the driving vehicle 3 detected by the positioning device 40, and display the agricultural machinery marker X1 at the corresponding location on the farmland map MP2 corresponding to the position of the driving vehicle 3.

[0167] In the route generation screen D7, there are several settings, including the estimated working distance, the number of field-end turning points, the working direction, the overlap of field-end turning points, and the overlap of the central area. Among these, values ​​can be input for items other than the estimated working distance. The number of field-end turning points refers to the number of field-end turning points set along the inner edge of the registered farmland outline H1 (farmland map MP2) in a circle or more.

[0168] The working direction refers to the direction in which the working device 2 performs its work while the vehicle 3 moves back and forth in a straight line within the center of the field's end-turning point. By entering a specified value (e.g., "1" or "2") in the working direction input field, a route corresponding to that value is set, either longitudinally or laterally, on screen D7. The overlap of the end-turning point refers to the amount by which the working width of the working device 2 extends beyond the end-turning point. The overlap at the center refers to the amount by which the working widths overlap when the vehicle 3 moves back and forth in a straight line within the center of the field while the working device 2 performs its work.

[0169] The user inputs values ​​into the respective value input fields by selecting the numerical input fields for each setting item and pressing the plus key B45 or the minus key B46. Additionally, by selecting the recommendation key B12, the control unit 51 reads the pre-stored setting values ​​from the storage unit 53 and compares them with the values ​​displayed on the job selection screen D3. Figure 6 Select the settings for each agricultural operation and input (display) the settings in the corresponding numerical input field.

[0170] After inputting the values ​​into the various settings, the user selects the route generation key B13. Thus, as shown... Figure 10B As shown, the area setting unit 51b ( Figure 1 In the farmland map MP2, set the central area (second area) C1 and the field-end turning area (first area) E1. Additionally, the route generation unit 51c... Figure 1 Generate a driving route (pre-determined driving route) L1 in the farmland map MP2.

[0171] Figures 11A to 11D This diagram illustrates the method for setting areas C1, E1, and the driving route L1. When the user selects the route generation key B13, the area setting unit 51b first sets the central area C1 and the field end turning area area E1 based on the outline H1 of the farmland, the working width of the operating device 2, the number of input field end turning points, or the overlap of field end turning points. More specifically, for example... Figure 11A As shown, the area setting unit 51b calculates the outline C1 in the following manner: the outline H1 of the farmland is offset inward by the number of field end turning points from the width W4 of the working width W1 of the working device 2. The area (central part) enclosed by the outline C1 is set as the central area C1.

[0172] As another example, the area setting unit 51b can also calculate the outline in the following way: the outline H1 of the farmland is formed by offsetting the working width of the working device 2 (or the outer width of the working device 2) inward by the number of field-end turning points, and the area (central part) enclosed by this outline is set as the central area. Alternatively, the number of field-end turning points, the overlap of field-end turning points, 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. The area setting unit 51b can then read these values ​​from the storage unit 53 as needed.

[0173] After setting the central region C1 as described above, the region setting unit 51b sets the frame-shaped region (outer frame portion) located outside the central region C1 and inside the outline H1 of the farmland as the field end turning area E1. Then, the region setting unit 51b stores data indicating the location of each region C1, E1, etc. in the storage unit 53.

[0174] The route generation unit 51c generates a driving route 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 field end U-turn, and the overlap of the central part. Specifically, firstly, as... Figure 11B As shown, the route generation unit 51c generates routes from the direction of operation ( Figure 11B The end of one side of the central region C1 parallel to the longitudinal direction (in the middle) Figure 11B The right end of the work area (within the work area) is divided sequentially by the work width W1 of the work device 2, generating multiple unit work sections C2 within the central area C1. At this time, in the initially generated unit work section C2, the route generation unit 51c overlaps the work width W1 with the field end turning area E1 by an overlap amount W2. Furthermore, in the second and subsequent unit work sections C2 generated, the route generation unit 51c overlaps the work width W1 with the central overlap amount W3 of the previously generated unit work section C2.

[0175] Next, as Figure 11C As shown, the route generation unit 51c generates a straight route L1a for the vehicle body 3 to travel in a straight line for each unit work segment C2. At this time, the route generation unit 51b generates a straight route L1a for the vehicle body 3 to travel in a straight line in the width direction of the unit work segment C2. Figure 11C A straight path L1a is generated along the center line of the unit work section C2 (in the left-right direction) connecting the two ends of the unit work section C2 in the length direction. Furthermore, in the last generated unit work section C2 (in the left-right direction), a straight path L1a is generated. Figure 11B In the unit work section C2 located at the left end of the central area C1, if the straight route L1a generated in the unit work section C2 is generated outside the central area C1, the route generation unit 51b may also exclude the straight route L1a from the travel route L1.

[0176] Next, the route generation unit 51c generates a route L1b in the field turnaround area E1 that connects adjacent straight routes L1a to each other. This route L1b is a turning route that allows the traveling vehicle 3 to turn from one of the two adjacent straight routes L1a towards the other. Furthermore, in Figure 11C The example shown is a simple semi-circular turning route L1b, but this shape is for ease of display on the display screen D7 of the display operation unit 52 (and the display screens D8, D10, and D11 described later), or for easy visual confirmation of the driving route L1 on that display screen. In reality, when the vehicle 3 turns back to another straight route L1a after traveling on one straight route L1a, the vehicle 3 turns while moving forward or backward, thus drawing a trajectory with a more complex shape than the turning route L1b. The route generation unit 51c can also generate turning routes L1b with shapes other than semi-circular. The same applies to other turning routes and turning sections included in other driving routes described later.

[0177] Control device 60 of agricultural machinery 1 Figure 1 When the vehicle body 3 is traveling along the straight route L1a, the lifting device 8 ( Figure 2 The control device 60 lowers the working device 2 and uses it to perform ground operations. Additionally, when the vehicle body 3 is traveling along the turning route L1b, the control device 60 raises the working device 2 via the lifting device 8, stopping the ground operations of the working device 2.

[0178] That is, the straight route L1a is a work route in which the vehicle body 3 of the agricultural machinery 1 travels in an automatic driving mode while the working device 2 performs ground operations. Furthermore, the central area C1, where multiple straight routes L1a are generated, is a work area in which the vehicle body 3 travels in an automatic driving mode, moving straight and back and forth while the working device 2 performs ground operations. Moreover, the work route is not limited to a straight line like the straight route L1a; it can also be a curved route. Additionally, within the work area, it is sufficient to generate at least one of the following: a straight work route or a curved work route.

[0179] exist Figure 9 In route generation screen D6, the option to not perform operations at the field end turning point was selected via the automatic field turning-around operation button B43. Figure 11C As shown, the route generation unit 51c generates a travel route L1 consisting of a straight route L1a and a turning route L1b, and stores data such as the position of the travel route L1 in the storage unit 53. Additionally, the route generation unit 51c generates data on the end of the straight route L1a located on both sides of the central region C1, specifically on the side of the straight route L1a that is not connected to the turning route L1b. Figure 11CThe starting position Ps is set at the upper end of the straight route L1a on the right side, and at the end of the straight route L1a on the other side ( Figure 11C The endpoint position Pg is set at the lower end of the straight route L1a on the left side of the map. In addition, the route generation unit 51c stores the data representing each position Ps and Pg in the storage unit 53.

[0180] Furthermore, the route generation unit 51c calculates the estimated working distance for the vehicle 3 to perform ground operations using the work device 2 while traveling along all straight routes L1a, and stores the calculation result in the storage unit 53. Moreover, the route generation unit 51c sets the vehicle speed (moving speed) for the vehicle 3 to travel in automatic driving mode on the straight routes L1a and the turning routes L1b, and stores each speed in association with the data of each route L1a and L1b in the storage unit 53. For example, the route generation unit 51c sets the speed to be slower on the sections of each route L1a and L1b with greater curvature. Alternatively, for example, an input field for inputting the speed of each route L1a and L1b can be set in the route generation 2 screen D7, and the route generation unit 51c sets the speed input to each input field into each route L1a and L1b.

[0181] After the settings and generation are completed as described above, the control unit 51 displays the area C1, E1, travel route L1, starting position Ps, ending position Pg, and estimated working distance in the route generation 2 screen D7 (see reference). Figure 11C At this time, such as Figure 11C As shown, regions C1 and E1, the driving route L1, the starting position Ps, and the ending position Pg are displayed in the route generation 2 screen D7. Furthermore, the driving route L1 consists of a straight route L1a and a roundabout route L1b.

[0182] In contrast, Figure 9 In the route generation screen D6, the automatic field turn-around operation button B43 is used to select the field turn-around operation mode, such as... Figure 11D As shown, in addition to the straight route L1a and the turning route L1b, the route generation unit 51c also generates a loop route L1c that surrounds the outer side of the central area C1 in the field end U-turn area E1. At this time, for example, the route generation unit 51c generates the loop route L1c in the field end U-turn area E2a, E2b, E2c that is closest to the central area C1 among the field end U-turn areas E2a, E2b, and E2c that are set one or more times outside the central area C1 by the area setting unit 51b.

[0183] Additionally, the route generation unit 51c is located at both ends of the central region C1. Figure 11D The end of the straight route L1a that is not connected to the turning route L1b at either end of the straight route L1a (left or right). Figure 11D The starting position Ps is set at the upper end of the straight route L1a on the right side, and at the end of the straight route L1a on the other side ( Figure 11D The lower end of the straight route L1a at the left end of the route is connected to the loop route L1c. In addition, the route generation unit 51c sets the end position Pg at the end of the loop route L1c that is not connected to the straight route L1a.

[0184] The loop route L1c is a work route in which the vehicle body 3 travels in an automatic driving mode while the work device 2 performs ground operations. The loop route 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 generated on the centerline in the width direction of the field end U-turn point E2a. The turning section L1r is a route that connects a part of the loop route L1c (i.e., a straight section L1s) arranged in front of and behind the travel direction of the loop route (travel route) L1c with another part of the loop route L1c (i.e., another straight section L1s whose extension direction (travel direction) is different from that of the straight section L1s), allowing the vehicle body 3 to turn from one straight section L1s to another straight section L1s.

[0185] Furthermore, depending on the shape of the farmland's outline H1 (e.g., in the case where the farmland's outline H1 is skewed), in addition to the straight section L1s and the turning section L1r, the circular route L1c may also include gentle curves (curved routes, omitted from illustration) with a radius of curvature smaller than a specified radius. Additionally, in this case, ground-level work can be performed using the work device 2 when the vehicle body 3 is traveling in automatic mode based on the straight section L1s or the gentle curves of the circular route L1c, and ground-level work can be performed without using the work device 2 when the vehicle body 3 is traveling in automatic mode based on the turning section L1r.

[0186] As described above, the U-turn point E2a at which the loop route L1c is generated is a work area where the vehicle body 3 performs ground operations while circling the outside of the central area C1 using the work device 2. As another example, the route generation unit 51c can also generate loop routes at other U-turn points E2b and E2c located outside of the U-turn point E2a. Additionally, a key can be provided in the route generation 2 screen D7 for inputting the number of U-turn points for generating the loop route.

[0187] Furthermore, the route generation unit 51c can also generate a loop route that circles multiple times within at least one of the multiple field turn-off points E2a, E2b, and E2c, or it can generate a loop route by using both adjacent field turn-off points. That is, the route generation unit 51c can also generate a loop route within the field turn-off point region E1 that circles the central region C1 more times than the number of field turn-off points.

[0188] As described above, after generating a travel route L1 consisting of a straight route L1a, a roundabout route L1b, and a loop route L1c, the route generation unit 51c stores data indicating the position of the travel route L1 in the storage unit 53. Furthermore, the route generation unit 51c sets the starting position Ps and the ending position Pg of the travel route L1 and stores data indicating these positions Ps and Pg in the storage unit 53. Additionally, the route generation unit 51c calculates the estimated working distance for the vehicle 3 to perform ground operations using the work device 2 while traveling on all the straight routes L1a and loop routes L1c, and stores the calculation result in the storage unit 53. Moreover, the route generation unit 51c sets the vehicle speed for the vehicle 3 to travel in automatic driving mode on the straight routes L1a, roundabout routes L1b, and loop routes L1c, and stores each speed in association with the data of each route L1a, L1b, and L1c in the storage unit 53.

[0189] After setting and generating as described above, as follows Figure 10B As shown, the control unit 51 displays the area C1, E1, driving route L1, starting position Ps, ending position Pg, and estimated working distance on the route generation 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.

[0190] After the driving route L1 is displayed on the route generation screen D7, the user selects the trajectory prediction key B14. Then, the trajectory calculation unit 51d ( Figure 1 The calculation predicts the operation part, namely the predicted operation trajectory J1 of the operation device 2, which enables the vehicle body 3 to drive in an automatic driving mode based on the driving route L1 while using the operation device 2 to perform ground operations.

[0191] In detail, the trajectory calculation unit 51d calculates and predicts the work trajectory J1 based on the travel route L1 and the working width of the work device 2. For example, the trajectory calculation unit 51d calculates the work route in which the traveling vehicle 3 and the work device 2 perform ground-level work using the work device 2 along the travel route L1. Figure 10CIn the case where the straight section L1a and the straight section L1s of the circular route L1c move (forward or backward), the passing portion (passing area) of the working width of the working device 2 is used as the predicted working trajectory J1. At this time, the center of the width direction of the traveling vehicle body 3 and the center of the working width of the working device 2 are set on the working route.

[0192] Then, the trajectory calculation unit 51d stores the data of the predicted job trajectory J1 in the storage unit 53. Additionally, as... Figure 10C As shown, the control unit 51 overlays the predicted operation trajectory J1 (the part indicated by the shaded area) onto the driving route L1 of the farmland map MP2 in the route generation 2 screen D7.

[0193] Furthermore, after the route generation unit 51c generates the travel route L1, the trajectory calculation unit 51d can immediately calculate the predicted work trajectory J1 and store the data of the predicted work trajectory J1 in the storage unit 53. Also, when the user selects the trajectory prediction key B14, the control unit 51 can read the data of the predicted work trajectory J1 from the storage unit 53 and display the predicted work trajectory J1 on the route generation 2 screen D7 based on this data. Additionally, the trajectory calculation unit 51d can also calculate the portion of the work width that the work device 2 passes through when moving along a straight or curved work route in the travel route L1 as the predicted work trajectory J1.

[0194] exist Figure 10C In the process, since the vehicle body 3 is driven in an automatic driving mode in the central area C1 and the U-turn point E2a, while the working device 2 is used to perform ground operations, the predicted working trajectory J1 is displayed along the working routes L1a and L1c.

[0195] In contrast, Figure 9 In the route generation screen D6, when selecting not to perform the operation at the field end turn-off point via the automatic field end turn-off operation button B43, as shown... Figure 11C As shown, the predicted work trajectory J1 is displayed along the work route L1a only when the work route L1a is generated in the central area C1.

[0196] For example, after a user sees the driving route L1 or predicted work trajectory J1 displayed on the route generation 2 screen D7 and re-enters values ​​for a certain setting item, they select the route generation key B13. In this case, following the steps described above, the area setting unit 51b re-sets areas C1 and E1, the route generation unit 51c re-generates the driving route L1, and updates the display of areas C1, E1, or driving route L1 on the route generation 2 screen D7.

[0197] Additionally, the user selects a starting position Ps or an ending position Pg, moves the position Ps or Pg to the desired location on the farmland map MP2, and then selects the route generation key B13. Following the steps described above, the area setting unit 51b sets areas C1 and E1 again, and the route generation unit 51c generates the driving route L1 again, updating the display of areas C1 and E1 or the driving route L1 in the route generation 2 screen D7.

[0198] In addition, after updating the aforementioned areas C1, E1, and driving route L1, the user selects the trajectory prediction key B14. Then, following the steps described above, the trajectory calculation unit 51d calculates and predicts the operation trajectory again, updating the display of the predicted operation trajectory J1 in the route generation 2 screen D7.

[0199] After the driving route L1 is displayed on the route generation screen D7, when the user selects the next button B9, the control unit 51 sends data representing the farmland map MP2, region C1, E1, and driving route L1 displayed on the screen D7 to the control device 60 via the vehicle network N1 through the communication unit 54. Figure 1 In addition, control unit 51 will... Figure 12 The driving control screen D8 shown is displayed on the display operation unit 52.

[0200] <Automatic Driving Operation Mode>

[0201] The driving control screen D8 displays the driving and operating status of agricultural machinery 1 in automatic driving mode. Furthermore, in... Figure 12 The driving control screen D8 shows the driving and operating status of agricultural machinery 1 after a period of time following the start of automatic driving operation mode. Driving control screen D8 displays the farmland map MP2, driving route L1, starting position Ps, ending position Pg, agricultural machinery marker X2, driving status of agricultural machinery 1, setting change key B20, operation trajectory key B15, and trajectory clear key B16.

[0202] The control unit 51 uses the communication unit 54 to acquire the actual position of the vehicle body 3 detected by the positioning device 40 at a predetermined period, and displays the agricultural machinery mark X2 at the corresponding part of the farmland map MP2 corresponding to the position of the vehicle body 3 at any time. That is, the agricultural machinery mark X2 in the driving control screen D8 indicates the actual position of the vehicle body 3 of the agricultural machinery 1.

[0203] For example, while watching the driving control screen D8, the user manually drives the agricultural machinery 1 to the starting position Ps, and then uses the mode switch 65 ( Figure 1 The automatic control unit 61 performs the prescribed operation for switching to automatic driving mode. Therefore, the automatic control unit 61 ( Figure 1The system switches to an automated driving mode, where the vehicle body 3 drives automatically based on the driving route L1 received (acquired) from the agricultural operation assistance device 50 and the position of the vehicle body 3 detected by the positioning device 40, while the operation device 2 performs ground operations.

[0204] In detail, the automatic control unit 61 first enables the vehicle body 3 to travel automatically from the starting position Ps based on the straight route La1 and the turning route L1b, while simultaneously performing ground-level work using the work device 2. At this time, the automatic control unit 61 performs ground-level work using the work device 2 while the vehicle body 3 is traveling automatically based on the straight route L1a, and stops the ground-level work of the work device 2 when the vehicle body 3 is traveling automatically (turning) based on the turning route L1b. Furthermore, when the vehicle body 3 begins to travel automatically based on the adjacent straight route L1a, the ground-level work of the work device 2 resumes. Thus, the vehicle body 3 travels back and forth in the central area C1 in an automatic manner, and performs ground-level work on the central area C1 using the work device 2.

[0205] Then, the automatic control unit 61 drives the vehicle 3 in automatic mode based on the surrounding route L1c and the position of the vehicle 3, while using the work device 2 to perform ground operations. Thus, the vehicle 3 circles the outer side of the central area C1 in automatic mode, and uses the work device 2 to perform ground operations on the field-end turning point E2a surrounding the central area C1 (see reference). Figure 11D (etc.) to carry out ground operations.

[0206] 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 route 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 route L1 is above a threshold and the vehicle body 3 is on the left side relative to the driving route 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 occurs when the deviation between the position of the vehicle body 3 and the travel path L1 is above a threshold and the vehicle body 3 is on the right side relative to the travel path 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.

[0207] In the example above, the steering angle of the steering device 29 is changed based on the deviation between the position of the vehicle body 3 and the driving route L1. However, as another example, it could also be based on... Figure 13D The 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. Furthermore, 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°").

[0208] 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 route L1, and calculate a second steering angle based on the travel route 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.

[0209] Furthermore, when the automatic control unit 61 enables the vehicle body 3 to travel automatically based on the travel 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 make the actual speed consistent with the speed associated with the straight route L1a, the turning route L1b, or the loop route L1c.

[0210] As described above, in 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 driving route L1 and the position of 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.

[0211] 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 moving 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 data of the actual work trajectory J2 in the storage unit 53. Additionally, as... Figure 12 As shown, the control unit 51 displays the actual work trajectory J2 (the shaded portion) overlaid on the straight route L1a of the farmland map MP2. If the user selects the trajectory clear key B16, the control unit 51 clears the display of the actual work trajectory J2.

[0212] 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 data of the work trajectory J2 in the storage unit 53. Then, the control unit 51 displays the actual work trajectory J2 on the farmland map MP2. In addition, when the work trajectory key B15 is selected again, the calculation, display, and data storage of the actual work trajectory J2 are performed at a predetermined cycle. As a result, the display position of the agricultural machinery marker X2 indicating the position of the driving vehicle 3 in the driving control screen D8 is updated at any time, and the actual work trajectory J2 continues to extend.

[0213] Furthermore, after switching to automatic driving operation mode, the trajectory calculation unit 51d can also calculate the actual operation trajectory J2 at a predetermined cycle and store the data of the operation trajectory J2 in the storage unit 53. Moreover, when the user selects the operation trajectory key B15, the control unit 51 can also 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.

[0214] <Models of Agricultural Machinery>

[0215] In addition to the aforementioned automatic driving mode, the agricultural machinery 1 can also execute an automatic steering mode. In the automatic driving mode, the steering of the vehicle body 3 and the change of its speed are performed automatically (i.e., automatic driving mode, also simply referred to as automatic driving mode). In contrast, in the automatic steering mode, the steering of the vehicle body 3 is performed automatically (i.e., automatic steering mode), while the change of the vehicle body 3's speed is handled manually.

[0216] In addition, in the automatic driving operation mode and the automatic steering operation mode, the ground-level operation of the working device 2 is performed automatically as appropriate. Besides the automatic driving operation mode and the automatic steering operation mode, the agricultural machinery 1 can also perform a manual driving operation mode. In the manual driving operation mode, the user of the agricultural machinery 1 changes the speed of the vehicle body 3 by operating the throttle or brake components of the operating unit 32, and steers the vehicle body 3 by operating the steering wheel 30. Furthermore, in the manual driving operation mode, the execution and stopping of the ground-level operation of the working device 2 can be operated by the user through the operating unit 62, or it can be controlled by the automatic control unit 61 based on the position of the vehicle body 3 and the travel routes L1 and L2.

[0217] In addition to the modes mentioned above, agricultural machinery 1 may, for example, not automatically perform ground operations on the working device 2, but instead execute an automatic driving mode that enables the vehicle body 3 to drive in an automatic driving mode or an automatic steering mode that enables the vehicle body 3 to be automatically steered.

[0218] Setting and displaying the autopilot operation mode

[0219] For example, when the user is Figure 12 When the setting change key B20 is selected in the driving control screen D8 shown, the control unit 51 of the agricultural operation assistance device 50 will... Figure 3 The main screen D1 is displayed on the display operation unit 52. Furthermore, when the user selects the automatic steering button B2b on the main screen D1, the control unit 51 will select whether to maintain or cancel the settings related to the currently active automatic driving operation mode (in...). Figures 4 to 10C A selection screen (illustration omitted) showing the settings in screens D2 to D7 is displayed on the display operation unit 52. In this selection screen, when the user performs a specified operation and selects a setting related to maintaining an effective automatic driving operation mode, the control unit 51 will... Figure 14A The route shown is generated and displayed on screen D10 in the display operation unit 52.

[0220] Route Generation Screen D10 is used for setting up the automatic steering operation mode. It displays the farmland map MP2, agricultural machinery marker X1, information showing the input steps, multiple setting items and their value input fields, the AS (Automatic Steering) field turn operation key B47, the route generation key B13, the trajectory prediction key B14, the route change key B21, the plus key B45, the minus key B46, the next key B9, and the return key B8.

[0221] In the farmland map MP2 of route generation screen D10 (screen 3), based on the route generation screen D7 (screen 2) mentioned above... Figure 10B The input in (etc.) displays the regions C1 and E1 set by the region setting unit 51b, the driving route L1 generated by the route generation unit 51c, the starting position Ps of the driving route L1, and the ending position Pg. Figure 14A The driving route L1 shown is an autonomous driving route used to enable the vehicle body 3 to drive in an automatic driving mode during the automatic driving operation.

[0222] In the route generation 3 screen D10, there are several settings, including the estimated working distance, working direction, overlap of the field end turning point, and overlap of the central area. Among these, the input fields for the working direction, overlap of the field end turning point, and overlap of the central area display the values ​​from the route generation 2 screen D7 (…). Figure 10BThe values ​​entered in the fields (e.g., the overlap of the work direction, the overlap of the field end turning point, and the overlap of the central section) can be changed by using the plus key B45 or the minus key B46. The estimated work distance display field shows the value calculated by the route generation unit 51c based on the driving route L1.

[0223] The AS field turnaround key B47 is used to select whether to perform operations using the working device 2 while the agricultural machinery 1 is moving and the vehicle body 3 is automatically steered at the field turnaround point set in the farmland map MP2, or not to perform operations at all. The route change key B21 is used to change the purpose of the driving route.

[0224] The user inputs values ​​into each setting item, selects the operation status at the field turnaround point using the AS field turnaround point operation key B47, and then selects the route generation key B13. Thus, the route generation unit 51c ( Figure 1 Based on the working width of areas C1 and E1, the overlap of the field turning point, and the selection status of the AS field turning point key B47, such as Figure 14B As shown, the driving route L2 for the autopilot operation mode is generated in the farmland map MP2. At this time, for example, if the operation is performed at a field turnaround point via the AS field turnaround operation key B47, then... Figure 15 As shown, the route generation unit 51c generates a driving route L2 around the central area C1 at the field end U-turn points E2b and E2b on the farmland map MP2 where no driving route L1 has been generated.

[0225] In detail, for example, the route generation unit 51c generates a driving route L2 around the central region C1 at the inner field end U-turn point E2b, continuously from one end of the driving route L1 (the front end of the route L1c) where no starting position Ps has been set. Next, the route generation unit 51c generates a driving route L2 around the central region C1 at the outer field end U-turn point E2c, continuously from the front end of the driving route L2 generated at the inner field end U-turn point E2b. Furthermore, the route generation unit 51c resets the end position Pg at the front end of the driving route L2 generated at the outer field end U-turn point E2c.

[0226] Similar to the straight sections L1s and turning sections L1r of the loop route L1c, the travel route L2 may also include multiple generally straight sections L2s and turning sections L2r that curve at or above a specified radius of curvature. The straight sections L2s are generated on the centerline in the width direction of each field end turning point E2b, E2c. The turning section L2r connects one straight section L2s (arranged sequentially with respect to the travel direction of the travel route L2) with another straight section L2s (its extension direction (travel direction) different from the first straight section L2s), allowing the vehicle body 3 to turn from one straight section L2s to another.

[0227] In addition, Figure 15 The example shown is an arc-shaped turning section L2r, but it is not limited to this; the turning section L2r can be generated in an appropriate shape. Depending on the shape of the farmland outline H1, in addition to the straight section L2s and the turning section L2r, the travel route L2 also includes a gentle curve with a curvature radius smaller than a specified radius (a curved route, in...). Figures 14B to 14E as well as Figure 15 The illustrations are omitted in the text; please refer to the description below. Figure 23A , Figure 23B (L2c, etc.)

[0228] In the automatic steering mode of agricultural machinery 1, the user operates the throttle or brake components included in the operating unit 62, thereby the automatic control unit 61 controls the transmission device 5 or the braking device 6 based on the operation. Figure 1 The automatic control unit 61 changes the speed of the vehicle body 3, causing it to travel along the travel route L2. Furthermore, when the vehicle body 3 travels along the straight section L2s (or curve) of the travel route L2, the automatic control unit 61 controls the steering device 29 based on the position of the vehicle body 3 detected by the positioning device 40 and the straight section L2s (or gentle curve). Figure 1 The vehicle body 3 is automatically steered. Additionally, when the vehicle body 3 is traveling along the turning section L2r of the travel path L2, the user operates the steering wheel 30 (…). Figure 1 ), and manually steer the vehicle body 3.

[0229] That is, the straight section L2s (or turning section) of the travel route L2 is an automatic steering route that automatically controls the vehicle body 3 of the agricultural machinery 1 and hands over the change of the travel speed of the vehicle body 3 to manual operation. The turning section L2r of the travel route L2 is a manual driving route that hands over the control of the vehicle body 3 of the agricultural machinery 1 and the change of the travel speed to manual operation.

[0230] As described above, when the work is selected to be performed at a U-turn point via the AS U-turn work key B47, when the vehicle body 3 is traveling along the straight section L2s (or the turning section) of the travel route L2 (in autopilot mode), the automatic control unit 61 uses the work device 2 to perform ground-level work. However, when the vehicle body 3 is traveling along the turning section L2r of the travel route L2 (in manual steering mode), the automatic control unit 61 normally raises the work device 2 via the lifting device 8, and does not use the work device 2 to perform ground-level work.

[0231] That is, the straight section L2s (or the turning section) of the driving route L2 is a working route in which the driving vehicle 3 circles the outer side of the central area C1 while performing ground operations using the working device 2. Additionally, the field turnaround points E2b and E2c, where the driving route L2 is generated, are working areas where the driving vehicle 3 circles the outer side of the central area C1 while performing ground operations using the working device 2. Furthermore, the field turnaround area E1, formed by the field turnaround points E2b and E2c and the field turnaround point E2a, where the driving route L1 is generated, is also a working area.

[0232] As described above, when the route generation unit 51c generates a new travel route L2 based on the existing travel route L1, it stores data such as the position of the new travel route L2 in the storage unit 53 in association with the data of the travel route L1. Additionally, the route generation unit 51c stores the data of the modified endpoint position Pg in association with the data of the starting position Ps in the storage unit 53. Furthermore, the route generation unit 51c recalculates the estimated working distance for the vehicle 3 to perform ground operations using the work device 2 while traveling based on travel routes L1 and L2, and stores the calculation result in the storage unit 53 (estimated working distance update).

[0233] When the addition of driving route L2 as described above, or the related settings, are completed, such as Figure 14B As shown, the control unit 51 displays the driving routes L1 and L2, the starting position Ps, the ending position Pg, and the estimated working distance on the farmland map MP2 in the route generation screen D10. Additionally, the control unit 51 displays the driving routes L1 and L2 on the farmland map MP2 in different ways.

[0234] Furthermore, the control unit 51 displays an example Y3 on the route generation screen D10, which shows the purpose of each part of the driving routes L1 and L2 and the display method corresponding to that purpose. Figure 14BIn the example Y3, driving route L1 is shown as the automatic driving route, indicated by a solid arrow; the straight section L2s of driving route L2 is shown as the automatic steering route, indicated by a dashed arrow; and the turning section L2r of driving route L2 is shown as the manual driving route, indicated by a dashed arrow. Furthermore, when the display operation unit 52 can display in color, the colors of the lines or arrows representing the automatic driving route, automatic steering route, and manual driving route can be different.

[0235] After the driving routes L1 and L2 are displayed on the route generation screen D10, for example, the user selects the trajectory prediction key B14. In this case, the trajectory calculation unit 51d ( Figure 1 The predicted work trajectory J1 of the work device 2 during automatic driving (automatic driving operation mode) is calculated based on the driving route L1, and the predicted work trajectory J3 of the work device 2 during automatic steering (automatic steering operation mode) is calculated based on the driving route L2. The calculation method of the predicted work trajectory J1 during automatic driving is as described above.

[0236] When calculating the predicted work trajectory J3 during automatic steering, for example, the trajectory calculation unit 51d first calculates the work route in which the traveling vehicle 3 and the work device 2 perform ground-based work using the work device 2 along the travel route L2. Figure 15 The working width of the work device 2 during automatic steering is used as the passing area (passage area) when the straight section L1s moves (forward or backward). At this time, the center of the width direction of the traveling vehicle 3 and the center of the working width of the work device 2 are set on the work route. Then, the trajectory calculation unit 51d stores the data of each predicted work trajectory J1, J3 in the storage unit 53.

[0237] In addition, such as Figure 14C As shown, the control unit 51 overlays the predicted work trajectory J1 during automatic driving onto the driving route L1 of the farmland map MP2 in the route generation screen D10. Additionally, the control unit 51 overlays the predicted work trajectory J3 during automatic steering onto the driving route L2. Figure 14C In the process, since operation routes L1a and L1c are generated in the central area C1 and the field end U-turn point E2a, the predicted operation trajectory J1 during automatic driving is displayed along these operation routes L1a and L1c. Additionally, since operation routes L2 are generated in the field end U-turn points E2b and E2c, the predicted operation trajectory J3 during automatic turning is displayed along these operation routes L2.

[0238] Furthermore, the control unit 51 displays the predicted work trajectory J1 during automatic driving and the predicted work trajectory J3 during automatic steering in different ways on the farmland map MP2. Moreover, the control unit 51 displays an example Y4 showing the display methods for each predicted work trajectory J1 and J3 on the route generation 3 screen D10. This example Y4 also displays the display method for the predicted work trajectory during manual driving of the agricultural machinery 1. In this example, different shades are used to show the predicted work trajectories during automatic driving, automatic steering, and manual driving. However, if the display operation unit 52 can display in color, different colors can be used to paint each predicted work trajectory, or the shades of the painted color can be different. (The actual work trajectories during automatic driving, automatic steering, and manual driving, as described later, are the same.)

[0239] As described above, the route generation unit 51c sets a portion of a series of driving routes L1 and L2 generated in the farmland map MP2 as an automatic driving route L1 (straight route L1a, turning route L1b, and loop route L1c). Additionally, the route generation unit 51c sets another portion of the driving routes L1 and L2 as an automatic steering route L2s (the straight section L2s of driving route L2) or a manual driving route L2r (the turning section L2r of driving route L2). Furthermore, the route generation unit 51c sets a portion of a series of driving routes L1 and L2 as work routes L1a, L1s, and L2s (the straight section L1a of driving route L1, the straight section L1s of loop route L1c, and the straight section L2s of driving route L2).

[0240] The route generation unit 51c stores the route setting information associated with each route in the storage unit 53. As another example, the control unit 51 can detect the position and shape of each route based on the data stored in the storage unit 53, and determine the purpose of each route (i.e., automatic driving route L1, automatic steering route L2s, and work routes L1a, L1s, L2s) based on the detection results. Specifically, for example, the control unit 51 can determine that the driving route L1, generated in the central area C1 and the innermost U-turn point E2a, is an automatic driving route; determine that the straight section L2s of the driving route L2, generated at other U-turn points E2b and E2c, is an automatic steering route; and determine that the straight-line route L1a and the straight sections L1s and L2s are work routes.

[0241] As described above, operation routes L1a and L1s are set as automatic driving routes, and operation route L2s is set as automatic steering routes. However, by continuing to perform the prescribed operation on the route change key B21 while the user has selected one of the operation routes L1a, L1s, and L2s, the selected route setting can be changed to one of the following: automatic steering route, automatic driving route, or manual driving route.

[0242] Specifically, for example, in the route generation screen D10, the user selects a route by clicking on one of the multiple straight routes L1a (which serve as the work route and are also automated driving routes) and the multiple straight sections L1s (which serve as the loop route L1c). Then, when the user clicks the route change button B21 once, the selected route is set to an automated driving route. Furthermore, when the user clicks the route change button B21 again, the selected route is set to a manual driving route. Finally, when the user clicks the route change button B21 a third time, the selected route is set to an automated driving route.

[0243] Based on the change in the intended use of the route, the control unit 51 changes the route display mode, and the route generation unit 51c stores the changed settings in the storage unit 53. For the multiple straight sections L2s of the driving route L2, which is both a work route and an autopilot route, the intended use can be changed using the same steps as described above, and the display mode and stored content can also be changed. The display operation unit 52 and the route generation unit 51c are route change units that change the route as described above.

[0244] For example, generated in Figure 14B In the farmland map MP2 shown, among the multiple U-turn points E2a, E2b, and E2c, the innermost U-turn point E2a has its straight sections L1s along with its turning sections L1r set as an autopilot route. For example, following the above operating steps, the straight sections L1s generated at the U-turn point E2a are changed from an autopilot route to an autopilot steering route. In this case, the control unit 51 will... Figure 14B The display of each straight section L1s generated at the U-turn point E2a at the field end, as shown, is changed to be as follows: Figure 14D The straight section L2s included in the driving route L2 used in the automatic steering operation mode shown is displayed. Additionally, the control unit 51 will, as shown... Figure 14B The display of each turning section L1r generated at the U-turn point E2a in the field, as shown, is changed to be as follows: Figure 14D The automatic steering operation mode shown displays the turning section L2r included in the driving route L2 (manual driving route display). That is, the control unit 51 will display as shown... Figure 14BThe loop route L1c generated as shown at the U-turn point E2a at the field end is changed to... Figure 14D The driving route L2 for the automatic steering operation mode shown is displayed. Additionally, the route generation unit 51c stores the route setting changes in the storage unit 53.

[0245] Additionally, generated in the location Figure 14B The straight sections L2s and turning sections L2r within the driving route L2 of the outermost U-turn point E2c on the farmland map MP2 shown are set as an autopilot route. For example, following the above operating steps, the straight sections L2s generated at the U-turn point E2c are changed from an autopilot route to a manual driving route. In this case, the control unit 51 will... Figure 14B The display of each straight section L2s generated at the U-turn point E2c at the field end will then change as follows: Figure 14D The manual driving operation mode shown displays the straight section L3s included in the manual driving route L3. Additionally, the control unit 51 will, as shown... Figure 14B The display of each turning section L2r generated at the U-turn point E2c in the field, as shown, changes to the following: Figure 14D The manual driving operation mode shown displays the turning section L3r included in the manual driving route L3 (manual driving route display). That is, the control unit 51 will display the turning section L3r as shown in the manual driving route L3. Figure 14B The driving route L2 generated as shown at the U-turn point E2c in the field is changed to... Figure 14D The manual driving operation mode shown is displayed using the manual driving route L3. Additionally, the route generation unit 51c stores the route setting changes in the storage unit 53.

[0246] The display operation unit 52 displays the portions of the travel routes L1, L2, and L3 that can be set (including those that can be set and changed) as autopilot routes (in this example, straight sections L2s, L1s, L3s, and straight route L1a). The display operation unit 52 can also display the portions L2s, L1s, L3s, and L1a that can be set as autopilot routes in a manner different from the other portions. Additionally, portions of the travel routes L1, L2, and L3 that cannot be set as autopilot routes (in this example, turning routes L1b, turning sections L1r, L2r, and L3r) can be displayed in a way that prevents selection via the display operation unit 52's screen operation.

[0247] For example, such as Figure 14DAs shown, after the user sets the purpose of the changed route, they select the trajectory prediction key B14. In this case, the trajectory calculation unit 51d calculates the predicted operation trajectory J1 for automatic driving, the predicted operation trajectory J3 for automatic steering, and the predicted operation trajectory J4 for manual driving based on the driving routes L1, L2, and L3. Then, the control unit 51 displays each predicted operation trajectory J1, J3, and J4 in the farmland map MP2 based on the calculation results.

[0248] Therefore, as Figure 14E As shown, only in the central area C1, the predicted operating trajectory J1 during automatic driving is drawn based on the automatic driving route L1a. Additionally, in the inner Tabata U-turn areas E2a and E2b, the predicted operating trajectory J3 during automatic steering is drawn based on the automatic steering route L2s. Furthermore, in the outermost Tabata U-turn area E2c, the predicted operating trajectory J4 during manual driving is drawn based on the straight section L3s of the manual driving route L3.

[0249] <Combined use of multiple job modes>

[0250] For example, in Figure 14B In the route generation screen D10 shown, the user selects the next button B9. In this case, the control unit 51 transmits data representing the farmland map MP2, regions C1 and E1, and driving routes L1 and L2 displayed on screen D10 to the control device 60 via the vehicle network N1 through the communication unit 54. Figure 1 In addition, control unit 51 will... Figure 16 The driving control screen D11 shown is displayed on the display operation unit 52.

[0251] The driving control screen D11 displays the driving and operating status of the agricultural machinery 1 under the various operating modes described above. Furthermore, in... Figure 16 The diagram illustrates the driving and operational status of agricultural machinery 1 after a period of time since it began automatic driving operation from the starting position Ps. The driving control screen D11 displays the farmland map MP2, driving routes L1 and L2, starting position Ps, ending position Pg, agricultural machinery marker X2, driving status of agricultural machinery 1, setting change key B20, operation trajectory key B15, trajectory clear key B16, and example Y5.

[0252] Example Y5 indicates the display method of the actual working trajectory (autopilot; slanted shadow line tilting to the lower left) performed by the working device 2 when the agricultural machinery 1 is in automatic driving (automatic driving operation mode), the actual working trajectory (automatic steering; slanted shadow line tilting to the lower right) performed by the working device 2 when it is in automatic steering (automatic steering operation mode), and the actual working trajectory (manual driving; dotted shadow line) performed by the working device 2 when it is in manual driving (manual driving operation mode).

[0253] For example, while watching the driving control screen D11, the user manually drives the agricultural machinery 1 to the starting position Ps, and then uses the mode switch 65 ( Figure 1 The automatic control unit 61 performs the prescribed operation for switching to automatic driving mode. Therefore, the automatic control unit 61 ( Figure 1 As described above, the system switches to automatic driving mode, allowing the vehicle 3 to drive automatically based on its position and driving route L1 detected by the positioning device 40, while the working device 2 performs ground operations. Additionally, the control unit 51 of the agricultural operation assistance device 50 displays on the driving control screen D11 that the agricultural machinery 1 is in automatic driving mode (displayed above example Y5), and updates the display position of the agricultural machinery marker X2 based on the position of the vehicle 3.

[0254] Additionally, when the user selects the work trajectory key B15, the trajectory calculation unit 51d calculates the actual work trajectory J2 of the work device 2 during automatic ground operation based on the position of the vehicle body 3 and the working width of the work device 2, and stores the data of the work trajectory J2 in the storage unit 53. Then, as... Figure 16 As shown, the control unit 51 displays the actual work trajectory J2 overlaid on the straight route L1a.

[0255] By utilizing the automatic control unit 61 to execute the automatic driving operation mode, the vehicle body 3 travels back and forth in the central area C1 in an automatic driving mode, and performs ground operations on the central area C1 using the work device 2. Next, the vehicle body 3 then travels in an automatic driving mode around the field-side turning point E2a located around the central area C1, and performs ground operations on the field-side turning point E2a using the work device 2.

[0256] Then, as Figure 17AAs shown, when the working device 2 reaches the end point of the travel route L1 (the end position of the ground operation based on automatic driving) Pg1, the automatic control unit 61 raises the working device 2 via the lifting device 8, stops the ground operation of the working device 2, and ends the automatic driving operation mode. Additionally, the notification unit 51g of the agricultural operation assistance device 50 displays a notification U4 in the center of the driving control screen D11 containing the message: "Automatic driving has ended. You can continue working in automatic steering mode. To continue working, please perform manual operation and move to the start point of automatic steering." That is, the notification unit 51g and the display operation unit 52 notify the agricultural machinery 1 that automatic driving has ended, that automatic steering of the agricultural machinery 1 can continue, and that the vehicle body 3 can be moved to the start point of automatic steering by manual operation.

[0257] Users who see the above notification U4, for example, in order to continue ground operations in autopilot mode, can manually change the direction of the vehicle body 3, so that the vehicle body 3 moves to the starting point of the autopilot operation mode (the starting point of the initial straight section L2s of the travel route L2) Ps1.

[0258] In detail, for example, the user first operates the steering wheel 30 and the throttle or brake mechanism of the control unit 62 to make the vehicle body 3 turn along the turning section L2r of the driving route L2, which is connected to the end point Pg1 of the driving route L1. Next, the user operates the steering wheel 30 and the throttle mechanism to make the vehicle body 3 reverse along the straight section L2s connected to the turning section L2r, so that the orientation of the vehicle body 3 is consistent with the direction of travel of the straight section L2s. If the user operates the mode switch 65 to start the automatic steering operation mode before the vehicle body 3 reverses, when the user operates the throttle mechanism but not the steering wheel 30 to make the vehicle body 3 reverse, the automatic control unit 61 performs automatic steering of the vehicle body 3 based on the position of the straight section L2s and the vehicle body 3.

[0259] Then, when the user operates the braking component, such as Figure 17B When the vehicle body 3 stops at the starting point Ps1 of the automatic steering operation mode (vehicle speed = 0) as shown, the notification unit 51g displays a notification U5 containing the message "To start operation in automatic steering mode, please perform start operation and driving operation" in the center of the driving control screen D11. That is, when the agricultural machinery 1 starts ground operation in automatic steering mode, the notification unit 51g and the display operation unit 52 notify that start operation and driving operation are required.

[0260] When a user sees the aforementioned notification U5 and, for example, activates the autopilot operation mode via the operation mode switch 65, the automatic control unit 61 activates the automatic driving operation mode, lowering the working device 2 to a position where it can operate on the ground via the lifting device 8. Then, when the user operates the throttle component to move the vehicle body 3 forward, the automatic control unit 61, based on the straight section L2s of the driving route L2 and the position of the vehicle body 3, performs automatic steering of the vehicle body 3 while using the working device 2 to perform ground operations.

[0261] Furthermore, when the vehicle body 3 is turned to move to the starting point Ps1 of the aforementioned automatic steering operation mode, and the user operates the mode switch 65 to start the automatic steering operation mode, after displaying notification U5, the user may sometimes operate the throttle component to move the vehicle body 3 without needing to operate the mode switch 65 again. In this case, when the vehicle body 3 stops at the starting point Ps1, the automatic control unit 61 lowers the working device 2 to a position where it can operate on the ground via the lifting device 8. While the vehicle body 3 is moving, based on the position of the straight section L2s and the vehicle body 3, the automatic steering of the vehicle body 3 is performed while the working device 2 is used to perform ground operations.

[0262] As another example, the automatic control unit 61 can also automatically change the direction of the vehicle body 3 from the end point Pg1 of the travel route L1 to the start point Ps1 of the automatic steering operation mode, and switch from the automatic travel operation mode to the automatic steering operation mode. In this case, when the work device 2 reaches the end point Pg1 during its ground operation, the automatic control unit 61 raises the work device 2 via the lifting device 8 and stops the ground operation of the work device 2, and then, based on the position of the travel route L2 and the vehicle body 3, causes the vehicle body 3 to change direction in an automatic driving mode.

[0263] In detail, for example, the automatic control unit 61 first causes the vehicle body 3 to turn along the turning section L2r of the travel route L2 connected to the end point Pg1 in an automatic driving mode. Next, the automatic control unit 61 causes the vehicle body 3 to reverse along the straight section L2s connected to the turning section L2r in an automatic driving mode, so that the orientation of the vehicle body 3 is consistent with the travel direction of the straight section L2s. Then, when the automatic control unit 61 stops the vehicle body 3 at the starting point Ps1 of the automatic steering operation mode, it uses the lifting device 8 to lower the working device 2 to a position where it can work on the ground, thus switching from the automatic driving operation mode to the automatic steering operation mode.

[0264] When the automatic steering operation mode is activated and the vehicle body 3 is driven manually, the control unit 51 of the agricultural operation assistance device 50 clears the notification U5 on the driving control screen D11 and displays that the automatic steering of the agricultural machinery 1 is in operation (e.g., displays...). Figure 18Above example Y5), and based on the position of the vehicle body 3, update the display position of the agricultural machinery marker X2.

[0265] Furthermore, when the work trajectory key B15 is selected, the trajectory calculation unit 51d calculates the actual work trajectory J5 during automatic steering of the work device 2 for ground-based operations based on the position of the traveling vehicle 3 and the working width of the work device 2, and stores the data of the work trajectory J5 in the storage unit 53. In addition, the control unit 51 displays the actual work trajectory J5 overlaid on the straight section L2s of the travel route L2. Figure 18 ).

[0266] In the automatic steering of the vehicle body 3, if the user operates the steering wheel 30, the automatic control unit 61 stops the automatic steering of the vehicle body 3 and ends the automatic steering operation mode. At this time, the steering of the vehicle body 3 is based on the operation of the steering wheel 30 (manual steering mode). Afterwards, when the user performs the prescribed operation through the mode switch 65 to restart the automatic steering operation mode, the automatic control unit 61 restarts the automatic steering of the vehicle body 3.

[0267] exist Figure 18 In the context of the driving route L2, the connection point Px (represented by a black circle) between the front end of each straight section L2s and each turning section L2r is the turning point (turning start position) where the automatic steering of the vehicle 3 is temporarily stopped and the manual steering is initiated to move the vehicle 3 to the next straight section L2s. Figure 18 For convenience, only a portion of the points indicated by black circles are labeled with the reference numeral Px.

[0268] Furthermore, the turning point Px refers to the connection point between sections of the travel routes L2 and L1, such as the straight sections L2s and L1s, the turning sections L2r and L1r, the straight section L1a, or the turning section L1b (or the connection point between the straight sections L2s), and is a position where the angle difference between one section and the other section is greater than a specified threshold. (To be used later) Figure 24 (Wait for a detailed explanation.)

[0269] like Figure 18 As shown, when the vehicle 3 reaches the designated intermediate point Px1 of the straight section L2s, which is a predetermined distance ahead of the turning point Px, the notification unit 51g displays a notification U6 containing the message "Approaching the turning point. Please be careful" in the center of the driving control screen D11, along with a predetermined time. That is, the notification unit 51g and the display operation unit 52 notify the vehicle 3 that it has approached the turning point Px where autopilot is temporarily stopped, and that the turning of the vehicle 3 must be performed manually.

[0270] After displaying the above notification U6, as follows Figure 19A As shown, the vehicle body 3 travels along a straight section L2s, for example, the vehicle body 3 or the working device 2 reaches the turning point Px. At this time, the control unit 51 of the agricultural operation assistance device 50 can also display information such as that the turning point Px has been reached or that the vehicle body 3 has been turned manually in the driving control screen D11.

[0271] For example, when users see Figure 18 After notification U6, etc., when the agricultural machinery marker X2 is visually confirmed to have reached the turning point Px in the driving control screen D11, the turning of the driving vehicle 3 is performed manually based on the driving route L2 and the position of the driving vehicle 3.

[0272] In detail, for example, the user first operates the steering wheel 30 and the throttle or brake components, causing the vehicle body 3 to move forward while rotating along the turning section L2r (manual driving mode). At this time, the automatic control unit 61 temporarily stops the automatic steering of the vehicle body 3, and raises the working device 2 via the lifting device 8, temporarily stopping the ground-based operation of the working device 2. In addition, the control unit 51 of the agricultural operation assistance device 50 displays "Automatic steering temporarily stopped" on the driving control screen D11 (illustration omitted).

[0273] For example, such as Figure 19B As shown, after the vehicle body 3 turns, the user operates the steering wheel 30 and the forward / reverse switching lever and throttle component included in the operating unit 62, causing the vehicle body 3 to reverse along the next straight section L2s. Then, the user operates the braking component, such as... Figure 19B As shown, the vehicle body 3 is brought to a stop at the starting point of the next straight section L1s. Thus, the orientation of the vehicle body 3 aligns with the direction of travel of the next straight section L2s, and the change of direction of the vehicle body 3 is completed. Afterwards, for example, when the user performs a prescribed operation via the mode switch 65 to restart automatic steering, the automatic control unit 61 lowers the working device 2 via the lifting device 8, changing it to a state where the working device 2 can perform ground-level operations.

[0274] In contrast to the above, for example, before reversing the vehicle body 3 along the next straight section L2s, the user performs a prescribed operation via the mode switch 65 to restart automatic steering. In this case, when the user operates the throttle component or other components without operating the steering wheel 30 to reverse the vehicle body 3, the automatic control unit 61 performs automatic steering of the vehicle body 3 based on the position of the next straight section L2s and the vehicle body 3 (automatic steering restarts). Then, when the vehicle body 3 stops at the starting point of the next straight section L2s, the automatic control unit 61 lowers the working device 2 via the lifting device 8, making it capable of ground-based operations.

[0275] Therefore, when the vehicle body 3 is reversing, the user does not need to operate the steering wheel 30 to steer the vehicle body 3, and the orientation of the vehicle body 3 is easily aligned with the direction of travel of the next straight section L2s. Furthermore, when the user subsequently operates the steering wheel 30 and throttle components to move the vehicle body 3 forward, the automatic control unit 61 also performs automatic steering of the vehicle body 3. Therefore, the user does not need to perform the prescribed operation again through the mode switch 65 to restart automatic steering.

[0276] As another example, when the user operates the throttle component or other components without operating the steering wheel 30, causing the vehicle body 3 to advance a predetermined distance from the starting point of the next straight section L2s, the automatic control unit 61 can restart the automatic steering of the vehicle body 3. Thus, even without performing the prescribed operation via the mode switch 65, the automatic steering of the vehicle body 3 can be restarted.

[0277] Furthermore, the steps for changing the direction of the vehicle body 3 and the actions taken when changing direction are not limited to those described above. For example, depending on the driving skill of the user of the agricultural machinery 1, or the positional relationship between one straight section L2s and the next straight section L2s, when manually changing the direction of the vehicle body 3, the user may sometimes operate the steering wheel 30 or the throttle component to make the vehicle body 3 turn back or move forward multiple times. In such cases, when the vehicle body 3 moves backward or forward along the automatic steering route L2s, the automatic control unit 61 also performs automatic steering of the vehicle body 3.

[0278] On the other hand, since the user did not manually steer the vehicle, therefore... Figure 19D As shown, the vehicle body 3 and the working device 2 sometimes continue to travel straight and pass the turning point Px. Therefore, for example, if the vehicle body 3 passes the turning point Px and a predetermined time has elapsed (or the vehicle body 3 has traveled a predetermined distance) without manual operation of the steering wheel 30, the automatic control unit 61 activates the braking device 6 ( Figure 1 This forces the vehicle 3 to stop. Alternatively, the notification unit 51g can also notify the driver by displaying information on the display operation unit 52 indicating that the vehicle 3 was forced to stop because it was not manually steered.

[0279] For example, such as Figures 19A-19CAs shown, the user manually changes the direction of the vehicle 3, and after resuming automatic steering by performing the prescribed operation via the mode switch 65, the user operates the throttle component to move the vehicle 3. Then, the automatic control unit 61 automatically steers the vehicle 3 based on the straight section L2s of the driving route L2 and the position of the vehicle 3, and the working device 2 resumes ground operations. Furthermore, the control unit 51 of the agricultural work assistance device 50 displays the automatic steering in operation on the driving control screen D11.

[0280] Subsequently, as described above, the vehicle body 3 is alternately and repeatedly driven manually along the straight section L2s of the driving route L2 while simultaneously being automatically steered, and the vehicle body 3 is manually driven to change direction along the turning section L2r and the straight section L2s. Thus, the vehicle body 3 circles the field-end U-turn point E2b, and the working device 2 performs ground-level operations on the field-end U-turn point E2b. Next, the vehicle body 3 circles the field-end U-turn point E2c, and the working device 2 performs ground-level operations on the field-end U-turn point E2c.

[0281] Then, when the working device 2 reaches the endpoint Pg, and the ground-level operation of the turning point E2c via the working device 2 is completed, the automatic control unit 61 terminates the automatic steering of the vehicle body 3 and ends the automatic steering operation mode. Additionally, the control unit 51 of the agricultural operation assistance device 50 displays "Automatic steering has ended" on the driving control screen D11. Furthermore, when the operation trajectory key B15 in the driving control screen D11 is selected, as... Figure 20 As shown, the actual operating trajectory J2 during automatic driving is displayed in the central area C1 of the farmland map MP2 and the innermost U-turn point E2a. The U-turn points E2b and E2c (refer to the reference points) are located outside of U-turn point E2a. Figure 14B (etc.) Displays the actual working trajectory during automatic steering J5.

[0282] On the other hand, during the automatic driving operation mode in agricultural machinery 1, the automatic control unit 61 sometimes stops (disengages) the automatic driving mode of the vehicle body 3 due to user operation of the mode switch 65 or certain malfunctions. In this case, for example, Figure 21 As shown, the notification unit 51g of the agricultural operation assistance device 50 ( Figure 1The driving control screen D11 displays a notification U7 containing the message, "Autopilot is deactivated. You can continue working in manual mode. To end or interrupt the work, please press the Next button." In other words, the notification unit 51g and the display operation unit 52 notify the agricultural machinery 1 that autopilot has been deactivated, that manual driving of the agricultural machinery 1 is possible, and that the agricultural machinery 1 can be stopped or interrupted for ground operations. The user can monitor the status of the agricultural machinery 1 by viewing this notification U7.

[0283] Furthermore, during the operation of the automatic steering mode in agricultural machinery 1, the automatic control unit 61 may sometimes stop the automatic steering (automatic steering) of the vehicle body 3. In this case, the notification unit 51g of the agricultural operation assistance device 50 displays a notification on the driving control screen D11 containing information such as "Automatic steering has been deactivated. You can continue to operate in manual driving mode. To end or interrupt the operation, please press the next button." (Illustration omitted). That is, the notification unit 51g and the display operation unit 52 notify the user that the automatic steering of agricultural machinery 1 has been deactivated, that the agricultural machinery 1 can be manually driven for ground operations, and that the user can choose to end or interrupt the ground operations of agricultural machinery 1. By viewing the above notification, the user can understand the status of agricultural machinery 1.

[0284] In the above implementation methods, such as Figure 14B , Figure 14D as well as Figure 20 As shown, an example is presented where a driving route L2 for automatic steering operation mode is generated in the field turning area E1 of the farmland map MP2. However, for example, Figure 22 As shown, a driving route L2 can also be generated in the central area C1.

[0285] exist Figure 22 In the example shown, in the farmland map MP2 of route generation screen D10, a driving route (autopilot route) L1a for autonomous driving operation mode is generated in the roughly right half of the central area C1, and a driving route L2 for autopilot operation mode is generated in the roughly left half of the central area C1. The driving route L2 in the central area C1 includes a straight route L2a and a turning route L2b. The straight route L2a and the turning route L2b are generated with the same shape as the straight route L1a and the turning route L2b of driving route L1, respectively. Each straight route L1a and L2a is an operation route. Additionally, the straight route L2a is an autopilot route.

[0286] Additionally, among the multiple Tabata U-turn points E2a, E2b, and E2c surrounding the central area C1, the innermost Tabata U-turn point E2a generates a manual driving route L3 for manual driving operation mode, while the other Tabata U-turn points E2b and E2c generate driving routes L2 for automatic steering operation mode. The manual driving route L3 of Tabata U-turn point E2a includes a straight-line section L3s and a turning section L3r. The driving routes L2 of Tabata U-turn points E2b and E2c include a straight-line section L2s and a turning section L2r. Each straight-line section L3s and L2s is an operation route. The straight-line section L2s is an automatic steering route.

[0287] As described above, the operation routes L1a, L2a, L2s, and L3s contained in each route L1, L2, and L3 are set as one of the automatic driving route, automatic steering route, and manual driving route. Through the prescribed operations of the route generation screen D10 and the route change key B21, they can be changed to any one of the automatic driving route, automatic steering route, and manual driving route.

[0288] like Figure 22 As shown, when agricultural machinery 1 performs field operations based on routes L1, L2, and L3 generated in the farmland map MP2, the automatic control unit 61 automatically switches between automatic driving and automatic steering of the vehicle 3 according to the switching from one route to another, namely automatic driving route and automatic steering route. Furthermore, when switching from one mode to another, namely automatic driving operation mode, automatic steering operation mode, and manual driving operation mode, the notification unit 51g can also display a notification indicating the mode switch or a notification urging the user to operate the operation unit 62 on the display operation unit 52.

[0289] In the above embodiment, an example is shown where the route generation unit 51c, based on the operation of the route change key B21, changes the work routes L1a, L1s, L2a, L2s, and L3s included in each route L1, L2, and L3 generated in the farmland map MP2 to any one of an automatic driving route, an automatic steering route, or a manual driving route. However, the route generation unit 51c can also, based on the operation of the route change key B21, change the parts of each route L1, L2, and L3 other than the work routes (turning routes L1b, L2b, turning parts L1r, L2r, etc.) to any one of an automatic driving route, an automatic steering route, or a manual driving route.

[0290] Furthermore, in the above embodiment, an example is shown where, after generating the driving route L1 for the automatic driving operation mode in the farmland map MP2, a driving route L2 for the automatic steering operation mode is added. However, for example, it is also possible to select before selecting the automatic driving button B2a. Figure 3The automatic steering key B2b on the main screen D1, as shown, generates a driving route L2 in the farmland map MP2 before generating a driving route L1 in the route 3 screen D10 displayed on the display operation unit 52, or generates only driving route L2 in the central area C1 and the field end U-turn area E1. Furthermore, the individual parts L2s, L2r, L2a, and L2b of the driving route L2 generated in the farmland map MP2 for automatic steering operation mode can be changed to the individual parts L1s, L1r, L1a, and L1b of the driving route L1 for automatic driving operation mode, or the individual parts L3s and L3r of the manual driving route L3 for manual driving operation mode.

[0291] Furthermore, in the above-described embodiment, a route change key B21 for changing the purpose or display of the route is provided on the route generation 3 screen D10. However, the route change key B21 can also be provided on, for example, the driving control screens D11 and D8 or the route generation 2 screen D7. By providing the route change key B21 on the driving control screens D11 and D8, the automatic driving operation mode, automatic steering operation mode, or manual driving operation mode in the agricultural machinery 1 can be executed by operating the route change key B21 to change the automatic driving route, automatic steering route, or manual driving route to a route for other purposes. In addition, by providing the route change key B21 on the route generation 2 screen D7, the automatic driving route can be generated by operating the route change key B21 to change the automatic driving route to an automatic steering route or a manual driving route.

[0292] Furthermore, in the above-described embodiments, it is shown that in Figure 14B In the route generation screen D10 shown, the driving route L1 is set as an automatic driving route, and the straight section L2s of the driving route L2 is set as an automatic steering route. However, for example, it is also possible not to set the purpose of each part of the driving route in the display of the route generation screen (screens D7 and D10) or when generating the driving route, and then set at least a part of the driving route as an automatic steering route, an automatic driving route, or a manual driving route in the subsequent driving control screen (screens D8 and D11) according to the operation of the display operation unit 52.

[0293] Alternatively, in the driving control screens D8 and D11, depending on the operation of mode switch 65, one of the following modes can be executed: automatic steering operation mode, automatic driving operation mode, or manual driving operation mode. At least a portion of the driving route can be set as one of these modes. Furthermore, in this case, for example, all portions of the driving route generated in the central area or field turnaround area where agricultural operations are performed can be set as either an automatic steering route or an automatic driving route.

[0294] Alternatively, you can also avoid generating a 3-screen D10 on the route. Figure 14A In the AS field turn-around operation key B47, and in the driving control screens D8 and D11 (etc.), the driving control operation key B47 is set, while in the driving control screens D8 and D11 (etc.) Figure 12 , Figure 16 The AS field turn-around key B47 is set in the driving control screen (D8, D11). Additionally, the timing for manually driving agricultural machinery 1 when its automatic driving ends or is interrupted can be displayed. Figure 17A (The timing of notification U4, etc.) will display the AS field turn-around operation key B47 in the driving control screen D8 and D11 as a dialog box.

[0295] That is, when agricultural machinery 1 switches from automatic driving to manual driving, the operator can select, via the AS field turn-around operation key B47, whether to perform work using the work device 2 while automatically steering agricultural machinery 1 at field turn-around point E1, or not to perform work. Then, if "Perform" is selected via the AS field turn-around operation key B47, that is, if work is performed using the work device 2 while automatically steering agricultural machinery 1 at field turn-around point E1, the route generation unit 51c ( Figure 1 At the U-turn point E1, a driving route L2 is generated, and the control unit 51 displays the driving route L2 in the driving control screens D8 and D11. Additionally, at this time, the route generation unit 51c can also reset the endpoint position Pg based on the generation of the driving route L2, or set the straight section L2s of the driving route L2 as an automatic steering route.

[0296] Alternatively, before the AS Tabata U-turn operation key B47 is displayed on the driving control screens D8 and D11, the route generation unit 51c can generate the driving route L2 at the Tabata U-turn point E1. Furthermore, if "Proceed" is selected via the AS Tabata U-turn operation key B47 displayed on the driving control screens D8 and D11, the route generation unit 51c can set the straight section L2s of the driving route L2 as the autopilot route.

[0297] <Irregularly shaped farmland>

[0298] In farmland where agricultural machinery 1 is used for agricultural operations, there are not only farmland with rectangular outlines as described above, but also farmland with irregular outlines that are different from rectangles. Figures 23A-23B This is a diagram showing an example of the settings for areas C1 and E1 and driving routes L1 and L2 in a farmland map MP2 representing farmland with an irregular outline H1. Figure 24 Is Figures 23A-23B An enlarged view of the driving route L2 generated on the right side of each U-turn point E2a, E2b, and E2c shown.

[0299] Figures 23A-23B The outline H1 of the farmland map MP2 shown is mostly rectangular, but a portion (the right side) is jagged. That is, Figures 23A-23B The outline H1 of the farmland shown is composed of straight sections Hs and serrated sections Hj. Each straight section Hs is represented by a straight line, and the serrated sections Hj are represented by connecting multiple straight lines.

[0300] For such a farmland map MP2, it will first be in Figure 10A The route generation screen D7 shows the settings for areas C1 and E1, and the driving route L1 used in the automatic driving operation mode. Figure 14A The following explanation will be based on the example of setting the driving route L2 for the automatic steering operation mode in screen D10, as shown in the route generation diagram.

[0301] As described above, firstly, the area setting unit 51b, based on the outline H1 of the farmland, the working width of the working device 2 (or the external width of the working device 2), displays the route generation 2 screen D7 ( Figure 10A The number of field-end turning points or the overlap of field-end turning points entered in the field map (etc.) are used to set the central area C1 and the field-end turning point area E1 in the farmland map MP2. Figure 23A In the example shown, the area setting unit 51b sets the outline C1, which is formed by subtracting the overlap of the field turning points from the working width of the working device 2, and shifting the outline H1 of the farmland inward by the number of field turning points (three times), as the central area C1. In addition, the area setting unit 51b sets a field turning point area E1, which is composed of three field turning points E2a, E2b, and E2c, outside the central area C1.

[0302] Next, the route generation unit 51c, based on the areas C1 and E1, the working width and direction of the working device 2, the overlap of the field end U-turn point, and the overlap of the central area, generates, for example, a driving route L1 that spans the central area C1 and the field end U-turn point E2a and consists of multiple straight routes L1a and multiple turning routes L1b. Thus, as... Figure 23B As shown, a straight route L1a is set in the central area C1 as both an autonomous driving route and a work route.

[0303] Subsequently, the route generation unit 51c, based on regions C1 and E1, the working width of the working device 2, the overlap of the field end turning point, and the route generation 3 screen D10 (… Figure 14AWhen the AS field turnaround operation key B47 is selected, a driving route L2 for automatic steering operation mode is generated in the field turnaround area E1. In detail, the route generation unit 51c generates the driving route L2 in the field turnaround areas E2a, E2b, and E2c in a manner that is continuous with the driving route L1 and surrounds the central area C1.

[0304] At this time, the route generation unit 51c generates a straight section L2s parallel to the outline H1 of the farmland on the center line of the width direction of each field end turning point E2a, E2b, and E2c, thus serving as the driving route L2. Therefore, as... Figure 23B As shown, at each of the straight sections Hs of the farmland outline H1, where the fields turn around, such as E2a, E2b, and E2c, are parallel to the straight sections Hs of the farmland outline H1, a relatively long straight section L2s-1 (solid arrow) is generated. Additionally, at the right side of each of the field-end turning points E2a, E2b, and E2c, which are parallel to the serrated section Hj of the farmland outline H1, multiple shorter straight sections L2s-2 (solid arrow) are generated. These multiple straight sections L2s-2 are continuous in a serrated pattern, parallel to the serrated section Hj of the outline H1.

[0305] Next, the route generation unit 51c detects the angles of each straight section L2s generated at each U-turn point E2a, E2b, and E2c. At this time, the route generation unit 51c calculates the angles of each straight section L2s based on pre-set coordinates (not shown). Next, the route generation unit 51c calculates the difference (angle difference) Δθ between the angle of one straight section L2s (arranged sequentially with respect to the direction of travel of the route L2) and the angle of another straight section L2s (whose extension direction differs from that of the first straight section L2s). Furthermore, this angle difference Δθ is an absolute value. Additionally, as... Figure 24 As shown, the angle difference Δθ is the smaller angle among the angles formed by the travel direction of one straight section L2s and the travel direction of another straight section L2s.

[0306] Next, if the angle difference Δθ between one straight section L2s and another straight section L2s is greater than a predetermined first threshold Δθs1, the route generation unit 51c sets a turning point Px between one straight section L2s and another straight section L2s (or a connection point). The first threshold Δθs1 is, for example, set to a value below the upper limit of the steering angle (e.g., 45°) of the automatic steering of the vehicle body 3.

[0307] Additionally, at this time, for example, Figure 24As shown above and below the U-turn points E2a, E2b, and E2c, if the angle difference Δ0 between one straight section L2s and another straight section L2s is greater than or equal to the predetermined second threshold Δθs2, the route generation unit 51c can also set a turning point Px at a position closer to the predetermined length than the front end of one straight section L2s, and generate a turning section L2r for manually turning (changing direction) the vehicle body 3 from that turning point Px to another straight section L2s (see also...). Figure 23B The second threshold Δθs2 is set to a value greater than or equal to the first threshold Δθs1 (e.g., 90°). The same steps for generating the turning section L2r can also be applied when generating the turning section L1r of the aforementioned travel route L1.

[0308] As another example, the comparison between the angle difference Δθ between one straight section L2s and another straight section L2s and the second threshold Δθs2 can also be omitted. If the angle difference Δθ is greater than the first threshold Δθs1, only the turning point Px is set between one straight section L2s and another straight section L2s.

[0309] On the other hand, such as Figure 24 As shown, if the angle difference Δθ between one straight section L2s and another straight section L2s is less than or equal to the first threshold Δθs1, the route generation unit 51c connects one straight section L2s and another straight section L2s and sets them as a series of autopilot routes, without setting a turning point Px and a turning section L2r between one straight section L2s and another straight section L2s.

[0310] Based on the above, such as Figure 23B As shown, among the multiple straight sections L2s-1 and L2s-2 generated at the U-turn points E2a, E2b, and E2c, those with an angle difference Δθ greater than the first threshold Δθs1 are assigned a turning point Px or a turning section L2r. Furthermore, straight sections L2s with an angle difference Δθ less than the first threshold Δθs1 are assigned a series of autopilot routes. Figure 23B For convenience, some of the change-of-direction locations are marked with the map symbol Px, while other change-of-direction locations are represented by black dots.

[0311] After generating the driving route L2 at the U-turn points E2a, E2b, and E2c as described above, the route generation unit 51c stores the data of each part of the driving routes L1 and L2 (straight route L1a, turning route L1b, straight section L2s, turning section L2r, and their connection points (including the turning point Px)) in the storage unit 53. Furthermore, the route generation unit 51c sets a starting position Ps at one end of the driving route L1 and an ending position Pg at one end of the driving route L2, and stores the data representing these positions Ps and Pg in the storage unit 53. Additionally, the route generation unit 51c calculates the estimated working distance for the driving vehicle 3 to perform ground operations using the working device 2 while driving based on the straight route L1a and straight section L2s included in the driving routes L1 and L2, and stores the calculation result in the storage unit 53.

[0312] Control unit 51 will be as follows Figure 23B As shown, the driving routes L1, L2 or positions Ps, Pg, etc., set by the route generation unit 51c are displayed together with the farmland map MP2 on the route generation 3 screen D10. Figure 14B (etc.) or driving control screen D11 ( Figure 16 (etc.)

[0313] Subsequently, as described above, after executing the automatic driving operation mode in the agricultural machinery 1, the automatic steering operation mode is executed, causing the vehicle body 3 to travel along the automatic steering route (straight section) L2s of the driving route L2 with the field turning points E2a, E2b, and E2c. At this time, the automatic control unit 61 performs automatic steering of the vehicle body 3 based on the positions of the straight section L2s and the vehicle body 3, while using the working device 2 to perform ground operations. Then, at the connection point between the straight sections L2s where no turning point Px is set, the automatic control unit 61 continues to perform automatic steering of the vehicle body 3 based on the positions of the straight sections L2s and the vehicle body 3 located on both sides of the connection point, and also continues to perform ground operations using the working device 2.

[0314] In contrast, when the vehicle body 3 approaches the turning point Px, a notification U6 prompting the agricultural machinery 1 to change direction is displayed on the driving control screen D11 via the display operation unit 52. Figure 18 Additionally, when the vehicle body 3 reaches the turning point Px, the automatic control unit 61 temporarily stops the automatic steering of the vehicle body 3. When the vehicle body 3 changes direction at the turning point Px through manual operation by the driver, and the orientation of the vehicle body 3 is consistent with the direction of travel of the next straight section L2s, the automatic control unit 61 resumes the automatic steering of the vehicle body 3.

[0315] Furthermore, when the aforementioned vehicle body 3 changes direction, if the turning unit L2r is connected to the turning point Px, the automatic control unit 61 temporarily stops the ground operation of the working device 2. Alternatively, if the turning point Px is located at the connection point between the straight sections L2s-2, the automatic control unit 61 may temporarily stop the ground operation of the working device 2, or it may continue the ground operation of the working device 2.

[0316] It can also be done through, for example, Figures 25A-25C The first threshold change key B23 shown is used to change the first threshold Δθs1 used to set the aforementioned changeover location Px, etc. Specifically, for example, in... Figure 23B The driving routes L1, L2, etc., as shown are displayed on the route generation screen D10 (as shown). Figure 14B (etc.) or driving control screen D11 ( Figure 16 When the user selects (clicks) one of the straight section L2s, the turning section L2r, or the change point Px of the driving route L2, they perform a prescribed operation on the route change key B21 or the setting change key B20 (e.g., a long click for a specified time, or multiple consecutive clicks at short intervals). When this user operation is notified from the display operation unit 52, the control unit 51 will... Figures 25A-25C The first threshold change key B23, as shown, is displayed in Route Generation 3 screen D10 or Driving Control screen D11.

[0317] The first threshold change key B23 is used to change the aforementioned first threshold Δθs1 within the range of 0° to 45°. The first threshold change key B23 includes a cursor 66 representing the first threshold Δθs1 and an instrument 67 representing the adjustable range of the first threshold Δθs1. Furthermore, the range of the first threshold Δθs1 that can be changed via the first threshold change key B23 is not limited to 0° to 45°; for example, it can be other angular ranges, such as a value greater than 0° to a value less than 45°.

[0318] In the initial state, the first threshold Δθs1 is set to the optimal value (e.g., 20°) for automatic steering or automatic driving of the vehicle body 3. Additionally, as... Figure 25A As shown, the cursor 66 of the first threshold change key B23 is positioned to indicate the optimal value of the first threshold Δθs1, with the portion from 0° on the instrument 67 to the position indicated by cursor 66 highlighted compared to other portions. That is, in the initial state, the first threshold change key B23 indicates that the first threshold Δθs1 is set to the optimal value, and the angle between 0° on the instrument 67 and the optimal value is valid as the steering angle for autopilot. When the first threshold Δθs1 is set to the optimal value as described above, such as... Figure 23B as well as Figure 24As shown, the route generation unit 51c generates the straight section L2s, the turning section L2r, and the turning point Px of the driving route L2 in the U-turn area E1 at the field end.

[0319] like Figure 25B As shown, for example, the user drags the cursor 66 of the first threshold change key B23 to move the cursor 66 to a position representing a value larger than the optimal value (e.g., 30°). Then, the angle between 0° and this larger value on the instrument 67 is used as the steering angle for automatic steering, and the portion in between is highlighted. Furthermore, the route generation unit 51c changes the first threshold Δθs1 to the larger value shown by the cursor 66, and based on this changed first threshold Δθs1, regenerates the straight section L2s, the turning section L2r, and the change-of-way point Px of the driving route L2. Thus, for example, as... Figure 26A As shown, in the driving route L2, the number of turning points Px decreases, thus increasing the distance that the vehicle body 3 can continuously autopilot.

[0320] In addition, such as Figure 25C As shown, for example, the user moves the cursor 66 to a position representing a value smaller than the optimal value (e.g., 10°). Then, the angle between 0° and this smaller value on the instrument 67 becomes the steering angle for automatic steering, and the portion in between is highlighted. Furthermore, the route generation unit 51c changes the first threshold Δθs1 to the smaller value shown by the cursor 66, and based on this changed first threshold Δθs1, regenerates the straight section L2s, the turning section L2r, and the change-of-way point Px of the driving route L2. Thus, for example, as... Figure 26B As shown, in the driving route L2, the change point Px increases, which reduces the steering angle of the vehicle body 3 during automatic steering, thus enabling more stable automatic steering.

[0321] Based on the changes to the driving route L2 made by the route generation unit 51c as described above, the control unit 51 updates the display of the driving route L2 in the route generation 3 screen D10 or the driving control screen D11. Furthermore, if the first threshold change key B23 is not operated within a certain period of time, the control unit 51 removes the display of the first threshold change key B23. The display operation unit 52 and the route generation unit 51c are threshold change units that change the first threshold Δθs1 as described above.

[0322] In the above embodiment, when the first threshold Δθs1 is changed, the route generation unit 51c regenerates all driving routes L2. However, as another example, when the user selects either the straight section L2s or the turning point Px of the driving route L2 temporarily generated by the route generation unit 51c, when the first threshold Δθs1 is changed, the route generation unit 51c can also regenerate the driving route L2 for the selected section and the straight section L2s connected to it. Alternatively, a second threshold change key that allows changing the aforementioned second threshold Δθs2 can be provided in the display screens D10, D11, etc., of the operation unit 52 so that the user can operate it.

[0323] In the above implementation methods, such as Figure 24 As shown, when the angle difference Δθ between one straight section L2s and another straight section L2s is less than or equal to the first threshold Δθs1, a continuous autopilot path is set for one straight section L2s and the other straight section L2s. Otherwise, for example... Figures 27A-27C As shown, a smoothing process that suppresses the steering angle during autopilot can also be performed on one straight section L2s and another straight section L2s.

[0324] Specifically, for example, after the route generation unit 51c calculates the angle difference Δθ between one straight section L2s and another straight section L2s of the driving route L2 generated in the field turn-off area E1, as follows: Figure 27A As shown, smoothing is performed on one straight section L2s and another straight section L2s whose angle difference Δθ is below the first threshold Δθs1.

[0325] In smoothing processes, such as Figure 27A As shown, the route generation unit 51c first generates a first intermediate point Pα1 at a predetermined distance dx from the connection point Pα of one straight section L2s and another straight section L2s where the distance angle difference Δθ is less than the first threshold Δθs1. Then, it generates a second intermediate point Pα2 at a predetermined distance dx from the connection point Pα of the other straight section L2s. Figure 27B Next, the route generation unit 51c generates a new straight section L2s connecting the first intermediate point Pα1 and the second intermediate point Pα2, and deletes the portions from the first intermediate point Pα1 of one straight section L2s and the second intermediate point Pα2 of another straight section L2s to the connection point Pα. Figure 27C In addition, in Figure 27C In the diagram, the deleted portion of the previously generated straight section L2s is indicated by a dashed line. Then, the route generation unit 51c connects one straight section L2s, a new straight section L2s, and another straight section L2s, and sets them as a series of autopilot routes.

[0326] thus, Figures 27A-27BThe two consecutive straight sections L2s shown become as follows Figure 27C As shown, there are three consecutive straight sections L2s. Additionally, with... Figure 27A Compared to the angle difference Δθ between the consecutive straight sections L2s shown (the previously generated straight sections L2s), Figure 27C The angular difference Δθ' between the consecutive straight sections L2s (the new straight section L2s and the previously generated straight sections L2s) decreases. That is, by adding straight sections L2s as described above, the angular difference Δθ' between the consecutive straight sections L2s decreases, thereby reducing the serration (curvature) of the travel path L2. Therefore, compared with... Figure 27A The continuous straight sections L2s shown are compared to each other. Figure 27C The continuous straight sections L2s shown can suppress the steering angle during autopilot to a smaller extent.

[0327] Furthermore, if the angle difference Δθ between one straight section L2s and another straight section L2s is less than the first threshold Δθs1, but the length of either one straight section L2s or the other straight section L2s is shorter than the specified distance dx, the route generation unit 51c will not generate a new straight section L2s between one straight section L2s and the other straight section L2s. Instead, it will connect one straight section L2s and the other straight section L2s and set it as a series of autopilot routes.

[0328] In the above embodiment, smoothing was performed on one straight section L2s and another straight section L2s whose angle difference Δθ is below the first threshold Δθs1. However, in addition, for example, smoothing can also be performed on one straight section L2s and another straight section L2s whose angle difference Δθ is below the first threshold Δθs1 and greater than a predetermined third threshold Δθs3. The third threshold Δθs3 is set to a value below the first threshold Δθs1.

[0329] In the smoothing process in this case, such as Figures 27A-27CAs shown, firstly, the route generation unit 51c generates a first intermediate point Pα1 on one straight section L2s and another straight section L2s, where the angle difference Δθ is below the first threshold Δθs1 and above the third threshold Δθs3. On the straight section L2s at a predetermined distance dx from the connection point Pα between these two straight sections L2s, a second intermediate point Pα2 is generated on the other straight section L2s at the predetermined distance dx from the connection point Pα. Next, the route generation unit 51c generates a new straight section L2s connecting the first intermediate point Pα1 and the second intermediate point Pα2, and deletes the portions from the first intermediate point Pα1 of one straight section L2s and the second intermediate point Pα2 of the other straight section L2s to the connection point Pα. Then, the route generation unit 51c connects one straight section L2s, the new straight section L2s, and the other straight section L2s, and sets them as a series of autopilot routes.

[0330] Furthermore, if the angle difference Δθ between one straight section L2s and another straight section L2s is below the first threshold Δθs1 and above the third threshold Δθs3, but the length of either one straight section L2s or the other straight section L2s is shorter than the specified distance dx, the route generation unit 51c will not generate a new straight section L2s between the two straight sections L2s. Instead, it will connect the two straight sections L2s and set them as a series of autopilot routes. Similarly, if the angle difference Δθ between one straight section L2s and another straight section L2s is less than the third threshold Δθs3, the route generation unit 51c will also not generate a new straight section L2s between the two straight sections L2s. Instead, it will connect the two straight sections L2s and set them as a series of autopilot routes.

[0331] As described above, since only the longer straight sections L2s with an angle difference Δθ below the first threshold Δθs1 and above the third threshold Δθs3 are smoothed, the processing burden on the route generation unit 51c can be reduced. Furthermore, compared to the route L2 without smoothing, the smoothed route L2 has a shorter straight section L2s-2, thereby reducing the steering angle during autopilot.

[0332] As another example, a third threshold change key, which allows for changing the third threshold Δθs3, can be provided on screens D10, D11, etc., of the display operation unit 52 for user operation. In this case, as the third threshold Δθs3 is set to a value smaller than the first threshold Δθs1, the number of smoothing operations performed on the straight portion L2s of the travel route L2 increases. Therefore, the shorter straight portion L2s-2 in the travel route L2 further increases, thereby reducing the steering angle during autopilot. Furthermore, as the third threshold Δθs3 is set to a value equal to or close to the first threshold Δθs1, the number of smoothing operations performed on the straight portion L2s of the travel route L2 decreases. Therefore, the processing burden on the route generation unit 51c can be reduced, and the shorter straight portion L2s-2 in the travel route L2 can be reduced, thereby increasing the continuous straight distance traveled by the vehicle body 3 during autopilot.

[0333] The control unit 51 updates the display of the driving route L2 in the route generation 3 screen D10 or the driving control screen D11 based on the smoothing process of the route generation unit 51c described above. Furthermore, if the third threshold change key B24 is not operated within a certain period of time, the control unit 51 removes the display of key B24. The display operation unit 52 and the route generation unit 51c are threshold change units that change the third threshold Δθs3 as described above.

[0334] In the smoothing process of the above-described embodiments, such as Figures 27A-27C As shown, an example is illustrated where straight sections L2s with an angle difference Δθ below the first threshold Δθs1 (and above the third threshold Δθs3) generate new straight sections L2s from each other. However, for example, ... Figures 28A-28C As shown, a new turning section L2c can also be generated to replace the new straight section L2s. The turning section L2c is the route that causes the vehicle body 3 to turn slowly (while turning), and is included in the driving route L2. In addition, the turning section L2c can be set as an automatic steering route, an automatic driving route, or a manual driving route.

[0335] Specifically, the route generation unit 51c connects a straight section L2s and another straight section at a distance angle difference Δθ that is below the first threshold Δθs1 (or below the first threshold Δθs1 and above the third threshold Δθs3). Figure 28A A first intermediate point Pα1 is generated on a straight section L2s at a specified distance dx, and a second intermediate point Pα2 is generated on another straight section L2s at a specified distance dx from the connection point Pα. Figure 28BNext, the route generation unit 51c generates a new turning section L2c by connecting the first intermediate point Pα1 and the second intermediate point Pα2, and deletes the portion from the first intermediate point Pα1 of one straight section L2s and the second intermediate point Pα2 of another straight section L2s to the connection point Pα. Figure 28C Then, the route generation unit 51c connects a straight section L2s, a new turning section L2c, and another straight section L2s, and sets them as a series of autopilot routes.

[0336] Furthermore, the route generation unit 51c sets the radius of curvature of the turning section L2c based, for example, on the angle difference Δθ between the straight sections L2s, a first threshold Δθs1 (or a third threshold Δθs3), the length (distance) of each straight section L2s, a predetermined distance dx, or the position of the connection point Pα. Preferably, the turning section L2c is generated such that the shortest distance from the connection point Pα to the turning section L2c is at least less than a predetermined interval distance (not shown) smaller than the predetermined distance dx.

[0337] Alternatively, in the route generation screen D10, etc., a key can be set that allows the user to choose whether to perform smoothing processing or whether to change the thresholds Δθs1, Δθs2, and Δθs3. Furthermore, the aforementioned route L2 or change-of-way point Px generation steps, or smoothing processing steps, can be applied to farmland with serrated sections Hj on the contour H1, and to farmland with curved sections such as arcs.

[0338] In the above embodiment, an example is shown in which the straight sections L2s and L2a (straight route L2a) and the turning sections L2r and L2b (turning route L2b) included in the driving route L2 for automatic steering operation mode are displayed on the screen of the display operation unit 52. However, it is also possible to omit the turning sections L2r and L2b, which are the manual driving routes, from the display operation unit 52, and instead display the straight sections L2s and L2a, which are the automatic steering routes.

[0339] For example in Figure 29 In the embodiment shown, the farmland map MP2 on the driving control screen D11 displayed in the display operation unit 52 shows the straight section L2s of the driving route L2 generated by the route generation unit 51c, which serves as the automatic steering route, but does not show the turning section L2r, which serves as the manual driving route. Figure 16 (etc.). In addition, the farmland map MP2 displays a straight route (autopilot route) L1a that can be set to an autopilot route using operations such as the route change key B21. In this way, users can easily identify the parts of the driving routes L1 and L2 that can be set to autopilot routes (straight sections L2s, L1a, etc.).

[0340] Alternatively, in the farmland map MP2 displayed on Route Generation 2 screen D7, Route Generation 3 screen D10, or Driving Control screen D8, the portions of driving routes L1, L2, and L3 that can be set as autopilot routes can be displayed, while the portions that cannot be set as autopilot routes (turning sections L2r, L1r, L3r, L2b, and L1b) can be hidden. Additionally, screens D7, D8, D10, and D11 can be equipped with operation keys for users to select whether to display or hide the portions that cannot be set as autopilot routes.

[0341] In the above embodiment, an example is shown where, when the route generation unit 51c generates a driving route L2 for the autopilot operation mode, straight sections L2s and L2a are generated as the autopilot route, and turning sections L2r and L2b are generated as the manual driving route. However, when the route generation unit 51c generates the driving route L2, it may also generate straight sections L2s and L2a as the autopilot route, but not turning sections L2r and L2b as the manual driving route. In this case, the straight sections L2s and L2a generated by the route generation unit 51c are displayed in the subsequent driving control screens D8 and D11, but the ungenerated turning sections L2r and L2b are not displayed in the driving control screens D8 and D11.

[0342] Furthermore, when the straight sections L2s and L2a are changed to an automatic driving route by operating the route change key B21, the route generation unit 51c can generate a turning section connected to the changed straight section, and the control unit 51 can display all of these in the driving control screens D8 and D11 of the display operation unit 52.

[0343] <Other Implementation Methods>

[0344] <Indirect Notification>

[0345] exist Figure 18 The illustrated embodiment shows an example where, in automatic steering mode, when the vehicle 3 approaches a turning point Px, a notification U6 prompting the vehicle 3 to change direction is displayed on screen D11 of the display operation unit 52. However, in automatic driving mode, when the vehicle 3 approaches a point where its position or direction of travel changes (such as the end point of a straight section L1a included in the driving route L1 or the end point of a straight section L1s included in the loop route L1c), a notification prompting the vehicle 3 to automatically change direction can also be displayed on the driving control screens D8 and D11 of the display operation unit 52.

[0346] Additionally, in manual driving mode, when the vehicle body 3 approaches a location where its position or direction of travel will change (such as the end of the straight section L3s of the travel route L3), a notification to change the direction of the vehicle body 3 can be displayed on the screen of the display unit 52. Furthermore, changing the direction of the vehicle body 3 in the agricultural machinery 1 refers to the action of moving the vehicle body 3 forward, backward, or turning in order to change its position or direction of travel. For example, it may exclude actions that are unrelated to turning the vehicle body 3, such as forward or backward movements.

[0347] In the above embodiments, the route generation unit 51c is used as an example. Figures 23A-23B When generating a driving route L2 in a farmland map MP2 with a regular outline H1, as shown, the straight section L2s, turning section L2r, or change-of-way point Px (including turning section L2c) are generated based on the travel direction of one straight section L2s and the angle difference Δθ between another straight section L2s connected to that straight section L2s. However, for example, the route generation unit 51c in... Figure 14B When generating a driving route L2 for automatic steering operation mode in the farmland map MP2 with a rectangular outline H1, as shown, similarly, straight sections, turning sections, or changeover points can be generated based on the angle difference between a straight section included in the driving route L2 and another straight section connected to the front end of that straight section. Similarly, when generating a driving route L1 for automatic driving operation mode in the route generation unit 51c, straight sections, turning sections, or changeover points can also be generated based on the travel direction of a straight section and the angle difference between another straight section connected to the front end of that straight section.

[0348] <Displacement of Farmland>

[0349] In the above implementation methods, such as Figure 11A As shown, the area setting unit 51b sets the inner side of the outline C1, which is formed by offsetting the outline H1 of the farmland inward by a width W4 smaller than the working width W1 of the working device 2 by the amount of field-end turning points, as the central area, and sets the area between outline C1 and outline H1 as the field-end turning point area E1. However, for example, the finishing condition of the farmland ridge edges or the workability of the agricultural machinery 1 may be considered, and the field-end turning point area E1 may be set wider. In addition, the agricultural machinery 1 may be made to travel in a position that is a certain degree inward from the outline H1 of the farmland to generate the travel route L2.

[0350] Specifically, for example, the control unit 51 of the agricultural operation assistance device 50 selects... Figure 3 After pressing the setting key B0 as shown, when performing the prescribed input operation in the display operation unit 52, it will be as follows: Figure 30The farmland movement change key B25 is displayed in the display operation unit 52. Alternatively, it can also be found in... Figure 9 The route generates 1 screen D6 or Figures 10A-10C The route generation screen D7 displays the farmland movement adjustment key B25. The farmland movement adjustment key B25 is used to adjust the position of the outermost driving line formed in the farmland map MP2, specifically the distance between the outermost driving line and the farmland outline H1, i.e., the movement amount W5. The farmland movement adjustment key B25 includes a cursor 70 that indicates and changes the movement amount W5, and an instrument 71 that indicates the adjustable range of the movement amount W5. The movement amount W5 can be adjusted within a range of, for example, 0 to 30 cm using the farmland movement adjustment key B25.

[0351] like Figure 30 As shown, when the cursor 70 of the farmland movement change key B25 is used, and the distance between the outermost travel line and the farmland outline H1 (i.e., the movement amount W5) is set to a value greater than 0, as follows: Figure 31 As shown, firstly, the area setting unit 51b calculates the outline E3 (first outline) by offsetting the outline H1 of the farmland inward by adding the width W4 (the width W4 obtained by subtracting the overlap amount W2 of the field end turning points from the working width W1 of the working device 2) to the movement amount W5 (first offset = W4 + W5 = W1 - W2 + W5). Next, the area setting unit 51b calculates the outlines E31 and E32 (second outlines) formed by offsetting the outline E3 by the width W4 (second offset) by the amount obtained by subtracting 1 from the input number of field end turning points. Then, the area setting unit 51b sets the area C1 (inside outline E32) enclosed by the innermost outline E32 of outlines E31 and E32 as the central area C1, and sets the field end turning points E2a, E2b, and E2c, which are the amounts of the input number of field end turning points, between the central area C1 and the outline H1 of the farmland. Therefore, the width of the outermost U-turn point E2c becomes the same as the aforementioned offset. The widths of the other U-turn points E2b and E2a become the same as the width W4, and become narrower than the width of the U-turn point E2c.

[0352] After defining the central area C1 and the field-end turning area E1 inside the outline H1 of the farmland as described above, as follows: Figure 32 As shown, the route generation unit 51c generates driving routes L1 and L2 in the central area C1 and the field-end U-turn area E1. At this time, for the central area C1 and the field-end U-turn areas E2a and E2b other than the outermost field-end U-turn area E2c in the field-end U-turn area E1, the route generation unit 51c... Figures 11B to 11D as well as Figure 15The steps described above generate driving routes L1, L1c, and L2. For the outermost U-turn point E2c located in the field end U-turn area E1, the route generation unit 51c generates driving route L2 on line E4. Line E4 is generated by adding half the width W4 and the movement amount W5 to offset the outline H1 of the farmland inward.

[0353] Furthermore, when the overlap W2 of the field turning point is set to 0, the width W4 and the working width W1 become the same value (W4 = W1), therefore, as Figure 33 As shown, the width of the outermost U-turn point E2c is the same as the sum of the working width W1 and the interval W5. The widths of the other U-turn points E2b and E2a are the same as the working width W1. Furthermore, in the outermost U-turn point E2c, the route generation unit 51c generates a driving route L2 on line E5. Line E5 is generated by adding half the working width W1 and the movement amount W5 to the field outline H1, which is offset inward.

[0354] Alternatively, the overall width (lateral width) of the working device 2 can also be considered when generating the travel route L2 or areas C1 and E1. Specifically, when the overall width W6 of the working device 2 is greater than the working width W1, for example... Figures 31-33 or Figure 11A As shown, after setting the central area C1 and the Tabata U-turn area E1 in the area setting unit 51b, as follows... Figures 34-36 As shown, the route generation unit 51c generates driving routes L1, L1c, and L2 in the central area C1 and the field-end U-turn area E1. At this time, for the central area C1, the route generation unit 51c uses... Figures 11B-11C The steps described herein generate the driving route L1. In addition, the route generation unit 51c calculates the offset W7 (W7 = (W6 - W1) ÷ 2) as half of the value obtained by subtracting the working width W1 from the outer width W6 of the working device 2.

[0355] like Figure 34 As shown, when the width (W4+W5) of the outermost U-turn point E2c in the U-turn area E1 is greater than the width W4 of the inner U-turn points E2a and E2b, for the outermost U-turn point E2c, the route generation unit 51c generates line E4 by offsetting the outline H1 of the farmland inward once by adding half the width W4 (the width W4 obtained by subtracting the overlap amount W2 of the U-turn point from the working width W1 of the working device 2) and the movement amount W5. Then, the route generation unit 51c generates a driving route L2 on line E4a generated by offsetting line E4 inward once by an offset amount W7.

[0356] In addition, such as Figure 35 As shown, when the overlap W2 of the U-turn point is set to 0, and the width (W1+W5) of the outermost U-turn point E2c in the U-turn point area E1 is greater than the width W4 of the inner U-turn points E2a and E2b, the route generation unit 51c generates line E5 by adding half the working width W1 of the working device 2 and the movement amount W5 to offset the outline H1 of the farmland inward once. Then, the route generation unit 51c generates a driving route L2 on line E5a generated by offsetting line E5 inward once by an offset amount W7.

[0357] In addition, such as Figure 36 As shown, when the widths of all U-turn points E2a, E2b, and E2c in the U-turn area E1 are the same value W4, for the outermost U-turn point E2c, the route generation unit 51c generates line E9a by shifting the center line E9 in the width direction of U-turn point E2c inward by half the overlap amount W2 of the U-turn points. Then, the route generation unit 51c generates a driving route L2 on line E9b, which is generated by shifting line E9a inward by one amount W7.

[0358] Moreover, in Figures 34-36 In the case of U-turn areas E2b and E2a inside the U-turn area E1, the route generation unit 51c generates a driving route L2 (or a loop route L1c) on the center line in the width direction of each U-turn area E2b and E2a.

[0359] As described above, when the automatic control unit 61 performs ground operations using the work device 2 while automatically steering the vehicle body 3 based on the driving route L2 formed in each field turnout E2a, E2b, and E2c, the width (W2+W7) is obtained by adding the overlap amount W2 and the offset amount W7 relative to the overlap amount W2 of the work trajectory of field turnout E2a and the work trajectory of field turnout E2b.

[0360] Additionally, the interval between the driving route L2 generated at the outermost U-turn point E2c and the outline H1 of the farmland (in) Figure 34 In the case of W4÷2+W5+W7, Figure 35 In the case of W1÷2+W5+W7, Figure 36 In the case of W4÷2+W2÷2+W7), the value is set to be more than half of the external width W6 of the working device 2. Figure 34In this case, the overlap amount W2 can be set to a value less than twice the movement amount W5. Therefore, when the automatic control unit 61 performs ground operations using the work device 2 while automatically steering the vehicle body 3 based on the driving route L2 generated at the outermost field turning point E2c, it can prevent the work device 2 from going beyond the farmland.

[0361] In addition, Figure 31 In this process, offset W7 can also be used to set regions E1 and C1 instead of movement W5. Specifically, the region setting unit 51b calculates the first contour (not shown) by offsetting the outline H1 of the farmland inward by adding the offset W4 (the width W4 obtained by subtracting the overlap W2 of the field end turning points from the working width W1 of the working device 2) to the offset W7 (first offset = W4 + W7 = W1 - W2 + W7). Next, the region setting unit 51b calculates the second contour formed by offsetting the first contour inward by the width W4 (second offset) by the amount obtained by subtracting 1 from the input number of field end turning points. Then, the region setting unit 51b sets the area enclosed by the second contour located at the innermost part of the second contour as the central region C1, and sets the field end turning points E2a, E2b, and E2c with the amount of the input number of field end turning points between the central region C1 and the outline H1 of the farmland. Therefore, the width of the outermost U-turn point E2c becomes the same as the sum of the first offset W7 and the width W4. The widths of the other U-turn points E2b and E2a become the same as the width W4, and become narrower than the width of the U-turn point E2c.

[0362] After establishing a central region C1 and a field-end U-turn area E1 inside the outline H1 of the farmland as described above, the route generation unit 51c generates driving routes L1, L1c, and L2 in the central region C1 and the field-end U-turn area E1. At this time, for field-end U-turns E2a and E2b outside the outermost field-end U-turn area E2c of the central region C1 and the field-end U-turn area E1, the route generation unit 51c generates driving routes L1, L1c, and L2 using the steps described above. For the outermost field-end U-turn area E2c located in the field-end U-turn area E1, the route generation unit 51c generates driving route L2 on a line generated by adding half the width W4 to the first offset W7 obtained by shifting the outline H1 of the farmland inward (W4÷2+W7).

[0363] As described above, by shifting the outline H1 of the farmland inward to generate the outermost field-end turning point E2c and the driving route L2, the automatic control unit 61, based on this driving route L2, performs ground-based operations using the working device 2 while automatically steering the agricultural machinery 1 (vehicle 3) in the field-end turning area E1. This prevents the working device 2 from exceeding the outline H1 of the farmland and colliding with field ridges or the like. In particular, by utilizing... Figure 32 The farmland movement change key B25, as shown, sets the interval W5 for moving (offsetting) the farmland outline H1 inward to a value greater than 0, or sets the outermost field end turning point E2c to a width W6 that is larger than the working width W1 of the working device 2, or generates a driving route L2 in this field end turning point E2c. This further prevents the working device 2 from exceeding the farmland outline H1 and colliding with field ridges, etc. Moreover, by generating the inner field end turning points E2b and E2a with a width W4 that is narrower than the width of the outermost field end turning point E2c, it is possible to ensure that the central area C1 for setting the automatic driving operation route is wide.

[0364] exist Figure 30 In the example shown, the amount of movement W5 that moves (offsets) the outline H1 of the farmland inward can be adjusted within the range of 0 to 30 cm using the farmland movement amount change key B25. However, the adjustable range of the movement amount W5 based on the farmland movement amount change key B25 can be from a lower limit greater than 0 to an upper limit greater than that lower limit. Alternatively, keys can be provided in screens D6, D7, etc., allowing the user to select whether to generate the outermost field end turning point E2c or the driving route L2 by offsetting the outline H1 of the farmland inward.

[0365] Additionally, as another example, it can also be seen from... Figure 11B Based on the deviation of the centerline in the width direction of the unit operation section C2 or the field end U-turn point E2a~E2c shown, the driving routes L1~L3 are generated.

[0366] <Modes for Starting Agricultural Operations>

[0367] In the above embodiment, an example is shown where, after generating a driving route in the central area C1 and the field-end turning area E1 of the farmland map MP2, agricultural machinery 1 and the working device 2 begin agricultural operations on the farmland corresponding to the farmland map MP2. Initially, the automatic control unit 61 executes an automatic driving operation mode in which the agricultural machinery 1 drives automatically and the working device 2 performs agricultural operations on the farmland. However, this is not a limitation. After generating a driving route in the farmland map MP2, when agricultural machinery 1 and the working device 2 begin agricultural operations on the farmland corresponding to the farmland map MP2, the automatic control unit 61 may also initially execute an automatic steering operation mode in which the agricultural machinery 1 is automatically steered and the working device 2 performs agricultural operations on the farmland.

[0368] For example, such as Figure 37A As shown, in the route generation 1 screen D6 displayed on the display operation unit 52, in addition to the automatic field turning operation key B43 and the operation type key B44, an automatic center operation key B50 is also provided. The automatic center operation key B50 is used to select whether to perform agricultural operations (automatic driving operation mode) by driving the agricultural machinery 1 (vehicle 3) in automatic mode and using the operation device 2 in the central area C1 set in the farmland map MP2. The structure of the route generation 1 screen D6, excluding the automatic center operation key B50, is similar to... Figure 9 The route shown generates the same structure as screen D6.

[0369] In the route generation screen D6, the user selects the central area of ​​the farmland (central area C1) using the automatic central operation key B50, and then selects the field end turning point (field end turning point area E1) using the automatic central operation key B43, and then selects the field end turning point (field end turning point area E1) using the automatic central operation key B43, and then selects the next step key B9.

[0370] In this case, as described above, the control unit 51 generates route 2 screens D7 ( Figure 10A The data is displayed in the display operation unit 52. Then, based on the input content in each input field of the route generation 2 screen D7, the area setting unit 51b sets the central area C1 and the field end turning area E1 in the farmland map MP2, and the route generation unit 51c generates the driving route L1 in areas C1 and E1, and sets the starting position Ps and the ending position Pg, etc. In addition, the route generation unit 51c sets the generated driving route L1 as an automatic driving route. Moreover, the control unit 51 displays the areas C1, E1 and the driving route L1 in the farmland map MP2 in the route generation 2 screen D7. Figure 10B , Figure 10C ).

[0371] Then, when the user selects the next button B9 in the route generation screen D7, the control unit 51 will open the driving control screen D8 ( Figure 12 The information is displayed in the display operation unit 52. Then, when the user performs the prescribed operation for executing the automatic driving of the agricultural machinery 1, the automatic control unit 61 starts the automatic driving operation mode, which allows the agricultural machinery 1 to drive in an automatic driving mode while using the working device 2 to perform ground operations, based on the position of the agricultural machinery 1 (driving vehicle 3) detected by the positioning device 40 and the automatic driving route L1.

[0372] In addition, the prescribed operations performed by the user to execute the automatic driving of agricultural machinery 1 include the operation of moving agricultural machinery 1 to the starting position Ps by manual driving, switching to the mode switch 65 to switch to the automatic driving operation mode, returning the operation components (not shown) such as the gear shift lever for switching the gear shift state of the transmission device 5 and the position lever for changing the position of the working device 2 to the prescribed default position.

[0373] In contrast, when agricultural machinery 1 is used for automatic steering in agricultural operations, the speed of the vehicle body 3 and the position of the working device 2 are changed by manual operation. Therefore, before starting agricultural operations in this automatic steering mode, the operating components such as the gear lever and position lever can be in any position, and it is not necessary to return the operating components to the default position.

[0374] On the other hand, in route generation screen D6, such as Figure 37A As shown, after the user selects to drive the agricultural machinery 1 in automatic mode and use the working device 2 to perform agricultural operations in a location other than the center of the farmland using the automatic central operation key B50, and selects to drive the agricultural machinery 1 in automatic mode and use the working device 2 to perform agricultural operations in a location other than the center of the farmland using the automatic field turning operation key B43, the user selects the next step key B9.

[0375] In this situation, control unit 51 will Figure 37B The route shown is generated on screen D7 and displayed in the display operation unit 52. Figure 37B The route generation screen D7 shows an input field for the number of field turnaround points required for autonomous driving operations. Other than this, the structure is similar to... Figures 10A to 10C The route generated is the same as screen D7. As described above, since the agricultural machinery 1 is driven in automatic mode without turning around at the field end by selecting the automatic field end turn-around operation key B43, the operation device 2 is used to carry out agricultural operations, so 0 is automatically input as the number of field end turn-around operations carried out in automatic mode.

[0376] When the user completes the input in each input field of the route generation screen D7 and selects the next button B9, the area setting unit 51b sets the central area C1 and the field-end turning area E1 in the farmland map MP2 based on the input in each input field of the route generation screen D7. Meanwhile, the route generation unit 51c generates a driving route L1 in areas C1 and E1 based on the input in each input field of the route generation screen D7, and sets the starting position Ps and the ending position Pg, etc. The generated driving route L1 can be set as an automatic driving route by the route generation unit 51c, or it can be left unset. Furthermore, the control unit 51 displays areas C1 and E1 and the driving route in the farmland map MP2 in the route generation screen D7, and displays them in the center of the route generation screen D7. Figure 37C The selection section S1 is shown.

[0377] In the selection unit S1, it is possible to select whether to enable the agricultural machinery 1 to automatically steer (automatically turn) and perform agricultural operations. The selection unit S1 displays a question such as "Do you want to perform agricultural operations in automatic steering mode?" and corresponding yes keys B51 and no keys B52. When the user selects the yes key B51 to perform agricultural operations in automatic steering mode, as shown... Figure 38 As shown, the control unit 51 displays the driving control screen D11 on the display operation unit 52. In addition, the route generation unit 51c sets (or changes) the driving route L1 generated in areas C1 and E1 to the automatic steering route L2.

[0378] Then, the user manually moves the agricultural machinery 1 to the starting position Ps for automatic steering, and switches to automatic steering mode via mode switch 65. Alternatively, at this time, as... Figure 37C As shown, when the agricultural machinery 1 is at the end of the travel route (autopilot route) L2 for starting agricultural operations, the user switches to autopilot operation mode via mode switch 65. Thereupon, the automatic control unit 61, based on the position of the agricultural machinery 1 and the autopilot route L2, initiates autopilot operation mode, automatically steering the agricultural machinery 1 and utilizing the working device 2 for ground-based operations. In autopilot operation mode, the user operates the throttle component or similar mechanism to change the travel speed of the agricultural machinery 1, or operates the position lever or similar mechanism to change the position of the working device 2.

[0379] According to the above, when agricultural operations begin on the farmland, the automatic control unit 61 sets the automatic steering route L2 based on the initial travel route. Therefore, based on the automatic steering route L2 and the position of the agricultural machinery 1, the automatic control unit 61 can start to perform automatic steering of the agricultural machinery 1 and use the working device 2 to carry out agricultural operations on the farmland.

[0380] In addition, Figure 37C as well as Figure 38 In the example shown, agricultural machinery 1 initially begins agricultural operations in autopilot mode towards the field turning area E1, but it is not limited to this. For example, the user can manually drive agricultural machinery 1 to the end of the driving route (autopilot route) L2 set in the central area C1, and then switch to autopilot mode via mode switch 65. This allows agricultural machinery 1 to initially begin agricultural operations in autopilot mode towards the central area C1.

[0381] When agricultural machinery 1 resumes its agricultural operations on the farmland after a temporary interruption, it can also be put into automatic steering mode from the beginning. In this case, if the user performs a prescribed operation to stop agricultural machinery 1 and operating device 2 before the farmland operation reaches the endpoint Pg, temporarily halting the farmland operation on the central area C1 or the field-end turning area E1, the control unit 51 will... Figure 39 The selection section S2 is shown.

[0382] In the selection unit S2, the user can select whether to interrupt the agricultural operation so that the agricultural machinery 1 can be resumed later. The selection unit S2 displays information indicating whether to end the agricultural operation (in the case of not resuming the agricultural operation) or interrupt it (in the case of resuming the agricultural operation later), as well as an end key B53 and an interrupt key B54. When the user selects the interrupt key B54 to continue (restart) the agricultural operation using the agricultural machinery 1 later, the control unit 51 stores the operation history, including the content of the agricultural operation using the agricultural machinery 1 and the working device 2, the specifications of the agricultural machinery 1 and the working device 2, the operation status, and the date and time of the interruption of the agricultural operation, in the storage unit 53. Conversely, when the user selects the end key B53 to end (complete) the agricultural operation and does not continue the agricultural operation using the agricultural machinery 1 later, the control unit 51 does not store the above-mentioned operation history in the storage unit 53.

[0383] When the work history of the interrupted agricultural operation is stored in the storage unit 53, the control unit 51 then displays the main screen D1 on the display operation unit 52, as follows: Figure 40A As shown, the "Start Again" button B55 is displayed on the main screen D1. Here, when the user selects the "Start Again" button B55, the control unit 51 reads the job history of all interrupted agricultural jobs from the storage unit 53, and displays a summary of the job history on the job selection screen D12. Figure 40B It is displayed in the display operation unit 52 as shown.

[0384] In the job selection screen D12, when the user selects the job details key B56 after selecting the agricultural job to restart, the control unit 51 will... Figure 40C The detailed operation screen D13, as shown, is displayed on the display operation unit 52. The detailed operation screen D13 displays detailed information about the selected agricultural operation's history, as well as the operation trajectory of agricultural machinery 1 in the farmland map MP2. When the user selects the next button B9 to restart the agricultural operation displayed in the detailed operation screen D13, the control unit 51 will... Figure 40D The selection section S3, as shown, is displayed in the center of the job details screen D13.

[0385] In the selection section S3, as a method to restart the stopped agricultural operation, one can choose between automatic steering (automatic steering) or automatic driving. The selection section S3 displays information requesting the selection of a method to restart the interrupted agricultural operation, an automatic steering key B57 for restarting the agricultural operation in automatic steering mode, and an automatic driving key B58 for restarting the agricultural operation in automatic driving mode.

[0386] When the user selects the automatic steering key B57 to restart agricultural operations in autopilot mode, such as Figure 41 As shown, the control unit 51 displays the driving control screen D11, which includes the work trajectory of agricultural operations performed before the interruption, on the display operation unit 52. Additionally, the route generation unit 51c sets (or changes) the driving route of the unworked portions of areas C1 and E2 where the agricultural machinery 1 has not been driven or engaged in ground operations, as an autopilot route L2. Then, for example, the user manually drives the agricultural machinery 1 to a position where agricultural operations can resume in autopilot mode, switches to autopilot operation mode via mode switch 65, and selects the start button B59 on the driving control screen D11. As a result, the automatic control unit 61 resumes autopilot operation mode, automatically steering the agricultural machinery 1 based on its position and the autopilot route L2 in the unworked portion, and using the work device 2 to perform ground operations.

[0387] On the other hand, Figure 40DIn the selection unit S3, when the user selects the automatic driving key B58 to restart agricultural operations in automatic driving mode, the control unit 51 displays the driving control screen D11, which includes the work trajectory of the agricultural operations performed before the interruption, on the display operation unit 52. The route generation unit 51c sets (or changes) the driving route of the unworked areas in regions C1 and E2 to the automatic driving route L1. Then, for example, the user manually drives the agricultural machinery 1 to a position to restart agricultural operations in automatic steering mode, switches to automatic driving mode via the mode switch 65, and selects the start key B59 on the driving control screen D11. As a result, the automatic control unit 61 restarts the automatic driving mode of the agricultural machinery 1 based on its position and the automatic driving route L1 in the unworked area, and uses the working device 2 to perform ground operations.

[0388] According to the above, when agricultural operations on farmland using agricultural machinery 1 and working device 2 are temporarily interrupted and then resumed, the automatic control unit 61 will set an automatic steering route L2 based on the initial travel route. Therefore, based on the automatic steering route L2 and the position of agricultural machinery 1, the automatic control unit 61 can resume automatic steering of agricultural machinery 1 and use working device 2 to carry out agricultural operations on farmland.

[0389] Furthermore, the interruption and restart of agricultural operations in the farmland by the aforementioned agricultural machinery 1 and operating device 2 can be performed by the control unit 51 and the automatic control unit 61 at the end of the driving route and at the middle of the driving route when switching from one of the automatic driving route L1, the automatic steering route L2, and the manual driving route L3 to the other.

[0390] Furthermore, the location where agricultural machinery 1 can resume agricultural operations is not limited to the unoperated portions of areas C1 and E2 where agricultural machinery 1 has not been traveling or operating on the ground, but can also be the operated portions of areas C1 and E2 where agricultural machinery 1 has been traveling and operating on the ground, or other portions. In this case, for example, when the user selects the automatic steering key B57 (or automatic driving key B58) to resume agricultural operations in automatic steering (or automatic driving) mode, the route generation unit 51c sets (or changes) the travel route from the travel route directly in front of the direction of travel of agricultural machinery 1 to the travel route extending to the end position Pg, to the automatic steering route L2 (or automatic driving route L1). Then, when the user switches to the automatic steering operation mode (or automatic driving operation mode) via the mode switch 65 and selects the start key B59, the automatic control unit 61, based on the position of agricultural machinery 1 and the aforementioned set automatic steering route L2 (or automatic driving route L1), resumes the automatic steering (or automatic driving) operation mode of agricultural machinery 1 and uses the working device 2 to perform ground operations. Therefore, agricultural operations can be resumed from any position corresponding to any driving route in areas C1 and E2 using agricultural machinery 1 in an automatic steering (or automatic driving) mode.

[0391] Furthermore, in the above embodiment, before the route generation unit 51c generates the travel route in regions C1 and E2, by... Figure 37A The automatic central operation key B50 and automatic field turn-around key B43 on the route generation screen D6 are used to set whether to start agricultural operations in automatic driving mode. After the route generation unit 51c generates the driving route in areas C1 and E2, it uses... Figure 37C The selection unit S1 shown is used to set whether to start agricultural operations in automatic steering mode, but it is not limited to this. It is also possible to set whether to start agricultural operations in automatic driving mode and whether to start agricultural operations in automatic steering mode before or after the route generation unit 51c generates the driving route in areas C1 and E2.

[0392] Additionally, for example, on the main screen D1, if the user selects the autopilot button B2a, when the route generation unit 51c generates a driving route, that driving route can be set entirely to the autopilot route L1. In this case, when agricultural operations begin on the farmland, the automatic control unit 61 can execute the autopilot operation mode based on the autopilot route L1 to begin agricultural operations on the farmland without going through the automatic steering operation mode.

[0393] Furthermore, on the main screen D1, when the user selects the automatic steering key B2b, the route generation unit 51c can set the entire route as the automatic steering route L2 when it generates a driving route. In this case, when agricultural operations begin on the farmland, the automatic control unit 61 can execute the automatic steering operation mode based on the automatic steering route L2 to begin agricultural operations on the farmland without going through the automatic driving operation mode.

[0394] <Warning when autopilot is used during a U-turn in the field>

[0395] The outline of farmland is sometimes formed by structures such as field ridges. Furthermore, there are sometimes situations on the opposite side of the field ridges where agricultural machinery 1 should not travel, such as the presence of another farmland or a cliff. Therefore, when agricultural machinery 1 travels along the driving route L2 generated in the field-end turning area E1 (especially the outermost field-end turning area E2c) in autopilot mode, it is necessary to prevent agricultural machinery 1 (and the working device 2) from contacting the field ridges or other structures that form the outline of the farmland, or from exceeding the boundaries of the farmland beyond the structures (crossing the boundary).

[0396] As a countermeasure, when the agricultural machinery 1 is traveling in an automatic steering mode in the field turning area E1, the control unit 51 of the agricultural operation assistance device 50 can issue a warning when the agricultural machinery 1 approaches structures such as field ridges that form the outline of the farmland.

[0397] Specifically, for example, the control unit 51 detects the positions of structures such as field ridges that constitute the outline H1 of the farmland based on the outline H1 of the farmland registered by the farmland registration unit 51a and the surrounding information of the farmland obtained in advance. The position of the outline H1 of the farmland is approximately the same as the position of the structures constituting the outline H1.

[0398] Then, when the agricultural machinery 1 travels along the driving route L2 generated in the field turning area E1 in automatic steering mode, the control unit 51 detects the position of the agricultural machinery 1 (driving vehicle 3) at a predetermined cycle via the positioning device 40. Additionally, the distance calculation unit 51h installed in the control unit 51... Figure 1 The distance from the position of agricultural machinery 1 to the structure in front of it relative to the direction of travel of agricultural machinery 1 is calculated at a specified period.

[0399] For example, such as Figure 42 As shown, when the distance da from the agricultural machinery 1 to the structure calculated by the distance calculation unit 51h becomes less than or equal to a predetermined distance ds, the warning unit 51i provided in the control unit 51 ( Figure 1 A warning is issued to the user. The distance ds is specified to be a value greater than 0, and is set to allow the moving agricultural machinery 1 to pass the braking device 6. Figure 1The control unit 51 can stop at a distance (e.g., 5m to 10m) closer to the inside of the farmland than the structure. In addition, the control unit 51 can also detect the travel speed of the agricultural machinery 1 based on the change in the position of the agricultural machinery 1, and change the prescribed distance ds according to the travel speed.

[0400] Warnings issued by the warning unit 51i may be, for example, by an alarm unit 63 such as a buzzer, speaker, or warning light installed on the agricultural machinery 1. Figure 1 The system can issue an alarm to the user of the agricultural machinery 1 and the surrounding area via sound or light. Alternatively, a warning indicating that the agricultural machinery 1 is approaching a structure can be displayed on the screen of the display operation unit 52, but it is best not to display the warning on the screen of the display operation unit 52 in order to make it easier to identify the operating status of the agricultural machinery 1.

[0401] Furthermore, when the distance da from the agricultural machinery 1 to the structure becomes less than a predetermined distance ds, the warning unit 51i increases the intensity of the warning as the distance da decreases. Specifically, as the distance da decreases, for example, the volume of the warning sound output from a buzzer or the like is increased, or the output interval of the intermittently output warning sound is shortened. Alternatively, as the distance da decreases, for example, the flashing interval of the warning light is shortened, or the light color of the warning light is changed from yellow to red. Alternatively, as the distance da decreases, the number of devices issuing the warning may be increased.

[0402] If, during the warning period issued by the warning unit 51i, the user operates the agricultural machinery 1, causing the agricultural machinery 1 to stop, or if the distance da from the agricultural machinery 1 to the structure becomes longer than the specified distance ds, the warning unit 51i stops issuing warnings.

[0403] For example, such as Figure 43 As shown, in a farmland with an irregularly shaped outline H1, when agricultural machinery 1 travels along the autopilot route L2 generated in the outermost field-end turning point E2c, if the distance da from agricultural machinery 1 to the structure (≈ outline H1) becomes less than the prescribed distance ds, the warning unit 51i issues a warning. For example, in the state indicated by arrow A1, agricultural machinery 1 is located in the middle of a relatively short straight section L2s-2 of the autopilot route L2, and there is a certain distance to the end of the straight section L2s-2. However, the distance da from agricultural machinery 1 to the structure (≈ outline H1) is less than the prescribed distance ds, so the warning unit 51i issues a warning. The warning unit 51i continues to issue warnings until the distance da becomes longer than the prescribed distance ds. Thereafter, when agricultural machinery 1 reaches the position indicated by arrow A2, the distance da from agricultural machinery 1 to the structure becomes longer than the prescribed distance ds, so the warning unit 51i stops issuing warnings.

[0404] In addition, when the distance da from the agricultural machinery 1 to the structure becomes less than the specified approach distance ds, the warning unit 51i can send a stop request for the agricultural machinery 1 to the automatic control unit 61 through the communication unit 54. The automatic control unit 61 receives the stop request and uses the braking device 6, etc., to bring the agricultural machinery 1 to an emergency stop.

[0405] In addition, sensing devices such as lidar and ultrasonic sensors can be installed at the front of the vehicle body 3, and the control unit 51 can detect the position of structures such as field ridges that constitute the outline H1 of the farmland based on the sensing results of the sensing devices.

[0406] Furthermore, in the field-side U-turn area E1, when the agricultural machinery 1 is reversing in automatic steering mode, a warning can be issued by the warning unit 51i if the distance to a structure in front of the agricultural machinery 1 relative to its direction of travel falls below a predetermined distance. However, when the agricultural machinery 1 is reversing to make a change of direction, the user visually confirms the rear, so the warning from the warning unit 51i may not be necessary to avoid unnecessary complications.

[0407] In addition, for example, Figure 44 As shown, by selecting the setting change key B20 in the driving control screen D11, a display indicating that the warning issued by the warning unit 51i is a notification of approaching structures such as field ridges can be shown on the display operation unit 52, or the warning can be set to be enabled (enabled) or disabled (disabled). Thus, the user can recognize the meaning of the warning issued by the warning unit 51i and can arbitrarily enable or disable the warning.

[0408] In the above embodiments, an example of an agricultural operation assistance device 50 consisting of a portable tablet terminal device, etc., was given. However, in addition, an agricultural operation assistance device may also be constituted by an electronic device not installed on the agricultural machinery 1, such as a server located in the cloud. Furthermore, an agricultural operation assistance device may also be constituted by a portable or stationary electronic device that has an application program installed with the same functions as the agricultural operation assistance device 50. Moreover, the agricultural operation assistance system may also include, for example, an application program that can be obtained and installed from the cloud via a user's electronic device, replacing the agricultural operation assistance device. In this case, the driving route, etc., can be displayed on the display unit of the electronic device with the application program installed, or on a display device connected to that electronic device.

[0409] <Effects of this implementation method>

[0410] The agricultural operation assistance system 100, agricultural operation assistance device 50, and agricultural machinery 1 described above can achieve the following effects.

[0411] The agricultural operation assistance system 100 of this embodiment includes: a display unit (display operation unit) 52, which can display maps MP1 and MP2 representing farmland; a region setting unit 51b, which sets a first region (field-end turning area) E1 and a second region (central region) C1 located inside the first region E1 in the maps MP1 and MP2 displayed in the display unit 52; and a route generation unit 51c, which generates travel routes L1 and L2 for the agricultural machinery 1 to travel in at least one of the first region E1 and the second region C1. The route generation unit 51c can set at least a portion of the travel routes L1 and L2 (straight routes L1a and L2a, straight sections L1s and L2s, and turning sections L2c) as an automatic steering route for automatically steering the agricultural machinery 1 and allowing manual operation to change the travel speed of the agricultural machinery 1.

[0412] According to the above structure, when the driver of agricultural machinery 1 drives agricultural machinery 1 in a manual operation mode based on an automatic steering route, the steering of agricultural machinery 1 is carried out automatically, thus reducing the driver's burden and improving the efficiency of agricultural operations using agricultural machinery 1.

[0413] Furthermore, due to factors such as the flatness, degree of neglect, or outline of the farmland, there are sometimes areas in the farmland where it is difficult for agricultural machinery 1 to operate in automatic mode. For example, compared to the central work area (central area) C1 located in the center of the farmland, the ground at the field-end turning points E2a, E2b, and E2c, where agricultural machinery 1 frequently travels or changes direction, is prone to becoming neglected, and due to its relationship with the field ridges, there are areas where it is difficult for agricultural machinery 1 to operate in automatic mode. However, by setting automatic steering routes in such difficult areas and automatically steering agricultural machinery 1, the burden on the driver can be reduced and the efficiency of agricultural operations using agricultural machinery 1 can be improved compared to manual driving of agricultural machinery 1.

[0414] Furthermore, in this embodiment, the route generation unit 51c can set at least a portion of the driving routes L2, L1 generated in the first region E1 and the second region C1 as autopilot routes or autopilot routes that automatically change the steering and driving speed of the agricultural machinery 1. Therefore, it is possible to set one or more portions of the driving routes L2, L1 generated in the first region E1 and the second region C1 of the farmland as autopilot routes or autopilot routes. This further reduces the burden on the driver of the agricultural machinery 1, improves the efficiency of agricultural operations using the agricultural machinery 1, and also enhances convenience.

[0415] Furthermore, in this embodiment, the agricultural operation assistance system 100 includes route changing units 52 and 51c (display operation unit 52 and route generation unit 51c) capable of changing an automatic driving route to an automatic steering route and vice versa. This allows for the arbitrary conversion of at least a portion of the driving routes L1 and L2 into either an automatic steering route or an automatic driving route, thereby further improving convenience.

[0416] Furthermore, in this embodiment, the route changing units 52 and 51c can change the automatic driving route or automatic steering route to a manual driving route where the steering and speed changes of the agricultural machinery 1 are handled manually, and can also change the manual driving route to an automatic driving route or automatic steering route. Therefore, the purpose of at least a portion of the driving routes L1 and L2 can be arbitrarily changed to any one of an automatic steering route, an automatic driving route, and a manual driving route, thereby further improving convenience.

[0417] Furthermore, in this embodiment, the display unit 52 displays the autopilot route and the autopilot route on the screen in different visually recognizable ways. This allows the user to easily identify the autopilot route and the autopilot route, or easily change the purpose of these routes, thereby further improving convenience.

[0418] Furthermore, in this embodiment, the display unit 52 displays the portions L2s, L1s, L1a, L2a, L3s, and L2c (straight sections L2s, L1s, L3s, straight sections L1a, L2a, and turning sections L2c) that can be set as autopilot routes in the driving routes L2, L1, and L3 generated in the first region E1 and the second region C1. This allows the user to easily identify the portions L2s, L1s, L3s, L1a, L2a, and L2c that can be set as autopilot routes in the driving routes L2 and L1, or to easily change the route settings, thereby further improving convenience.

[0419] Furthermore, in this embodiment, when the angle difference Δθ between a portion (straight section) L2s and another portion (straight section) of the travel route L2 arranged sequentially relative to the direction of travel is greater than a predetermined threshold (first threshold) Δθs1, the route generation unit 51c sets a turning point Px between the portion L2s and the other portion L2s to change the position and direction of travel of the agricultural machinery 1. When the angle difference Δθ is less than or equal to the threshold Δθs1, the route generation unit 51c connects the portion L2s and the other portion L2s and sets them as a series of autopilot routes. Therefore, the agricultural machinery 1, which is automatically steered based on the travel route L2 as an autopilot route and driven manually, will not be forced to autopilot between a portion L2s and another portion L2s of the travel route L2 with a large angle difference Δθ. The driver can manually change the direction of the agricultural machinery 1 at the turning point Px set between the portion L2s and the other portion L2s, thereby ensuring the safety of the agricultural machinery 1 when traveling based on autopilot or when operating on the ground. Furthermore, since a portion of the travel route L2 with a small angle difference Δθ, L2s and another portion of L2s, are set as a series of automatic steering routes, the automatic steering of the agricultural machinery 1 can be safely and continuously performed from one portion of L2s to the other portion of L2s, thereby reducing the driver's workload and improving the efficiency of agricultural operations performed using the agricultural machinery 1.

[0420] In addition, in this embodiment, the route generation unit 51c can generate a driving route L2 that includes a straight section L2s that allows the agricultural machinery 1 to travel straight and a plurality of straight sections L2s are continuous. When the angle difference Δθ between one straight section L2s that is part of the driving route L2 and another straight section L2s that is another part of the driving route L2 is less than or equal to a threshold Δθs1, a new driving route (straight section L2s or turning section L2c) is generated that connects a first intermediate point Pα1 on one straight section L2s and a second intermediate point Pa2 on another straight section L2s at a distance dx from the connection point Pα of one straight section L2s and the other straight section L2s. The portion from the first intermediate point Pα1 of one straight section L2s and the second intermediate point Pα2 of the other straight section L2s to the connection point Pα is deleted. Therefore, the angle difference between the continuous straight sections L2s of the travel route L2 or the angle difference between the straight section L2s and the turning section L2c can be reduced. When the agricultural machinery 1 is automatically steered based on the travel route L2, the operating angle can be suppressed to a smaller value, thereby improving the stability of the agricultural machinery 1.

[0421] Furthermore, in this embodiment, the route generation unit 51c generates a straight section L2s that allows the agricultural machinery 1 to travel straight between a straight section L2s that is part of the travel route L2 and another straight section L2s that is part of the travel route L2, having an angle difference Δθ less than a threshold Δθs1, thus creating a new travel route. Therefore, the automatic steering of the agricultural machinery 1 can be further stabilized based on one straight section L2s, the new straight section L2s, and the other straight section L2s.

[0422] Furthermore, in this embodiment, the agricultural operation assistance system 100 includes threshold changing units 52 and 51c (display operation unit 52, route generation unit 51c) for changing the threshold Δθs1. Thus, for example, by changing the threshold Δθs1 to a larger value, the location Px where the agricultural machinery 1 changes direction manually is reduced, thereby increasing the distance for automatic steering of the agricultural machinery 1. Conversely, by changing the threshold Δθs1 to a smaller value, the location Px where the agricultural machinery 1 changes direction manually is increased, thereby reducing the frequency of automatic steering such as turning the agricultural machinery 1, thereby improving the stability of automatic steering. In other words, by changing the threshold Δθs1, the distance and location for automatic steering when the agricultural machinery 1 is traveling straight, as well as the distance and location for automatic steering when the agricultural machinery 1 is slowly turning left or right, can be arbitrarily adjusted, thereby further improving convenience.

[0423] Furthermore, in this embodiment, the route generation unit 51c is capable of generating travel routes L1 and L2, including straight-moving sections L2s, L1s, L1a, and L2a that allow the agricultural machinery 1 to travel straight, and turning sections L2r, L1b, L1r, and L2b that allow the agricultural machinery 1 to turn. The display unit 52 displays the position of the agricultural machinery 1 detected by the position detection unit (position measuring device) 40 in the map (farmland map) MP2, and when the agricultural machinery 1 is traveling based on the travel route L2, if the position of the agricultural machinery 1 approaches the turning point Px, a notification U5 prompting the agricultural machinery 1 to change its position and direction of travel. Thus, before the agricultural machinery 1, which is automatically steered and manually operated or automatically driven based on the travel route L2 as an automatic steering route, reaches the turning point Px, the driver is urged to change the direction of the agricultural machinery 1 in manual driving mode. Furthermore, since the driver resumes automatic steering based on the automatic steering route L2 after manually changing the direction of the agricultural machinery 1, the driver's workload can be reduced and the efficiency of agricultural operations using the agricultural machinery 1 can be improved.

[0424] In this embodiment, the agricultural operation assistance system 100 includes a farmland registration unit 51a that registers the outline H1 of the farmland inside the outline of the farmland shown on the map MP1. A region setting unit 51b sets the area enclosed by the outline C1 formed by shifting the outline H1 of the farmland inward as a second region (central region) C1, and sets the area between this second region C1 and the outline H1 of the farmland as a first region (field-end turning area) E1. A route generation unit 51c generates driving routes L1c and L2 around the second region C1 in the first region E1 based on the working width W1 of the operating device 2 connected to the agricultural machinery 1, which is capable of ground-level operations, or the outer width W6 of the operating device 2. Thus, the outline H1 of the farmland can be set inside the outline of the farmland, the first region E1 can be set inside the outline H1, and the second region C1 can be set inside the first region E1. Furthermore, the travel routes L1, L2, and L1c of agricultural machinery 1 can be generated in the second region C1 and the first region E1 without exceeding the outline of the farmland.

[0425] Furthermore, in this embodiment, after the area setting unit 51b shifts the outline H1 of the farmland inward by a first offset amount (W1-W2+W5=W4+W5, W1+W5, W4+W7=W4+(W6-WI)÷2) calculated based on the working width W1 of the working device 2, the outer width W6 of the working device 2 which is larger than the working width W1, a predetermined overlap amount W2, or a predetermined movement amount W5 to form the first outline E3, the area setting unit 51b shifts the first outline E3 inward by more than one offset amount based on the working width W1 or the overlap. The second offset calculated by the quantity W2 is a second offset smaller than the first offset (W4 = W1 - W2) to form more than one second contour E31, E32, and the area enclosed by the innermost second contour E32 is set as the second region C1. The route generation unit 51c generates driving routes L2, L1c between the contour H1 of the farmland in the first region E1 and the first contour E3, between the first contour E3 and the second contour E31 that is closest to the first contour E3, and between the second contours E31 and E32.

[0426] Based on the above, in agricultural machinery 1, when the vehicle body 3 is automatically steered while the working device 2 performs ground operations in the field turning area E1 based on the driving route L2, it is possible to prevent the working device 2 from exceeding the outline H1 of the farmland and colliding with the field ridges, etc. Furthermore, by using the farmland movement amount change key B25 to set the interval (movement amount) W5 that shifts the outline H1 of the farmland inward to a value greater than 0, or by considering an outer width W6 larger than the working width W1 of the working device 2 to generate the outermost field turning point E2c, or by generating the driving route L2 in this field turning point E2c, it is possible to further prevent the working device 2 from exceeding the outline H1 of the farmland and colliding with the field ridges, etc. Moreover, since the inner field turning points E2b and E2a are set with a width W4 narrower than the width of the outermost field turning point E2c in the first area E1, it is possible to ensure that the central area C1 for setting the automatic driving operation route is wide.

[0427] In addition, in this embodiment, the route generation unit 51c generates travel routes L2 and L1c that circle the second region C1 multiple times with different diameters in the first region E1. Based on the working width W1 of the working device 2, the outer width W6 of the working device 2 which is larger than the working width W1, a predetermined overlap W2, or a predetermined movement W5, the interval between the outermost part of the travel routes L2 and L1c and the outline H1 of the farmland is set. Based on the working width W1 or the overlap W2, the interval between the outermost part and the innermost part closest to it, as well as the interval between the inner parts, is set to be narrower than the interval between the outermost part and the outline H1 of the farmland.

[0428] Based on the above, the distance between the outermost portion L2 of the driving route L2 and L1c generated in the first region E1 (the driving route L2 generated in the field turning point E2c) and the outline H1 of the farmland is widened. This prevents the working device 2 from exceeding the outline H1 of the farmland and colliding with the field ridges when the agricultural machinery 1 is automatically steered based on this portion L2 and the working device 2 is used for ground operations. In addition, the distance between the outermost portion L2 of the driving route L2 and L1c generated in the first region E1 and the distance between the innermost portion L2 closest to this portion L2, as well as the distance between the inner portions L2 and L1c, is narrowed, thereby ensuring that the central region C1 is wide. Furthermore, by setting the interval between the outermost portion L2 and the innermost portion L2 closest to the travel route L2, L1c that travels around the second region C1 multiple times with different paths to be narrower than the interval between the inner portions L2, L1c, the route generation unit 51c can further prevent the working device 2 from exceeding the outline H1 of the farmland and colliding with the field ridges, etc., when the agricultural machinery 1 is automatically steered based on the outermost portion L2 and the working device 2 is used for ground operations.

[0429] Furthermore, in this embodiment, the agricultural operation assistance system 100 includes: a position detection unit (position measuring device) 40, which detects the position of the agricultural machinery 1; and an automatic control unit 61, which performs automatic steering of the agricultural machinery 1 based on its position and automatic steering route, and uses the working device 2 connected to the agricultural machinery 1 to perform agricultural operations on the farmland. Thus, by manually operating the agricultural machinery 1 based on its position and automatic steering route, it is possible to perform agricultural operations on the farmland while simultaneously performing automatic steering of the agricultural machinery 1 and using the working device 2, thereby reducing the driver's workload and improving the efficiency of agricultural operations using the agricultural machinery 1.

[0430] In this embodiment, the route generation unit 51c sets an autopilot route for a portion of the travel routes L1 and L2 generated in the first region E1 and the second region C1, and sets an autopilot route for automatically changing the steering and speed of the agricultural machinery 1 for the other portion of the travel routes L1 and L2. The automatic control unit 61 executes autopilot, which automatically changes the steering and speed of the agricultural machinery 1 based on the position of the agricultural machinery 1 and the autopilot route. When the agricultural machinery 1 travels along the travel routes L2 and L1, the automatic control unit 61 automatically switches between autopilot and autopilot of the agricultural machinery 1 according to the switching between the connected autopilot and autopilot routes. As a result, the driver of the agricultural machinery 1 can switch between autopilot and autopilot without manual operation, thereby further reducing the driver's burden and improving the efficiency of agricultural operations using the agricultural machinery 1.

[0431] Furthermore, in this embodiment, when the agricultural machinery 1 is reversed along the autopilot path by changing its position and direction of travel manually, the automatic control unit 61 performs autopilot on the agricultural machinery 1. Therefore, when changing the direction of the agricultural machinery 1 manually, the driver's workload is reduced, and the time required for the change is also shortened.

[0432] Furthermore, in this embodiment, when agricultural machinery 1 and working device 2 are used to begin agricultural operations on farmland, if the initial travel route is set as an autopilot route L2, the automatic control unit 61 executes automatic steering of agricultural machinery 1 based on this autopilot route L2, and uses working device 2 to begin agricultural operations on farmland. Therefore, when agricultural machinery 1 and working device 2 are used to begin agricultural operations on farmland, an autopilot operation mode can be executed, allowing agricultural machinery 1 to be automatically steered while working device 2 is used to begin agricultural operations on farmland, without going through an automatic driving operation mode. Additionally, the user (driver of agricultural machinery 1) does not need to perform the cumbersome operations required to execute the automatic driving operation mode, thereby improving convenience. As a result, the user's burden is reduced, and the efficiency of agricultural operations is improved.

[0433] Furthermore, in this embodiment, the agricultural operation assistance system 100 includes a first selection unit S1 for selecting whether to perform agricultural operations in an autopilot mode. When the first selection unit S1 selects to perform agricultural operations in an autopilot mode, the automatic control unit 61 executes the autopilot of the agricultural machinery 1 based on its position and travel route, and uses the working device 2 to begin agricultural operations on the farmland. Therefore, when starting agricultural operations on the farmland using the agricultural machinery 1 and the working device 2, an autopilot operation mode can be executed, allowing the agricultural machinery 1 to be automatically steered while simultaneously using the working device 2 to begin agricultural operations on the farmland, without going through an automatic driving operation mode.

[0434] Furthermore, in this embodiment, the agricultural operation assistance system 100 has second selection units B43 and B50 (automatic field-end turning operation key B43 and automatic center operation key B50) for selecting whether to perform agricultural operations in automatic driving mode. When automatic driving mode is selected through the second selection units B43 and B50, the automatic control unit 61 executes automatic driving of the agricultural machinery 1 based on its position and travel route, and begins agricultural operations on the farmland using the working device 2. When automatic driving mode is not selected through the second selection units B43 and B50, automatic steering can be selected through the first selection unit S1. Thus, when starting agricultural operations on the farmland using the agricultural machinery 1 and the working device 2, an automatic driving operation mode can be executed, allowing the agricultural machinery 1 to drive automatically while the working device 2 is used to begin agricultural operations on the farmland. Alternatively, the user can choose not to execute the automatic driving operation mode and instead select whether to execute the automatic steering operation mode.

[0435] In addition, in this embodiment, the agricultural operation assistance system 100 has a third selection unit S3. When the agricultural operation of the agricultural machinery 1 and the working device 2 on the farmland is restarted after a temporary interruption, the third selection unit S3 selects whether to restart the agricultural operation in automatic steering mode or in automatic driving mode, which automatically changes the steering and speed of the agricultural machinery. When the third selection unit S3 selects to restart the agricultural operation in automatic steering mode, the automatic control unit 61 executes automatic steering of the agricultural machinery 1 based on the position and driving route of the agricultural machinery 1, and uses the working device 2 to restart the agricultural operation on the farmland. When the third selection unit S3 selects to restart the agricultural operation in automatic driving mode, the automatic control unit 61 executes automatic driving of the agricultural machinery 1 based on the position and driving route of the agricultural machinery 1, and uses the working device 2 to restart the agricultural operation on the farmland. Therefore, when agricultural machinery 1 and working device 2 resume agricultural operations on the farmland after a temporary interruption, if the user selects to restart agricultural operations in automatic steering mode via the third selection unit S3, the automatic steering operation mode can be executed, allowing agricultural machinery 1 to be automatically steered while the working device 2 begins agricultural operations on the farmland, without going through the automatic driving operation mode. Alternatively, if the user selects to restart agricultural operations in automatic driving mode via the third selection unit S3, the automatic driving operation mode can be executed, allowing agricultural machinery 1 to drive automatically while the working device 2 begins agricultural operations on the farmland.

[0436] In addition, in this embodiment, the agricultural operation assistance system 100 includes: a distance calculation unit 51h, which calculates the distance from the position of the agricultural machinery 1 detected by the position detection unit (position measuring device) 40 to a structure constituting the outline H1 of the farmland that is located in front of the agricultural machinery 1 relative to the direction of travel of the agricultural machinery 1 when the automatic control unit 61 performs automatic steering based on the position of the agricultural machinery 1 and the automatic steering route set in the first area E1 to make the agricultural machinery 1 travel in the first area E1; and a warning unit 51i, which issues a warning when the distance da to the structure calculated by the distance calculation unit 51h becomes a predetermined distance ds or less, and the warning unit 51i increases the intensity of the warning as the distance da to the structure becomes shorter. Therefore, when the agricultural machinery 1 travels along the driving route L2 generated in the first area E1 of the farmland in an automatic steering mode, if the agricultural machinery 1 approaches structures such as field ridges that constitute the outline H1 of the farmland, the warning unit 51i issues a warning. Thus, the driver (user) of the agricultural machinery 1 can avoid the agricultural machinery 1 from contacting the structures or going beyond (crossing the boundary) to a position closer to the outside of the farmland than the structures by performing driving operations.

[0437] Furthermore, the agricultural operation assistance device 50 of this embodiment is an agricultural operation assistance device included in the agricultural operation assistance system 100, which includes: a control unit 51 that displays a map MP2 representing farmland in a display unit (display operation unit) 52; a region setting unit 51b that sets a first region E1 and a second region C1 located inside the first region E1 in the map MP2 displayed in the display unit 52; and a route generation unit 51c that generates travel routes L1 and L2 for the agricultural machinery 1 to travel in the first region E1 and the second region C1. The route generation unit 51c can set at least a portion of the travel routes L1 and L2 (straight routes L1a and L2a, straight sections L1s and L2s, and turning sections L2c) as an automatic steering route for automatically steering the agricultural machinery 1 and allowing manual operation to change the travel speed of the agricultural machinery 1. According to this structure, when the driver of agricultural machinery 1 drives the agricultural machinery 1 in a manual operation based on an automatic steering route, the steering of agricultural machinery 1 is carried out automatically. Therefore, the driver's burden can be reduced and the efficiency of agricultural operations using agricultural machinery 1 can be improved.

[0438] Furthermore, in this embodiment, the route generation unit 51c can set at least a portion of the travel routes L1 and L2 as an autopilot route or an automatic driving route that automatically changes the steering and travel speed of the agricultural machinery 1. The agricultural operation assistance device 50 has route changing units 52 and 51c that can change the automatic driving route to an autopilot route and vice versa, and can be mounted in the agricultural machinery 1. Therefore, the purpose of at least a portion of the travel routes L1, L2, and L3 can be arbitrarily changed to an autopilot route or an automatic driving route, thereby reducing the driver's burden, improving the efficiency of agricultural operations using the agricultural machinery 1, and increasing convenience.

[0439] Furthermore, the agricultural machinery 1 of this embodiment is an agricultural machinery that performs agricultural operations assisted by the agricultural operation assistance system 100, and it includes: a traveling body 3 capable of movement; connecting parts 8g and 8h that enable the working device 2 to be connected to the traveling body 3; a position detection unit (positioning device) 40 that detects the position of the traveling body 3; a display unit (display operation unit) 52 capable of displaying a map MP2 representing farmland; and a region setting unit 51b that sets a first region E1 and a second region located inside the first region E1 in the map MP2 displayed in the display unit 52. The system comprises: a region C1; a route generation unit 51c, which generates travel routes L2 and L1 for driving the vehicle body 3 in the first region E1 and the second region C1; and an automatic control unit 61, which performs agricultural operations on the farmland using the work device 2. The route generation unit 51c can set at least a portion of the travel routes L1 and L2 (straight routes L1a and L2a, straight sections L1s and L2s, and turning sections L2c) as automatic steering routes. The automatic control unit 61 automatically steers the vehicle body 3 based on its position and the automatic steering routes. According to this structure, when the driver of the agricultural machinery 1 manually drives the agricultural machinery 1 based on the automatic steering routes, the automatic control unit 61 automatically steers the agricultural machinery 1. Therefore, the driver's workload can be reduced, and the efficiency of agricultural operations using the agricultural machinery 1 can be further improved.

[0440] The present invention has been described above, but the embodiments thereof should be considered exemplary rather than limiting in all respects. The scope of the invention is defined by the claims rather than the foregoing description and is intended to include all modifications within the meaning and scope equivalent to the claims.

[0441] Explanation of reference numerals in the attached figures:

[0442] 1: Agricultural machinery

[0443] 2: Working device

[0444] 3: Vehicle body

[0445] 8g, 8h: Connecting parts

[0446] 40: Position measuring device (position detection unit)

[0447] 50: Agricultural operation auxiliary devices

[0448] 51 Control Department

[0449] 51a: Farmland Registration Department

[0450] 51b: Regional Setting Department

[0451] 51c: Route Generation Department (Route Change Department, Threshold Change Department)

[0452] 51h: Distance Calculation Department

[0453] 51i: Warning Department

[0454] 52: Display Operation Department (Display Department, Route Change Department, Threshold Change Department)

[0455] 61: Automatic Control Department

[0456] 100: Agricultural Operation Assistance System

[0457] B43: Automatic field turning operation button (second selection section)

[0458] B50: Automatic Central Operation Key (Second Selection Section)

[0459] C1: Central Area (Second Area)

[0460] da: Distance from agricultural machinery to the structure

[0461] ds: Specified distance

[0462] dx: Specified distance

[0463] E1: Field Turnaround Area (Area 1)

[0464] H1: Outline of farmland

[0465] L1: Driving route, autonomous driving route

[0466] L1a: Straight route, autonomous driving route

[0467] L1b: Turning routes, autonomous driving routes

[0468] L1c: Loop route, autonomous driving route

[0469] L1r: Turning point, automatic driving route

[0470] L1s: Straight-through section, autonomous driving route

[0471] L2: Driving route

[0472] L2a: Straight route, autopilot route

[0473] L2c: Turning points, autopilot routes

[0474] L2r: Slewing section, manual driving route

[0475] L2s: Straight section, autopilot path

[0476] L2s-1: Straight section, autopilot route

[0477] L2s-2: Straight section, autopilot route

[0478] L3: Driving route

[0479] L3r: Slewing section, manual driving route

[0480] L3s: Straight-line section, manual driving route

[0481] MP1: Map

[0482] MP2: Farmland Map (Map)

[0483] Px: Change of direction (location)

[0484] Pα: Connection point

[0485] Pα1: First intermediate point

[0486] Pα2: Second intermediate point

[0487] S1: Selection Section (First Selection Section)

[0488] S3: Selection Section (Third Selection Section)

[0489] U5: Notification

[0490] W1: Work width

[0491] W2: Overlap of the field turning point

[0492] W4: Width (Second Offset)

[0493] W5: Movement

[0494] W6: External Width

[0495] E3: Outline (First Outline)

[0496] E31, E32: Outline (Second Outline)

[0497] Δθ: angle difference

[0498] Δθ1: First threshold (threshold)

Claims

1. An agricultural operation assistance system, wherein, have: The display unit is capable of displaying maps representing farmland; The area setting unit sets a first area and a second area located inside the first area in the map displayed on the display unit; The route generation unit generates a travel route for agricultural machinery to travel in at least one of the first region and the second region. as well as The position detection unit detects the position of the agricultural machinery; The route generation unit can set at least a portion of the driving route as either an automatic steering route or an automatic driving route. The automatic steering route is a route that automatically steers the agricultural machinery while allowing manual operation to control changes in the machinery's speed. The automatic driving route is a route that automatically steers and changes the speed of the agricultural machinery. The route generation unit can set at least a portion of a series of driving routes generated across the first and second areas as the automatic steering route, and set the portion of the driving routes other than the at least a portion as the automatic driving route. The agricultural operation assistance system includes an automatic control unit, which performs automatic steering of the agricultural machinery based on its position and the automatic steering route, and performs agricultural operations on the farmland using an operating device connected to the agricultural machinery; and performs automatic steering and speed changes of the agricultural machinery based on its position and the automatic driving route. When the agricultural machinery is traveling along a series of routes including interconnected autopilot routes and autopilot routes, the automatic control unit switches between the autopilot and autopilot routes based on the position of the agricultural machinery detected by the position detection unit.

2. The agricultural operation assistance system according to claim 1, wherein, The agricultural operation assistance system has a route changing unit capable of changing the automatic driving route to the automatic steering route and vice versa.

3. The agricultural operation assistance system according to claim 2, wherein, The route change unit changes the route from the clicked autonomous driving route and the autonomous steering route in a series of driving routes displayed on the display unit to the other route by clicking the route change button displayed on the display unit.

4. The agricultural operation assistance system according to claim 2, wherein, The route change unit can change the automatic driving route or the automatic steering route to a manual driving route where the steering and speed changes of the agricultural machinery are manually controlled, and can also change the manual driving route to the automatic driving route or the automatic steering route.

5. The agricultural operation assistance system according to any one of claims 1 to 4, wherein, The display unit shows the autopilot route and the autopilot route on the screen in different visually recognizable ways.

6. The agricultural operation assistance system according to any one of claims 1 to 4, wherein, The display unit will show the portion of the driving route generated in the first area and the second area that can be set as the autopilot route on the screen.

7. The agricultural operation assistance system according to any one of claims 1 to 4, wherein, If the angular difference between one part and another part of the travel route relative to the direction of travel is greater than a predetermined threshold, the route generation unit sets a turning point between the one part and the other part to change the position and direction of travel of the agricultural machinery. When the angle difference is below the threshold, the route generation unit connects the first part and the second part and sets them into a series of autopilot routes.

8. The agricultural operation assistance system according to claim 7, wherein, When the angle difference is below the threshold, the route generation unit generates a new driving route that connects a first intermediate point on the part and a second intermediate point on the other part at a distance specified from the connection point of the part and the other part, and deletes the portion from the first intermediate point of the part and the second intermediate point of the other part to the connection point.

9. The agricultural operation assistance system according to claim 8, wherein, The route generation unit generates a straight section that allows the agricultural machinery to travel straight as the new travel route.

10. The agricultural operation assistance system according to claim 7, wherein, The agricultural operation assistance system has a threshold changing unit for changing the threshold.

11. The agricultural operation assistance system according to claim 7, wherein, When the display unit displays the location of the agricultural machinery detected by the location detection unit on the map and the agricultural machinery is traveling based on the driving route, if the location of the agricultural machinery is close to the change point, a notification will be displayed prompting the agricultural machinery to change its location and direction of travel.

12. The agricultural operation assistance system according to any one of claims 1 to 4, wherein, The agricultural operation assistance system includes a farmland registration unit, which registers the outline of the farmland inside the outer lines of the farmland shown on the map. The region setting unit defines the region enclosed by the outline formed by shifting the outline of the farmland inward as the second region, and defines the area between the second region and the outline of the farmland as the first region. The route generation unit generates the travel route around the second area in the first area based on the working width of the working device connected to the agricultural machinery that is capable of ground operation or the external width of the working device.

13. The agricultural operation assistance system according to claim 12, wherein, After the region setting unit shifts the outline of the farmland inward by a first offset calculated based on the working width of the working device, the outer width of the working device (which is larger than the working width), a predetermined overlap, or a predetermined movement, to form a first outline, it shifts the first outline inward by a second offset calculated based on the working width or the overlap and smaller than the first offset to form one or more second outlines. The region enclosed by the innermost second outline is then defined as the second region. The route generation unit generates the driving route between the outline of the farmland in the first region and the first outline, between the first outline and the second outline closest to the first outline, and between the second outlines and each other.

14. The agricultural operation assistance system according to claim 12, wherein, The route generation unit generates a travel route in the first region that circles the second region multiple times with different diameters. Based on the working width of the working device, the outer width of the working device which is larger than the working width, a predetermined overlap, or a predetermined movement, the interval between the outermost part of the travel route and the outline of the farmland is set. Based on the working width or the overlap, the interval between the outermost part and the innermost part closest to it, as well as the interval between the inner parts, is set to be narrower than the interval between the outermost part and the outline of the farmland.

15. The agricultural operation assistance system according to any one of claims 1 to 4, wherein, When the agricultural machinery is reversed along the autopilot path by changing its position and direction of travel in a manual driving mode, the automatic control unit performs autopilot on the agricultural machinery.

16. The agricultural operation assistance system according to any one of claims 1 to 4, wherein, When agricultural operations are started on the farmland using the agricultural machinery and the working device, if the initial travel route is set as the autopilot route, the automatic control unit executes the autopilot of the agricultural machinery based on the autopilot route and starts agricultural operations on the farmland using the working device.

17. The agricultural operation assistance system according to any one of claims 1 to 4, wherein, The agricultural operation assistance system has a first selection unit that selects whether to perform agricultural operations in the automatic steering mode. When the first selection unit selects to perform agricultural operations in the autopilot mode, the automatic control unit executes the autopilot of the agricultural machinery based on the position of the agricultural machinery and the travel route, and uses the operating device to start agricultural operations on the farmland.

18. The agricultural operation assistance system according to claim 17, wherein, The agricultural operation assistance system has a second selection unit that allows users to choose whether to perform agricultural operations in the automatic driving mode. When the second selection unit selects to perform agricultural operations in the automatic driving mode, the automatic control unit executes the automatic driving of the agricultural machinery based on the location of the agricultural machinery and the travel route, and uses the operating device to begin agricultural operations on the farmland. If the second selection unit selects not to perform agricultural operations using the automatic driving mode, the first selection unit can select the automatic steering mode.

19. The agricultural operation assistance system according to any one of claims 1 to 4, wherein, The agricultural operation assistance system has a third selection unit. When the agricultural machinery and the operating device resume agricultural operations on the farmland after a temporary interruption, the third selection unit selects whether to resume agricultural operations in the automatic steering mode or in the automatic driving mode that automatically changes the steering and speed of the agricultural machinery. If the third selection unit selects to restart agricultural operations in the automatic steering mode, the automatic control unit executes the automatic steering of the agricultural machinery based on the position and travel route, and uses the operating device to restart agricultural operations on the farmland. If the third selection unit selects to restart agricultural operations in the automatic driving mode, the automatic control unit executes the automatic driving of the agricultural machinery based on the location of the agricultural machinery and the driving route, and uses the working device to restart agricultural operations on the farmland.

20. An agricultural operation assistance device, comprising an agricultural operation assistance system according to any one of claims 1 to 19, wherein, The agricultural operation auxiliary device has the following features: The control unit displays the map representing farmland in the display unit; The area setting unit sets a first area and a second area located inside the first area in the map displayed on the display unit; as well as The route generation unit generates travel routes for agricultural machinery in the first and second regions. The route generation unit can set at least a portion of the driving route as either an automatic steering route or an automatic driving route. The automatic steering route is a route in which the agricultural machinery is automatically steered while the speed of the agricultural machinery is changed manually. The automatic driving route is a route in which the agricultural machinery is automatically steered and the speed of the agricultural machinery is changed. The route generation unit can set at least a portion of a series of driving routes generated throughout the first area and the second area as the automatic steering route, and set the portion of the driving routes other than the at least a portion as the automatic driving route.

21. The agricultural operation auxiliary device according to claim 20, wherein, The route generation unit can set at least a portion of the driving route as the autopilot route or an autopilot route that automatically changes the steering and speed of the agricultural machinery. The agricultural operation assistance device has a route changing unit that can change the automatic driving route to the automatic steering route and the automatic steering route to the automatic driving route, and can be mounted in the agricultural machinery.

22. The agricultural operation auxiliary device according to claim 21, wherein, The route change unit changes the route from the clicked autonomous driving route and the autonomous steering route in a series of driving routes displayed on the display unit to the other route by clicking the route change button displayed on the display unit.

23. An agricultural machine that performs agricultural operations assisted by the agricultural operation assistance system according to any one of claims 1 to 19, wherein, The agricultural machinery has the following features: The vehicle body is capable of movement; The connecting part enables the working device to be connected to the vehicle body; The position detection unit detects the position of the vehicle body. The display unit is capable of displaying maps representing farmland; The area setting unit sets a first area and a second area located inside the first area in the map displayed on the display unit; The route generation unit generates a driving route for the vehicle body to travel in the first region and the second region; as well as The automatic control unit uses the operating device to perform the agricultural operations on the farmland. The route generation unit can set at least a portion of the driving route as either an automatic steering route or an automatic driving route. The automatic steering route is a route in which the vehicle body is automatically steered while changes in the vehicle body's speed are handled manually. The automatic driving route is a route in which both the vehicle body's steering and speed changes are performed automatically. The route generation unit can set at least a portion of a series of driving routes generated throughout the first and second regions as the automatic steering route, and set the portion of the driving routes other than the at least a portion as the automatic driving route. The automatic control unit performs automatic steering based on the position of the vehicle and the automatic steering route, and performs automatic steering and speed change based on the position of the vehicle and the automatic driving route. When the vehicle is traveling along a series of routes including interconnected autopilot routes and autopilot routes, the automatic control unit switches between the autopilot and autopilot routes of the agricultural machinery automatically, based on the position of the vehicle detected by the position detection unit.

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